SARCTRAC Mk3b User Manual

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Contents
Introduction......................................................................................................... 5
Background ......................................................................................................... 5
History ............................................................................................................. 6
Acronyms and Abbreviations ................................................................................. 7
Features .............................................................................................................. 8
Links ................................................................................................................... 8
Safety ................................................................................................................. 9
Safety Testing.................................................................................................... 10
Specifications..................................................................................................... 10
Regulatory Compliance ....................................................................................... 11
Limitations ......................................................................................................... 11
Disclaimer ......................................................................................................... 12
SARCTRAC Setup ............................................................................................... 12
Inventory Check ............................................................................................. 12
Additional Items.............................................................................................. 12
Tripod Mount .................................................................................................. 13
Lift-Arm .......................................................................................................... 14
Sensor Mount ................................................................................................. 15
Balance Check ................................................................................................ 16
Securing the Cables ........................................................................................ 16
Software Installation ....................................................................................... 19
Connecting to SARCTRAC ................................................................................ 20
Setting the Starting Position ............................................................................ 23
Testing the Safety Features ............................................................................. 23
SARCTRAC Manual Operation ............................................................................. 25
SARCTRAC Automatic Operation ......................................................................... 31
Gpredict™ ...................................................................................................... 31
PstRotator™ ................................................................................................... 31
Orbitron™ ...................................................................................................... 31
SATPC32™ ..................................................................................................... 32
SARCTRAC Application Notes .............................................................................. 33

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 Electro Magnetic Interference .......................................................................... 33
Electro-Magnetic Compatibility ......................................................................... 34
Polarization Fading .......................................................................................... 35
Tracking Accuracy ........................................................................................... 35
PC-Based Satellite Tracking Applications ........................................................... 35
SARCTRAC Maintenance ..................................................................................... 37
SARCTRAC Configuration ................................................................................. 37
SARCTRAC Sensor Calibration .......................................................................... 38

Tables
Table 1 - Acronyms and Abbreviations................................................................... 7
Table 2 – Electro Magnetic Compatibility Tests..................................................... 34
Table 3 - System Configuration ........................................................................... 37

Figures
Figure 1 – Regulatory Compliance Mark............................................................... 11
Figure 2 - Tripod Mount...................................................................................... 14
Figure 3 - Lift-Arm ............................................................................................. 15
Figure 4 - Sensor Mount ..................................................................................... 16
Figure 5 - Quick Disconnect Power Cable ............................................................. 18
Figure 6 - PuTTY Installation .............................................................................. 19
Figure 7 – Device Manager and PuTTY Configuration ........................................... 20
Figure 8 – PuTTY Terminal Window .................................................................... 21
Figure 9 - SARCTRAC Login Screen ..................................................................... 22
Figure 10 – Start/Stop command ........................................................................ 25
Figure 11 – Unwind to home command ............................................................... 25
Figure 12 – Unwind 1-turn right command .......................................................... 25
Figure 13 – Unwind 1-turn left command............................................................. 26
Figure 14 – Abort command ............................................................................... 26
Figure 15 – Logout command ............................................................................. 26
Figure 16 – System reset command .................................................................... 26
Figure 17 – Calibration command ........................................................................ 26
Figure 18 - Debug command .............................................................................. 27
Figure 19 – Restore factory sensor calibration and system configuration ............... 27
Figure 20 – Long test command .......................................................................... 28
Figure 21 – Monitor command ............................................................................ 28
Figure 22 – Program command ........................................................................... 29
Figure 23 – Race test command .......................................................................... 30
Figure 24 – Simulation command ........................................................................ 30

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Introduction
SARCTRAC is a portable, integrated, satellite tracking system, which is now available
as a fully assembled, tested and calibrated product. With a SARCTRAC rotator and
your own equipment and software you can listen to orbiting space beacons, make
two-way satellite contacts, download earth images and decode satellite telemetry. It's
both fun and educational!

