2.DGPS Installation and configuration manual（中英文）

RTG DGPS 系统
RTG DGPS SYSTEM

安装配置说明
INSTALLATION AND CONFIGURATION
INSTRUCTION
北京国泰星云科技有限公司
Cathay Nebula Science &Technology Co., Ltd
2015 年 7 月
July 2015
目录
CONTENT
1 系统简介................................................................................................................................... 2
Introduction ...................................................................................................................................... 2
1.1 概述............................................................................................................................... 2
PREAMBLE ................................................................................................................................. 2
1.2 系统逻辑图 ................................................................................................................... 2
System Logic Diagram ............................................................................................................... 2
2 系统硬件说明........................................................................................................................... 3
System Details Spec........................................................................................................................... 3
2.1 基准站系统 ................................................................................................................... 3
DGPS Base Unit.......................................................................................................................... 3
2.1.1 基准站组成 ....................................................................................................... 3
System Component of DGPS Base Unit ............................................................................. 3
2.1.2 安装说明 ........................................................................................................... 4
Equipment Installation ...................................................................................................... 4
2.1.3 设备配置说明 ................................................................................................... 6
Equipment Configuration .................................................................................................. 6
2.2 RTG 移动站系统 ........................................................................................................... 6
DGPS RTG UNIT ......................................................................................................................... 6
2.2.1 移动站组成 ....................................................................................................... 6
2.2.2 安装说明 ........................................................................................................... 8
3 常见故障及维护..................................................................................................................... 14
Common faults and maintenance ................................................................................................... 14
3.1 RTG 移动站系统 ......................................................................................................... 14
RTG rover station system ........................................................................................................ 14
3.2 基准站系统 ................................................................................................................. 18
Base station system ................................................................................................................. 18
RTG DGPS system installation and configuration instruction
1 系统简介
Introduction
1.1 概述
PREAMBLE
RTG 都已经安装了国泰星云的 GPS 系统，具备 1）RTG 自动纠偏（AGSS）、

2）集装箱位置检测（PDS）。本文档是对该控制功能的说明。
The RTGs are all installed with GPS system from Cathay Nebula, the system
function includes: 1) Auto Gantry Steering System (AGSS), 2) Container Position
Determination System (PDS). This document introduces the functions of the system.
1.2 系统逻辑图
System Logic Diagram
整个系统分为二个子系统：DGPS 基准站子系统，负责生成并播发 GPS 差分

改正数；RTG 移动站子系统，负责实现 RTG 的 AGSS、PDS。
The system includes two sub-systems. DGPS base unit produces and broadcasts
GPS differential correction data. DGPS RTG unit achieves the function of AGSS, PDS.
2 / 18 Cathay Nebula Science &Technology Co., Ltd.

GPS antenna RF antenna

RF antenna
RTG
Electric
house
GALAXY
IPC-AG
GALAXY
IPC-BS
PLC UPS
DGPS BASE UNIT
RTG
PLC
Cab
GALAXY
IPC-PD
VMT
DGPS RTG UNIT
图 1 系统逻辑图
system logic diagram
2 系统硬件说明
System Details Spec
2.1 基准站系统
DGPS Base Unit
2.1.1 基准站组成
System Component of DGPS Base Unit
DGPS 基准站子系统包括 2 个 GALAXY IPC－BS 控制器(集成 GPS 接收机)、GPS

天线、数字电台、天线和 UPS 等。GALAXY IPC-BS 接收机接收 GPS 信号，根据预
设的高精度坐标计算差分改正数，并通过无线数传电台链路发送差分信息。

The DGPS base unit includes two GALAXY IPC-BS controllers (with GPS receiver),
two GPS antenna, one data radio modem, one RF antenna and one UPS power supply
equipment etc. GALAXY IPC－BS controller receives the GPS signal and calculates the
differential correction data according to the pre-set coordinates with high precision.
Then GALAXY IPC－BS receiver transmits the differential correction data through the
data radio.
RF Antenna GPS Antenna
The roof of building
Arrester
GALAXY
Radio
IPC-BS
AC/
DC
230VAC
UPS
UNIT
图 2 基准站组成
The element of GPS base unit
2.1.2 安装说明
Equipment Installation
2.1.2.1基准站机箱的安装
Installing DGPS Base Unit Case
GPS 基准站使用码头原有基准站：

