Table of Contents

MS-96 Carpack User Guide

Carpack Kit

The CARPACK Kit includes:

  • A chassis for mounting on a vehicle :
    • The Main Chassis
    • A mini-bar on two suction cups
    • A clamp
  • A 3m cable for the connection between the remote box and the MS-96 system
  • One DC/DC cigarette lighter power supply

Setup

The chassis for vehicle assembly has many adjustment points allowing it to adapt to different vehicles.

Configuration #1

The first configuration consists of installing the chassis on the roof of a vehicle using a roof rack, which is itself attached to the vehicle.

1- Install the “clamp” on the roof rack and tighten the clamp using the clamping knobs
Depending on the bar types, the clamp can be positioned vertically.

2- Install the bar on the vehicle.

3- Deploy the chassis by following the steps below.

3.1- Unfold the chassis.

3.2- Unfold both arms of the suction cups and tighten the knobs in the groove.

3.3- Lift the pin and open the jaw forward.

3.4- Loosen the telescopic arm clamp lever.

4- Position the chassis on the roof of the vehicle.

4.1- Engage the front jaw on the clamp.

4.2- Close the jaw and make sure the pin is engaged.

5- Adjust the chassis trim on the roof of the vehicle.

5.1- Adjust the trim by adjusting the angles of the two side arms using the rear knobs.

6- Secure the suction cups on the bodywork. These must be able to be positioned as far back as possible from the vehicle.

7- Tighten the telescopic arm lever.

Configuration #2

The second setup uses the two-suction cup mini-bar as a replacement for the clamp on the roof rack.

1- Position the mini-bar on the roof of the vehicle.

2- Repeat until step 3 depicted above to position the chassis and make the necessary adjustments.

MS-96 Installation

The operator can then install the system:

1- Connect the 3m cable to the dock of the MS-96

2- Run the cable through a window of the vehicle to connect it to the remote box

WARNING#1: the remote box must always be positioned in the passenger compartment of the vehicle. It must in no case be located outside.

3- Position the MS-96 on the dock and close the SmartConnect.

4- Secure the MS-96 with the closure of two side hooks

Continuous charging of the battery pack

The remote box can be connected to the supplied power supply to benefit from a permanent charge of the two on-board batteries. Thus, the system has a permanent power supply while benefiting from a “buffer” energy thanks to the on-board batteries.

Setup diagram

Recommendations

Preparation

  • In one way or another, it is preferable to carry out a reconnaissance phase of the site before starting the mission.
  • Predict the trajectory in order to optimize the operation with the trajectory overlap to optimize the loop search
  • The operator will be able to load trajectories (polylines) or work areas (polygons) representing his site into the system in order to visualize the areas to be covered on site.

Kinematic model

In the case of the carpack, the system mounted on a car, the user will be able to enter a new model, customized to its configuration, vehicle, assembly. They will then be asked to:

  • The presence or absence of a positioning aid (single or dual antenna GNSS, prism)
  • The main lever arm
  • The lever arm of the second antenna in the case of the dual antenna

These lever arms must be expressed in a specific reference frame and relative to a particular reference point.

Axis orientation for measuring lever arms.

The measurement of the main lever arm consists of giving ±5cm the coordinates expressed in meters of the yellow dot above (corresponding to the middle of the rear axle) with respect to the reference point of the MS-96 system (rubber located below the oblique LiDAR sensor).

Position of the reference point in red.

Typically, as an example, this point has coordinates of the type:

  • X = Positive value between 0 and 1.5m
  • Y ≃ 0
  • Z = positive value between 1.5m and 2.5m

In the same way, the definition of the lever arm of the second antenna will respect the same axes.

System Initialization

Once installed on the vehicle, it is necessary to activate the dynamic navigation mode (“Full Nav”). To do this, the user moves the vehicle a few meters with good GNSS reception.

WARNING#2: the position on the map will only be active when the system has its navigation mode active.

Then, it is recommended to drive for five (5) to ten (10) minutes, without any special procedure, with good GNSS reception, to let the sensors warm up and reach their internal working temperatures. Once this warm-up period has been completed, the operator can start his first scan.

Outdoor event

We remind you that the system is not designed to operate under the following climatic or environmental conditions:

  • Rain or other precipitation
  • Dense dust
  • Saturated humidity

Regarding unpaved roads, it is prudent to drive at a suitable speed to keep the system on the vehicle. In this situation, it will be preferable to favor configuration #1.

WARNING#3: check the suction force of the suction cups.

It is highly recommended to check the fasteners and suction cups several times a day. The vacuum generated by the suction cups can change over time, especially with the outside temperature which can affect the density of the air.

How to get around - Trajectory

No special precautions are required regarding the trajectories to be followed. Any manoeuvre authorised by the Highway Code is permitted by the system.

In the case of an urban road network, each crossing can be useful for closing the loop during the calculations. It will therefore not be necessary to drive several times on the same road. On the other hand, passing in opposite directions of the same street can improve density and limit masks.


On motorways, it may be necessary to pass several times in the same direction, on different lanes, for reasons of density and completeness over the entire width of the road.