Background
SARCTRAC was developed so that students at our School Amateur Radio Clubs can
have fun and learn about Low Earth Orbiting satellites during our lunchtime sessions.
SARCTRAC was designed for portable operation: It takes minutes to set up, in the
playground, on a mountain summit, down at our local footy oval or even in the
backyard. Use it with your favourite PC-based, satellite tracking and radio control
application right away. To listen and talk to satellites we like to use our Yaesu FT-817
radio, but for some satellites you can just use a hand-held, VHF/UHF FM radio - or
even a pair of radios, so you can hear your own signal coming from the satellite. Our
School Amateur Radio Club students think SARCTRAC is really fascinating to watch -
and so do we. They try to imagine where the satellite is, by looking along the antenna
boom and ask: "It's up there?"
The inspiration for SARCTRAC was to help little kids have fun in space: Well, at least
to play with things in low earth orbit! You might be surprised just how many tiny cube-
sats and regular polar-orbiting satellites there are. The first challenge is to know when
are where the satellites will be. Then to point a hand-held antenna up at them for
about 10 minutes while they pass overhead. You also have to constantly adjust your
radio transmitter and receiver frequencies to compensate for something called Doppler
shift. It turned out that our young radio enthusiasts found all that quite challenging,
which detracted from the fun of getting to know our new friends in space. It was hard
for us, too, just getting everything to work at different schools: So, we set about to
design a fully automated system.
To make friends with a satellite you first have to know when and where it will be;
point a small, directional antenna at it and use an Amateur Radio transceiver to listen
or talk through it. It is a bit like fishing in the sky and just as challenging. It is really
exciting when the kids hear their first satellite and then realise where it is. They always
ask. “Can we talk to it?” We say. “Of course, you can.” But the reality is that satellites
move so fast that their position and radio frequency is constantly changing. Tracking
a satellite by hand, while trying to tune an Amateur Radio transceiver for a typical 10-
minute overhead pass, is a real chore for kids. Setting up an automatic tracking
system, with a commercial antenna rotator is both tricky and expensive. So, we
designed SARCTRAC to be quick and easy for the kids to set up, and now, it does all
the work for them. SARCTRAC helps kids spend more time listening to signals from
space, receiving data or pictures and even communicating with others via satellites.
School kids in space? We say "No problems"!

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History
We first introduced our free, Arduino-based, "Mini Satellite-Antenna Rotator" in 2015.
It was a great success, with over 1000 radio enthusiasts from around the world
building one. Unfortunately, sourcing the correct components, compiling and
uploading the software and calibrating the sensor was too much for many who
attempted building it. Let alone the pitfalls of setting up and using third-party, satellite-
tracking software. And, as much as we love helping our readers out, we realised that
we were spending more time supporting them than developing new projects for the
kids.
We partly solved that problem by designing an integrated satellite tracking system
that just works: SARCTRAC Mk1 took us over 15 months to develop and was the
second generation of our 3D-sensor based antenna rotator. It was half the size of the
original unit with many new features. SARCTRAC Mk1 was offered as a DIY kit with
all the parts and software required. Unfortunately, it only supported one type of radio:
The Yaesu FT-817 and was only suitable for the experienced builder. So, we were still
confronted with a large support effort.
In 2020, due to the COVID-19 pandemic, we experienced parts shortages, freight
delays and months of home isolation. So, we spent another 5 months re-designing
and developing SARCTRAC Mk2, with many more new features. We offered the first
40 units as a fully assembled, tested and calibrated product. This approach provided
us with a wealth of experience in the production process. In the end we decided this
was the only way to ensure quality components, production processes, reduced
support effort and, ultimately, customer satisfaction. We continued our small-scale
production effort of fully assembled, tested and calibrated SARCTRAC Mk2 products
into 2021, even though our primary goal is introducing STEM to school kids using
Amateur Radio.
In 2021, we produced SARCTRAC Mk3a. We totally revised the project addressing
many user, hardware, software, integration, production and support issues: Most
readers just wanted the cheapest-possible, AZ-EL rotator to steer their hand-held
satellite antennas and to use it with their own PC-based, satellite tracking and radio
control applications. Quite a few had problems configuring SARCTRAC Mk2 to connect
to their home WiFi network. They wanted a dedicated, wireless solution that did not
require the use of a WiFi router. Some had problems when the cables got wound up.
They needed a fool-proof safety cut-off device. SARCTRAC Mk2, with a built-in
Raspberry Pi 3B+ tracker and web-server, required a lot of power, a large heatsink
and was noisy on the VHF/UHF satellite bands. So, we went back to basics and
designed a cheap, low-power, low-noise, rotator, with a dedicated wireless link, that
would work with popular, many free, PC-based, satellite-tracking applications.
In 2022, again due to the COVID-19 pandemic, we experienced parts supply problems,
specifically with the 3D Magnetometer/Accelerometer. At one stage we had a 75%
failure rate of new units! We took a year to sort out the supply problems and to re-
design the product with an all-new NC-machined enclosure. We improved the quick-

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disconnect cables, removing the need for a safety lanyard and we added an elevation
limit switch to improve safety. SARCTRAC Mk3b was first made available in January
2023.