GPS Base Boxes was installed in the office building , we use the old base station
of IPS.
2.1.2.2天线
Installing Antenna
GPS 天线和电台天线安装在办公楼楼顶，使用角铁固定天线杆，天线杆直径
40mm。
The GPS antenna and radio antenna are installed on the roof of office building.
The outside diameter of antenna stick isΦ40mm. The stick is fixed with angle iron.
图 4 基准站 GPS 和电台天线安装图

Installation of base GPS antenna and radio antenna

2.1.3 设备配置说明
Equipment Configuration
2.1.3.1GPS 接收机
GPS Receiver
设置参考《SERVICE MANUAL》
Please look up the service manual document as a reference.
2.1.3.2电台
Radio
设置参考《SERVICE MANUAL》。
Please look up the service manual document as a reference.
2.2 RTG 移动站系统
DGPS RTG UNIT
2.2.1 移动站组成
RTG 移动站系统分为了 AGSS 系统，PDS 系统。

RTG UNIT is composed by of AGSS system, and PDS system.
AGSS 系统主要硬件设备包含 AGSS Box、GPS 天线、电台天线
RTG UNIT AGSS system includes AGSS Box, GPS antennas, and a radio antenna.

RF Antenna
GPS Antenna
Arrester
Radio GALAXY IPC – AG PLC
12VDC
Left
Right
Rotary
Rotary
Encoder
Encoder
AC/DC
AGSS Unit Box RTG

AC
Electric house
图 6 AGSS 组成框图
The elements of AGSS UNIT
PDS 系统主要硬件设备包含 PDS Box。

RTG UNIT PDS system includes PDS Box.

PDS Logic Diagram
VMT
PDS Unit Box
GALAXY IPC – PD PLC
12VDC
AC/DC
RTG Cab
AC
图 7 PD 组成框图
The elements of PD UNIT
2.2.2 安装说明
2.2.2.1GPS 天线 & 电台天线
GPS antenna and Radio antenna
RTG 移动站 AGSS 系统中包含 2 个 GPS 天线与 1 个电台天线，安装于 RTG 电

气房一侧的顶部 RTG 框架两端：
AGSS UNIT has 2 GPS antennas and one radio antenna, both of which are
installed on the top of the gantry at the e-room side.
为了便于说明和区分，将 2 个 GPS 天线按照序号 1、2 定义，以小车朝向为

参考，安装在左侧电气房侧大梁的 GPS 天线称为 GPS1；安装在右侧电气房侧大
梁的 GPS 天线称为 GPS2。
In order to describe the installation and distinguish the antennas, the two GPS
antennas are defined as GPS1 and GPS2 antenna, Taking the forwarding direction of
the cabin as a reference, the GPS antenna installed on the left side of the crossbeam
electrical room is called GPS1; the GPS antenna installed on the right beam side of
the electrical room is called GPS2.
2.2.2.2AGSS 机箱设备
AGSS UNIT BOX
GALAXY IPC－AG 控制器与 GPS 避雷器、电台避雷器安装集成在移动站 AG

机箱内；移动站 AG 机箱通过 4 个自攻钉固定在电气房内侧壁上。安装图片如下：
GALAXY IPC-AG controller, the GPS arrester, and the radio arrester are integrated
into a mobile station box; the mobile station box is fixed by four screws on the inner
wall of the electrical room. The installation is shown below:

图 8 移动站 AGSS 机箱安装图

Installation of RTG AGSS box
机箱内部连接详细图如下所示：
The details inside of AGSS UNIT Box:

图 9 移动站 AGSS 内部安装图

Installation of RTG AGSS inside
2.2.2.3PD 机箱设备
PDS UNIT BOX
在司机室内电气柜上方墙壁上打孔，并攻丝 M6 螺纹，将 GALAXY IPC-PD 机

箱固定。安装如下图所示。线缆从电气柜侧面穿孔进入电气柜。
One hole is drilled on the wall in the cabin, and one M6 screw is used to fix the
GALAXY IPC-PD/SP box. The installation is shown below.The cable is inserted into the
electrical cabinet through a hole on the side of the cabinet
图 10 GALAXY IPC-PD 控制机箱安装图

Installation of RTG PD box
内部细节图：
The internal details:

图 11 移动站 PD 内部安装图
Installation of RTG PD inside

2.2.2.4电缆布线
Cable wiring
AG 天线电缆包括 GPS 天线电缆（两条，GPS1 和 GPS2）和电台天线电缆（一

条）；分别从 GPS 天线、电台天线处引线沿 RTG 框架穿线至电气房内 RTG 移动站
设备箱处。
AG antenna cables include two GPS antenna cables (GPS1 and GPS2) and one
radio antenna cable .they are respectively inserted into the RTG along the RTG
framework.
2.2.2.5控制开关和故障指示灯
The control switch and the fault indicator
在驾驶室内司机右侧操作台上安装选择开关及状态指示灯，当指示灯亮起，
表示相应功能正常使用。
Three selective switches and there one status indicators are installed on the right
side of the driver operating console, When the indicator light is on, the system works
well.
3 常见故障及维护
Common faults and maintenance
3.1 RTG 移动站系统
RTG rover station system
GLAXAY IPC－AG 控制器是大车自动纠偏的核心设备，其主要故障在 GP 显示

屏上进行显示。
GLAXAY IPC－AG controller is the main device of AGSS function, and its major
fault are shown on the touch panel.
Table 1 AGSS fault and solution
序号 GP 显示故 RTG 动作现象分析原因处理方法

Seq 障信息 RTG action Reason Solution
Fault
message
1、设备供电是否异检查空开、供电链路
常 Check the air switch,

Whether power supply wire
supply is
normal
大车停止（开关打 2、与 PLC 通讯是否检查通讯数据线链路
到手动，故障复位，异常 Check the PLC

大车可继续运动） Whether the communication wire
AGSS Gantry stop（turn communication
1
Malfunction the switch to between GALAXY
manual, fault IPC-AG and PLC
reset and then is normal
move the gantry） 3、 GPS 不定位检查 GPS、电台天线电缆链
GPS position is 路
invalid Check GPS, radio
antenna cable connection
4、 RTG 不在场正常控制
RTG is out of yard Normal
AGSS 大车停止（开关打 1、设备供电是否异检查空开、供电链路
2 Communica 到手动，故障复位，常 Check the air switch,

tion 大车可继续运动） Whether power supply wire

Malfunction Gantry stop（turn supply is normal
the switch to 2、与 PLC 通讯是否检查 PLC 通讯数据线链路
manual, fault 异常 Check the PLC

reset and then Whether the communication wire
move the gantry） communication
between IPC-AG
and PLC is normal
大车偏离值大于正常控制
Gantry slow 大车减速
20cm Normal
3 down by Gantry slow the deviation is
AGSS down over than 20cm
1、 GP 是否同时提处理同<1>
示“AGSS Solution is the same to 1
Malfunction”
Touch panel show
“ AGSS
Malfunction” at the
same time
2、 GP 是否同时提处理同<2>
Gantry
大车停止示 “ AGSS Solution is the same to 2
4 stopp by
Gantry stop Communication
AGSS
Malfunction”
Touch panel show
“AGSS
Communication
Malfunction”
3、 RTG 大车是否出开关打到手动，故障复位，
场，大车是否 90 大车可继续运动
度 turn the switch to

Whether the manual, fault reset and
gantry is out of then move the gantry
yard , the
gantry is 90
degree
4、大车偏离值是否开关打到手动，故障复位,
大于 30cm 手动纠偏将大车纠正到正
the deviation is 确位置,再次使用自动纠偏

over than 30cm Turn the switch to
manual, fault reset and
then move gantry to
correct position, then
continue to use auto
steering.
5 PDS PDS will not send The cable Please check the connection
communicat position information between PLC and between PLC and PDS.
ion fault to VMT PDS is well connected
备注：
1、 GPS 只是在大车 0 度时候控制大车运动，当大车 90 度，GPS 不控制大车运动。
2、当大车运动受限，请尝试 AGSS 开关拨到 MANAUL，并故障复位，再次运动大车。
3、以上故障经问题排查后，仍无法解决，请联系国泰星云进行问题确认。
Remarks:
1、 The GPS controls the gantry to move only when it is moving at 0 degree. If it
is moving at 90 degree, the GPS will not control gantry.
2、 When there is a limit on the gantry’s movement，try to switch the AGSS to
MANAUL and reset. Moves the gantry again.
3、 If the problem is still unsolved after fault checking, please contact our
engineer.

