ANELLO Python Tool

The ANELLO Python Program can be used to connect, configure, and log data with any ANELLO product. It works on any computer running Windows, macOS, or Linux (including Ubuntu). It can also be used as an NTRIP client to forward RTK corrections to your EVK or Ground INS for enhanced GPS accuracy. Please see the instructions below to use the ANELLO Python program and contact support@anellophotonics.com with any questions.

Install ANELLO Python Program

Confirm that python is installed on your computer and the version is at least 3.6. Open a terminal and type:

Terminal
python --version

Note

If the above shows python 2.x despite Python 3 being installed, try “python3 –version”. If that shows python 3.x, please use “python3” instead of “python” when running user_program.py from the command line.

Make sure you have a git client on your computer as this is the easiest way to stay up-to-date with the ANELLO Python Program.

Clone the GitHub repository:

Terminal
git clone https://github.com/Anello-Photonics/user_tool.git

Note

Please run “git pull” regularly to make sure you are using the latest Python tool features.

Install dependencies using pip:

Terminal
cd user_tool
pip install -r requirements.txt

If you have any issues, see Set-Up Troubleshooting.

Run the Python Tool

Terminal
python user_program.py (for ANELLO X3: python x3_tool.py)

You will see System Status at the top, and Main Menu below. For more information, see Set-Up Troubleshooting.

Connect to ANELLO Unit

Connect Over Serial

Ensure the power cable is connected and the green power light is illuminated. Connect the ANELLO unit to the computer using the USB-C interface.

Use the arrow keys to select Connect, then COM, then Auto to auto-detect the unit. You can also use Manual if you know the data and config ports. You should now see the System Status updated with the device information.

For more information or if you experience any errors, see the Set-Up Troubleshooting.

Connect Over Ethernet

The Ethernet (UDP) interface is recommended for in-vehicle data collection.

  1. Find Computer Ethernet IP using ipconfig in terminal

  2. In user_program.py, select Unit Configurations

    • Set Computer IP to that from step 1

    • Keep data and configuration port as 1111 and 2222 (these can be any number not used for something else, e.g. your OS)

    If connecting the unit directly to computer:

    • Set DHCP to off

    • Set ANELLO IP to something with same prefix as Computer IP

    If connecting the unit to computer through router:

    • Set DHCP on

    • ANELLO IP will be auto-assigned after restart

  3. Restart the unit (either using Python program or manually power cycling the unit) and re-connect via COM

  4. In main menu, select Unit Configurations, take note of ANELLO IP and data/config ports

  5. In main menu, select Connect -> UDP -> Enter ANELLO IP and data/config ports

Set ANELLO Configurations

Unit Configurations

In main menu, select Unit Configuration to see default configurations. To change any configurations, select Edit, then the configuration to change, then select the new value.

Please see Unit Configurations for more information on available configurations.

Vehicle Configurations

Before you collect data with the ANELLO EVK or Ground INS, vehicle configurations must be set.

In the main menu, select Vehicle Configurations and set the lever arms as prompted. All measurements are using the center of the ANELLO unit as the origin and are measured in meters.

For firmware versions 1.2.6 and later, antenna baseline calibration must be performed.

Please see Vehicle Configurations for more information.

Data Collection

In the main menu, select Log, then Start. Use the default filename or enter a custom name. The System Status will be updated with the logging information.

To end a log, select Log then Stop. Log files are saved in the “logs” directory in user_tool, grouped by month and day.

To export a log to CSV, Select Log, then Export to CSV, then choose the log file. CSV files for each message (IMU, GPS, GP2, HDG, and INS) will be saved in the “exports” directory, under the name of the original log file. For more information on the output messages, see Comminication & Messaging.

The INS solution can be visualized by importing ins.csv into Kepler.

Monitor Output

For a real-time display of the ANELLO data, select Monitor in the main menu.

Logging can be started/ended by clicking the LOG button, and GNSS input can be turned on/off by clicking the GPS button. If the LOG button is red, that means data is not logging, and if the GPS button is red, GNSS input is turned off.

Turning the GPS button off stops sending GPS data into the ANELLO unit, and may be useful for simulating GPS-denied scenarios without physically blocking GPS signal. You may also simulate GPS loss by covering antennae with an metal enclosure, using a digital attenuator, or other methods. ANELLO does not recommend simulating GPS loss by disconnecting antennae mid-drive as this can often cause spurious signal to be read by the GPS receiver and fed into the INS algorithm.

Connect to NTRIP Caster

Standard RTCM messages can be forwarded to the ANELLO EVK and Ground INS units data port to enable the GNSS receivers to reach RTK-level accuracy. The EVK and Ground INS receive standard RTCM3.3 in MSM format, including MSM4, MSM5, and MSM7 messages.

The ANELLO Python Program also provides an NTRIP client which can connect to a standard NTRIP network and forward the RTCM messages into the EVK or Ground INS. To do this:

From the main menu, select NTRIP and then Start. Enter the NTRIP caster details as prompted. If successful, the System Status will show the NTRIP connection status.