Acronyms and Abbreviations

This manual uses the acronyms and abbreviations shown in Table 1.
Table 1 - Acronyms and Abbreviations
Term Meaning
<Key> A key on the PC keyboard
3D Three-Dimensional
A Ampere
AC Alternating Current
AZ Azimuth
CAT Computer Aided Technology
DC Direct Current
EC European Commission
EL Elevation
EMC Electro Magnetic Compatibility
EMI Electro Magnetic Interference
EMR Electro Magnetic Radiation
FCC Federal Communication Commission
PC Personal Computer
RF Radio Frequency
RPM Revolutions Per Minute
RX Receive
SARCTRAC Satellite Antenna Rotator Controller and TRACker
SELV Separated Extra Low Voltage
SSID Service Set IDentifier
TX Transmit
USB Universal Serial Bus
V Volt
WiFi Wireless Network
CAUTION: This box provides advice to avoid injuries
WARNING: This box provides advice to avoid damage
IMPORTANT: This box provides advice for correct operation

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Features
• Automatically rotates a satellite antenna under the control of a PC-based,
satellite tracking application.
• Light-weight and quick setup on a sturdy tripod - Best suited for portable
operation.
• Uses a 3D sensor mounted on the antenna-boom - Does not require any on-
site orientation or calibration.
• Built-in, high-torque DC motors - Steers a hand-held, dual-band, satellite
antenna via a counterbalanced lift-arm.
• Can be remotely controlled by popular, (mostly) free, Satellite Tracking
applications on a Windows or Linux PC, Laptop, Raspberry Pi etc.
• Includes a dedicated WiFi USB dongle - Wireless remote control up to
30m/100ft away.
• Built in WiFi Access Point - No WiFi router or hotspot required.
• Emulates AMSAT EasyCommII rotator protocol – Steers antenna and provides
antenna position feedback
• Tested with PstRotator™, Gpredict™, SatPC32™ and Orbitron™. Others TBA.
• Built-in serial terminal utility for manual user control, debug, monitoring,
calibration, configuration and simulation.
• Built in microcontroller - Low noise, fast start up and no shutdown procedure
required.
• Low power - Runs off 12 VDC, 125 mA, 1.5 W. Can be battery-powered.
Includes reverse polarity protection.
• Low Radio Frequency Interference - Barely audible noise on VHF/UHF.
• High Electro Magnetic Compatibility - Tested with 50 W continuous RF power
on VHF/UHF.
• Factory calibration - Improved pointing accuracy and repeatability.
• New PID motor controller - Smoother antenna positioning and better stability.
• Provides an intelligent anti-windup algorithm - Automatically unwinds the
cables between passes.
• Provides safe operation under continuous motor-stall condition.
• Provides a quick-disconnect DC power connector and elevation limit switch -
Foolproof anti-windup safety device.

Links
• SARCTRAC Mk3 Project - All about SARCTRAC Mk3
• SARCTRAC Mk3 Product - How to buy SARCTRAC.
• SARCTRAC Production - See how SARCTRAC is made
• SARCNET YouTube Channel - See videos of SARCTRAC working

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Safety
SARCTRAC is only to be used under adult supervision. It must never be operated
unattended. Stand away from the antenna while operating. Immediately
disconnect the power to avoid any damage or injury.
Please read the following very carefully. We accept no responsibility or liability for
the following:
• SARCTRAC is a portable, power-operated, robotic machine with autonomous
behaviour.
• SARCTRAC may move the attached antenna, without warning, in any direction.
• Restricted access and constant supervision are required to prevent injury or
damage.
• Installation of appropriate safety guards, signage and a cut-off switch are
recommended.
• Immediately disconnect the power to avoid any possible injury or damage.
• Not suitable for unattended operation - Movement may cause injury, cable or
antenna damage.
• Not suitable for fixed or permanent outdoor installation - Unit is light-duty.
• Beware of moving parts - Unit may move without warning. Do not stand near
operating unit.
• Beware of eye hazards - Moving satellite antennas are prickly. Eye protection
is recommended.
• Beware of pinch hazards - Keep fingers away from moving parts.
• Beware of electromagnetic radiation hazards - Do not use with high power (>
10W) transmitters.
• Beware of electrocution hazards - Do not use near power lines.
• Beware of lightning hazards - Do not use in thunderstorms, or in rainy or windy
conditions.
• Unit must be fitted and tested with the quick-disconnect cables provided.
• Read the on-line user manual at [Link] before
operation.