3.2 基准站系统
Base station system
基准站系统如出现故障，将会导致所有的 RTG 移动站系统不能正常工作。
因此，无特殊情况，建议不要去更改或重启 GPS 基准站系统。
All the RTG rover stations would not work normally if the base station system has
fault. Therefore it is not recommended to make any changes to the GPS base station
or restart the GPS base station in usual cases.

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RTG DGPS 系统

RTG DGPS SYSTEM

RTG 都已经安装了国泰星云的 GPS 系统，具备 1）RTG 自动纠偏（AGSS）、

System Logic Diagram

整个系统分为二个子系统：DGPS 基准站子系统，负责生成并播发 GPS 差分

2 / 18 Cathay Nebula Science &Technology Co., Ltd.

GPS antenna RF antenna

System Details Spec

DGPS Base Unit

System Component of DGPS Base Unit

DGPS 基准站子系统包括 2 个 GALAXY IPC－BS 控制器(集成 GPS 接收机)、GPS

3 / 18 Cathay Nebula Science &Technology Co., Ltd.

RF Antenna GPS Antenna

The roof of building

Installing DGPS Base Unit Case

4 / 18 Cathay Nebula Science &Technology Co., Ltd.

图 4 基准站 GPS 和电台天线安装图

5 / 18 Cathay Nebula Science &Technology Co., Ltd.

2.2 RTG 移动站系统

DGPS RTG UNIT

RTG 移动站系统分为了 AGSS 系统，PDS 系统。

6 / 18 Cathay Nebula Science &Technology Co., Ltd.

Radio GALAXY IPC – AG PLC

AGSS Unit Box RTG

The elements of AGSS UNIT

PDS 系统主要硬件设备包含 PDS Box。

7 / 18 Cathay Nebula Science &Technology Co., Ltd.

PDS Logic Diagram

PDS Unit Box

GALAXY IPC – PD PLC

2.2.2.1GPS 天线 & 电台天线

GPS antenna and Radio antenna

RTG 移动站 AGSS 系统中包含 2 个 GPS 天线与 1 个电台天线，安装于 RTG 电

为了便于说明和区分，将 2 个 GPS 天线按照序号 1、2 定义，以小车朝向为

8 / 18 Cathay Nebula Science &Technology Co., Ltd.

AGSS UNIT BOX

GALAXY IPC－AG 控制器 与 GPS 避雷器、电台避雷器安装集成在移动站 AG

9 / 18 Cathay Nebula Science &Technology Co., Ltd.

图 8 移动站 AGSS 机箱安装图

10 / 18 Cathay Nebula Science &Technology Co., Ltd.

图 9 移动站 AGSS 内部安装图

PDS UNIT BOX

在司机室内电气柜上方墙壁上打孔，并攻丝 M6 螺纹，将 GALAXY IPC-PD 机

11 / 18 Cathay Nebula Science &Technology Co., Ltd.

图 10 GALAXY IPC-PD 控制机箱安装图

12 / 18 Cathay Nebula Science &Technology Co., Ltd.

13 / 18 Cathay Nebula Science &Technology Co., Ltd.

AG 天线电缆包括 GPS 天线电缆（两条，GPS1 和 GPS2）和电台天线电缆（一

The control switch and the fault indicator

Common faults and maintenance

3.1 RTG 移动站系统

RTG rover station system

GLAXAY IPC－AG 控制器是大车自动纠偏的核心设备，其主要故障在 GP 显示

14 / 18 Cathay Nebula Science &Technology Co., Ltd.

序号 GP 显示故 RTG 动作现象 分析原因 处理方法

常 Check the air switch,

到手动，故障复位， 异常 Check the PLC

RTG is out of yard Normal

AGSS 大车停止（开关打 1、 设备供电是否异 检查空开、供电链路

2 Communica 到手动，故障复位， 常 Check the air switch,

15 / 18 Cathay Nebula Science &Technology Co., Ltd.

manual, fault 异常 Check the PLC

示“AGSS Solution is the same to 1

GALAXY IPC－AG 控制器与 GPS 避雷器、电台避雷器安装集成在移动站 AG

序号 GP 显示故 RTG 动作现象分析原因处理方法

到手动，故障复位，异常 Check the PLC

AGSS 大车停止（开关打 1、设备供电是否异检查空开、供电链路

2 Communica 到手动，故障复位，常 Check the air switch,

2、当大车运动受限，请尝试 AGSS 开关拨到 MANAUL，并故障复位，再次运动大车。