% Project Drogheda — GNSS / Log Analysis findings (Helgen Beamer / Metropolis)
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  \scriptsize\color{gray}\insertshortauthor\ · \insertshorttitle\ · Confidencial — Helgen Servicios Especializados}

% ---------- Metadata ----------
\title[Drogheda · GNSS/Logs]{Project Drogheda — GNSS \& Log Analysis}
\subtitle{HBOX RTK fleet: bench triage, healthy baseline, and observability}
\author[Helgen]{Helgen Technologies — CTO/CSO}
\date{20 June 2026}
\titlegraphic{}

\begin{document}

\maketitle

\begin{frame}{Agenda}
  \tableofcontents
\end{frame}

% =====================================================================
\section{Context}

\begin{frame}{Where we are}
  \begin{columns}[T]
    \column{0.58\textwidth}
      \begin{itemize}
        \item HBOX RTK trackers on Hutchison Ports heavy equipment (ICAVE, Veracruz) — worked, then failed.
        \item Three independent failure fronts, fixed in parallel:
          \begin{itemize}\footnotesize
            \item \textbf{Backend} (retranslator) — could drop the fleet / black-hole a unit
            \item \textbf{Thermal} — PLA box in a sealed cabinet (heat trap)
            \item \textbf{Prototype HW + observability} — hand-wired; logs untrustworthy
          \end{itemize}
        \item Field units pulled $\rightarrow$ bench triage in Querétaro (firmware v1, no thermal log).
      \end{itemize}
    \column{0.4\textwidth}
      \begin{alertblock}{Invariant}
        Corrections ride the \textbf{4G modem}, not the GNSS — recover the link by power-cycling the stack.
      \end{alertblock}
  \end{columns}
\end{frame}

\begin{frame}{The signal chain}
  \centering
  \begin{tikzpicture}[node distance=7mm and 13mm]
    \node[blk] (f9p) {ZED-F9P\\(GNSS)};
    \node[blk, right=of f9p] (mas) {4G NTRIP\\Master};
    \node[blk, right=of mas] (ret) {retranslator\\(htracker)};
    \node[blk, right=of ret] (wial) {Wialon};
    \node[acc, above=10mm of mas] (cas) {NTRIP caster\\(rtk2go)};
    \draw[arr] (f9p) -- node[above, font=\tiny]{UART2: GGA} (mas);
    \draw[arr] (mas) -- node[above, font=\tiny]{UDP} (ret);
    \draw[arr] (ret) -- (wial);
    \draw[arr] (cas) -- node[right, font=\tiny]{RTCM in} (mas);
  \end{tikzpicture}
  \vfill
  \footnotesize Corrections come \emph{down} from the caster over 4G; position goes \emph{out} by UDP to the retranslator. The GNSS receiver never talks to the network directly.
\end{frame}

% =====================================================================
\section{Backend (retranslator)}

\begin{frame}{Backend — hardened \& deployed to prod}
  \begin{itemize}
    \item \textbf{Head-of-line blocking removed:} a \texttt{WialonForwarder} thread pool does all Wialon TCP I/O \emph{off} the UDP receive loop — one slow upstream no longer drops the fleet.
    \item \textbf{Anti-jump now time-aware + self-healing:} re-anchors after rejects, clears on disconnect — a unit is never permanently black-holed.
    \item \textbf{Identity keyed by \texttt{cell\_id}} (CGNAT-safe), not \texttt{(ip,port)}.
    \item Monitor gained a \textbf{backend-victim} KPI; logs ship to Grafana Loki. \alert{Live in production.}
  \end{itemize}
  \begin{alertblock}{Free triage}
    ONLINE in htracker + OFFLINE in Wialon = \textbf{backend victim}, not a dead radio.
  \end{alertblock}
\end{frame}

% =====================================================================
\section{GNSS log findings}

\begin{frame}{What we analyzed}
  \begin{itemize}
    \item \textbf{7 swap-matrix bench captures} (RTK board $\times$ NTRIP master) + one healthy baseline.
    \item \textbf{Three views per unit:} u-blox \texttt{.ubx} (receiver), 4G-NTRIP console \texttt{.log}, server retranslator \texttt{tcpdump}.
    \item Decoded the NTRIP-caster and ZED-F9P configuration files.
    \item Built local tooling so this is repeatable (explorer + analyzer + dashboard).
  \end{itemize}
\end{frame}

\begin{frame}{Headline: receivers are fine — RTK is not being achieved}
  \begin{itemize}
    \item Every board emits \textbf{valid NMEA} (6–12 sats, good HDOP). The ZED-F9P is \emph{not} the failure.
    \item But \textbf{every epoch is SPS (quality 1)} — zero RTK (4/5). Centimetre position never delivered.
    \item \textbf{Why:} free public \textbf{rtk2go} caster (no SLA) + F9P config saved to \textbf{RAM only} + indoor/bench sky.
    \item The F9P message config itself is \textbf{correct} — GGA on UART2 @ 1\,Hz.
  \end{itemize}
\end{frame}

\begin{frame}{Every unit is SPS — none reached RTK}
  \centering
  \includegraphics[width=0.88\textwidth]{fig/fig_fix_compare.pdf}\\[2mm]
  \footnotesize Max GGA fix quality per capture (7 bench + baseline) — all flat at 1 (SPS); the RTK line (4) is never reached.
\end{frame}

\begin{frame}{Why: the corrections never settle}
  \centering
  \includegraphics[width=0.82\textwidth]{fig/fig_ntrip_delay.pdf}\\[2mm]
  \footnotesize Even on a healthy unit the NTRIP correction delay sawtooths up to the 300\,s restart watchdog — the free rtk2go feed is intermittent.
\end{frame}