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Safety Testing
We have conducted the following safety testing of the completed product:
• Motor stall: The motors do not overheat or draw excessive current under
continuous, full-power, stalled conditions.
• Antenna impact: The Arrow™ Antenna elements were not damaged under full-
power impact with stationary objects or under continuous, restraint conditions.
• Human impact: The human operator was not injured under full-power impact
with the antenna. Note: Eye damage could occur even when the antenna is
motionless.
• Cable windup: The motors provide [Link] of static torque and can easily strip
cables which have wrapped around the motor shafts. Stripped power cables
could create short-circuits. To prevent this, quick-disconnect DC power cable
operates to disconnect the power if the unit rotates more than about two turns.
An elevation limit switch operates to reset the unit if the elevation is less than
30 degrees or greater than 150 degrees. The user manual provides a step-by-
step procedure to correctly install and test these safety features.

Specifications
• Enclosure Size: 145x105x65mm (5.7x4.1x2.2 inch). Operating Temperature: 0-
40 Celsius.
• Ingress protection: Enclosure: IP65 (with gasket fitted). 3D sensor: IP68. USB
dongle: IP68.
• Anti-Windup safety mechanisms: Quick-disconnect power cable and elevation
limit-switch.
• Sensor cable: 1 m. Power cable: 1 m. USB cable: 150 mm. USB cable type:
USB2.0, type A.
• Operating voltage: 12-15 VDC. Current: 125 mA (typical). With reverse polarity
protection.
• WiFi mode: 802.11b/g/n. WiFi band: ISM2.4GHz. WiFi range: 30 m (100 ft)
typical.
• Sensor type: Absolute position sensing 3D Magnetometer/Accelerometer.
• Control type: Real-time position feedback system with PID motor controller.
• Rotation range: Azimuth +/-360 degrees. Elevation -30 to 150 degrees.
• Rotation speed: 0.5 RPM (3 degrees per second) azimuth and elevation.
• Rotation torque: 50 [Link] static, 25 [Link] dynamic.
• Rotation accuracy: < +/- 5 Degrees (depends on local magnetic environment)
• Rotation mode: Shortest-path with configurable anti-windup algorithm.
• Start-up time: 10 seconds. No shutdown time required.
• Rotator emulation - Serial protocol: AMSAT EasyCommII with position feedback
- 9600/N/8/1.

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Regulatory Compliance
• SARCTRAC is essentially a pair of microcontroller modules which have been
granted FCC approval and CE approval. The regulatory compliance marks are
shown in Figure 1.
• SARCTRAC has a technical folder, which indicates it comprises the
microcontroller modules, together with additional sensors, drivers and motors,
which due to their nature and operating conditions would not affect this base
EMI/EMC qualification. In fact, the reduction of EMI to nearby receivers and
EMC with nearby transmitters, to levels well below international standards, was
a key design requirement of this product.
• SARCTRAC has been assembled with lead-free components and solder and
complies with Restriction of Hazardous Substances (RoHS) requirements.
• SARCTRAC operates on 12VDC @ 125mA and complies with Separated Extra
Low Voltage (SELV) device requirements.
• SARCTRAC introduces additional safety risks, which have been fully identified
above. Operational safety testing has been carried out to qualify the safety risks
as minor. The additional safety risks have been reduced, by design, to as low
as is reasonably practicable.

Figure 1 – Regulatory Compliance Mark

Limitations
• Only suitable for rotating a single, 2 kg, Yagi antenna mounted on a
counterbalanced lift-arm.
• Motors are light-duty: Forcing them, dropping or bumping the tripod may strip
the metal gears.
• Any magnet brought near the 3D sensor may magnetize it, invalidating the
factory calibration.
• Unit will oscillate unless solidly mounted on a rigid stand such as a heavy-duty
(speaker) tripod.
• Unit will oscillate unless the 3D sensor is rigidly mounted on the counterbalance
Lift-Arm.
• Unit will not track correctly if the 3D sensor is located near any magnetic
materials.
• Unit will not track correctly if operated within 20 degrees latitude of the North
or South poles.
• Unit will not track correctly if operated with high-power transmitters (>50 W).

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Disclaimer
This is partly a DIY construction project for the experience builder. We are not
responsible for your time, costs, tools, availability or substitution of parts. We are not
responsible for your lack of adherence to stated instructions, limitations, cautions,
warnings and safety directions. We will replace the unit or refund the price of
equipment in the event of a proven manufacturing defect. This is the total limit of our
liability.

SARCTRAC Setup
Before SARCTRAC can be used it needs to be set up properly. Please follow these
steps, in order, to get SARCTRAC ready for operation.

Inventory Check
SARCTRAC comes in a box with the following components. Please check that there
are no shortages, or any damage.
1. SARCTRAC Rotator Unit with the following attachments:
a. SARCTRAC 3D Sensor
b. SARCTRAC Quick Disconnect Power Cable and Cable Tie
2. SARCTRAC Accessories Bag:
a. 1 - SARCTRAC USB Dongle
b. 1 - Enclosure Cover Gasket (Remove the cover and fit this for IP-65)
c. 1 - 2.5 mm Hex Key
d. 1 - M8 x 50mm stainless-steel split-pin
e. 2 - 70 mm x 25 mm Velcro self-adhesive strips (hook and loop pair)
f. 2 - 6 mm Shaft Hubs each with 2 - M3 x 4 mm stainless-steel cap screws
g. 4 - M3 x 12 mm Pan-Head stainless-steel screws, spring washers & hex
nuts for the tripod mount
h. 4 - M3 x 10 mm Pan-Head stainless-steel screws, spring washers & hex
nuts for the lift-arm mount
i. 1 - 6g x 9.5 mm Pan-Head stainless-steel self-tapping screw for the
counterweight

WARNING: The SARCTRAC 3D sensor is a sensitive magnetometer/accelerometer.

Any magnet (e.g. a magnetic-tipped screwdriver) brought within 100 mm (4 inches)
of the sensor may permanently magnetize it, invalidating the factory calibration.

Additional Items
To set up SARCTRAC in accordance with this manual you will need the following
additional items:
1. DC power supply (or batteries) capable of supplying 12 VDC at 250 mA.
2. Satellite antenna: Hand-held, dual-band (ArrowII or equivalent)
3. Tripod: Heavy duty speaker tripod (Jaycar CW2860 or Altronics C0524 etc).
4. Tripod Mount: 1 - 25 mm (1 inch) threaded poly pipe plug or cap to suit tripod.

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 5. A DC power connector to suit your requirements.
6. 3 - stainless steel self-tapping screws, etc. to secure the tripod mount.
7. Lift-Arm and Counterbalance:
a. 1 - aluminium angle stock: 500x30x30x3 mm (20x1¼x1¼x1/8 inch)
b. 1 - aluminium diecast box: 101x51x25 mm (4x2x1 inch), Altronics
H0451, Hammond 1590G or similar.
c. 860 g (1.9 lb) lead shot (or old solder or pieces) to fill the diecast box.
d. 4 - Velcro Cable Ties, 150 mm (6 inch) x 25 mm (1 inch), double-sided
8. Tools:
a. Hacksaw or cut-off saw to cut the aluminium angle stock.
b. Small flat file to smooth the aluminium angle stock corners.
c. Hand-held drill with 3 mm (1/8 inch) Drill bit.
d. Blow-torch to melt the lead shot.
e. Kitchen scales to weigh the lead shot.
f. Small Phillips screwdriver.

Tripod Mount
Make a tripod mount for the Rotator:
1. SARCTRAC has to be mounted rigidly on a stand or tripod. SARCTRAC uses a
closed-loop feedback control system. If not rigidly mounted it will oscillate
wildly.
2. The tripod or stand must not be magnetised as it will affect operation at high
elevation angles. A thin steel tripod tube is not likely to become magnetized,
but it can be degaussed, if necessary, with an AC demagnetizer.
3. Prepare an extra heavy-duty speaker tripod. Remove the speaker bracket and
the existing shaft plug, if fitted.
4. Prepare your own tripod mount to suit your tripod. Note: This will vary
depending on the brand of tripod you have and the pipe accessories available
at hardware outlets in your country. The tripod mount must permit the AZ hub
to be secured, with the four screws provided, to the top of the vertical tripod
shaft.
5. A 25 mm (1 inch) threaded poly pipe plug worked for us as a tripod mount.
6. First, check that the pipe plug or cap is a tight fit.
7. Secure the AZ hub to the top of the tripod mount using the four M3 x 12 mm
screws, spring washers and nuts provided. Hint: Place the AZ hub inside the
tripod mount to accurately mark/drill the four mounting holes.
8. Secure the tripod mount to the top of the tripod shaft with 3 self-tapping
stainless-steel screws. The tripod mount must be rigid.
9. Secure the rotator’s AZ motor shaft on to the AZ hub at the top of the tripod
mount by tightening the hub screws with the 2.5 mm hex key. One hub screw
should align with the flat side of the AZ motor shaft. Note: Always leave a 3
mm gap between the AZ hub and the rotator enclosure to prevent the hub
screws touching the motor-mounting screws. See Figure 2.