\begin{frame}{Healthy baseline — \texttt{RTK14\_440} (three views agree)}
  \begin{columns}[T]
    \column{0.56\textwidth}
      \begin{itemize}\small
        \item \textbf{Receiver:} 341 epochs, 100\% valid, 12 sats, HDOP 0.75 — SPS.
        \item \textbf{Server:} 984 packets, steady 1\,Hz, \textbf{zero dropouts}, live in Wialon.
        \item \textbf{Console:} ``registered'' only — no forwarding lines.
      \end{itemize}
    \column{0.4\textwidth}
      \begin{alertblock}{The trap}
        Healthy \textbf{delivery} $\neq$ \textbf{RTK}. Baseline = healthy SPS + reliable delivery.
      \end{alertblock}
  \end{columns}
\end{frame}

\begin{frame}{Baseline receiver — healthy geometry, stuck at SPS}
  \centering
  \includegraphics[width=0.93\textwidth]{fig/fig_baseline_gnss.pdf}\\[1mm]
  \footnotesize \texttt{RTK14\_440} u-blox capture: 12 sats, HDOP 0.75, C/N0 $\sim$20 dB-Hz — but the fix never leaves 1 (SPS).
\end{frame}

\begin{frame}{Baseline delivery — healthy end-to-end}
  \centering
  \includegraphics[width=0.93\textwidth]{fig/fig_delivery.pdf}\\[1mm]
  \footnotesize Server-side tcpdump: 984 datagrams, steady $\sim$1\,Hz, max gap 0.86\,s — the unit is genuinely reporting (live in Wialon).
\end{frame}

\begin{frame}{The console blind spot — and a retraction}
  \begin{itemize}
    \item The \emph{provably-healthy} unit logs the \textbf{same sparse console} as units that looked ``failed''.
    \item $\Rightarrow$ the 4G-NTRIP console \textbf{cannot prove forwarding}. Absence of lines $\neq$ failure.
    \item \alert{Retraction:} the earlier ``master-14 ingest fault'' is \textbf{withdrawn}.
    \item Only \textbf{master 21} is a confirmed fault: modem won't register (\texttt{0xFFFFF} + 511 AT-parser errors).
  \end{itemize}
\end{frame}

\begin{frame}{Per-master verdict}
  \centering
  \begin{tabular}{ll}
    \toprule
    \textbf{NTRIP master} & \textbf{Result} \\
    \midrule
    \#04 · \#17 · \#24 · \#25 & Healthy — registered + forwarding \\
    \#14 & \alert{Indeterminate} — console can't confirm; baseline proves it forwards \\
    \#21 & \alert{Failed} — modem won't register (\texttt{0xFFFFF} + 511 AT errors) \\
    \bottomrule
  \end{tabular}
  \vfill
  \footnotesize Confirm a unit only from a \texttt{.ubx} (fix), the Blackpill, or a server delivery capture — never the console alone.
\end{frame}

\begin{frame}{Heat — not implicated (by these logs)}
  \begin{itemize}
    \item Room-temperature bench captures, \textbf{no thermal channel} (firmware v1).
    \item The hard faults reproduce \textbf{cold} $\Rightarrow$ heat is \emph{not} the cause of what we see here.
    \item The \textbf{field} thermal hypothesis stays open — needs a thermocouple cabinet soak and/or v2 MCU-temp logging.
  \end{itemize}
\end{frame}

% =====================================================================
\section{Changes \& tooling}

\begin{frame}{Observability — the real fix}
  \begin{itemize}
    \item The Blackpill watchdog already computes fix, packets, state, battery, MCU temp.
    \item \textbf{v2.1 logging spec:} replace the self-overwriting ANSI dashboard with a \textbf{structured, timestamped, parseable} stream (+ decoded reset cause).
    \item \textbf{\texttt{hbox-log-tools}} repo: in-browser Log Explorer (parse + plot + compare to baseline, offline), batch analyzer, dashboard, manual.
  \end{itemize}
\end{frame}

\begin{frame}[fragile]{The new per-unit log line (v2.1)}
\begin{lstlisting}
BOOT,32,fw=2.1,reset=POR
COLS,ms,state,link,fix,sat,rx,rate,vbat,v5v,veh,ign,tc,tmax,der,rec,limp,nmea_age
TLM,190000,RUN,OK,4,12,340,1HZ,5.01,1,1,48,49,0,0,0,310
EVT,490000,RUN,DEGR,RTK lost -> recycle 4G/NTRIP
\end{lstlisting}
  \footnotesize Fix + packets + state + reset cause $\Rightarrow$ per-unit health is unambiguous from the unit's own log — no server tcpdump needed.
\end{frame}

% =====================================================================
\section{Next steps}

\begin{frame}{Next steps}
  \begin{enumerate}
    \item Save the F9P config to \textbf{FLASH} + verify (RAM-only is a power-cycle risk); check the simpleRTK2B Pro \texttt{XBEE$\leftrightarrow$UART2} switch.
    \item Move corrections off rtk2go $\rightarrow$ a \textbf{dedicated caster} (HelgenSRV) with uptime.
    \item \textbf{Open-sky RTK retest} with a verified caster $\rightarrow$ confirm fix $\geq 4$.
    \item Connect the \textbf{Blackpill} with v2.1 logging; modem-triage master 21; thermal soak.
  \end{enumerate}
\end{frame}

\begin{frame}[standout]
  The radios work.\\
  We deliver \textbf{SPS} reliably — \textbf{not RTK}.\\[2mm]
  {\normalsize The blockers are \textbf{corrections} and \textbf{observability} — both now addressed.}
\end{frame}

\end{document}