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 Figure 2 - Tripod Mount

Lift-Arm
Make a counterbalanced lift-arm suitable for your antenna:
1. Cut the aluminium angle stock to size using a hacksaw or bench cut-off saw.
2. Round the sharp edges of the aluminium angle stock with a flat file.
3. Make a counterweight from a diecast aluminium box, filled with lead shot:
a. Note: You cannot use any ferro-magnetic material like steel or iron.
Lead-free tin solder sticks would be an environmentally-friendly
alternative material.
b. Remove the cover and discard the ferro-magnetic steel screws.
c. Fill the box with lead shot to a total weight of 860 g (1.9 lb) - suitable
for the Arrow antenna. The exact weight may need to be adjusted, later,
to balance the antenna and cables.
d. Melt the lead shot in a well-ventilated, fire-proof area (e.g. outside on a
house brick) with just sufficient heat from a blow-torch and allow it to
cool.
e. Replace the cover.
f. Secure the cover with 4 non-magnetic, stainless-steel screws, or use
tape or glue. Note: The lift-arm assembly must be totally free of all
magnetic material, such as mild steel.
4. Drill a 3 mm (1/8 inch) hole through the lift-arm and only 3 mm (1/8 inch) into
the diecast box.
5. Secure the counterweight to one end of the lift-arm, with the self-tapping
stainless-steel screw provided, as shown in Figure 3.

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 6. Secure EL hub to the opposite side of the lift-arm. using the four M3 x 10 mm
screws, spring washers and nuts provided, as shown in Figure 3. The pan-heads
of the screws should be on the hub side.
7. Secure the antenna handle to the lift-arm using 2 Velcro strips, as shown in
Figure 3. The wide Antenna elements should be horizontal so that they clear
the tripod. Note: Velcro is used for quick release of the antenna if hand-held
operation is later required. For a more rigid installation you can use cable-ties.
8. Secure the counterbalanced lift-arm/antenna assembly to the rotator’s EL
motor shaft by tightening the hub screws with the 2.5 mm hex key. One hub
screw should align with the flat side of the AZ motor shaft. The assembly should
be nearly horizontal. The flat side of the EL motor shaft should be at the top.
Note: Always leave a 3 mm gap between the EZ hub and the Rotator enclosure
to prevent the hub screws touching the motor-mounting screws. See Figure 3.

WARNING: Although the motors use metal gears, they can easily be stripped by the
leverage of the long antenna and lift-arm. Never mount an unbalanced antenna or lift-
arm on the EL motor shaft. Never manually force the antenna up, down or sideways.
Never drop or tip over the tripod. Never suddenly release the shaft of the tripod.

500 mm (20 inches)

140 mm (5.5 inches)

SARCTRAC ROTATOR ELEVATION LIMIT SARCTRAC WIFI

SWITCH CONTROL RF CHOKE SENSOR ANTENNA
EXCESS SENSOR CABLE

LIFT-ARM

ELEVATION VELCRO
ANTENNA HUB X4
HANDLE COUNTERWEIGHT
FILLED WITH LEAD
TRIPOD CABLE
MOUNT GLAND
TRIPOD
SHAFT
QUICK
DISCONNECT

POWER COAXIAL SENSOR

CABLE CABLE CABLE

Figure 3 - Lift-Arm

Sensor Mount
Mount the SARCTRAC sensor on the lift-arm:

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 1. Attach the self-adhesive Velcro hook strip (rough part) to the flat side of the
SARCTRAC sensor.
2. Attach the self-adhesive Velcro loop strip (soft part) at the end of the lift-arm
above the counterbalance.
3. Note: The SARCTRAC sensor tip, with the antenna wire, should be protruding
over the edge of the metal lift-arm. See Figure 4.
4. Route the excess sensor cable along the top of the lift-arm, as shown in Figure
3. Note: This helps keep the sensor cable shielded from excess RF energy.
5. Secure the sensor cable with Velcro around the lift-arm.
ELEVATION LIMIT SWITCH CONTROL
REMOVE JUMPER TO DISABLE LIMITS
RF CHOKE SARCTRAC 3D SENSOR WIFI ANTENNA
SEALED PROGRAMMING PORT (DON’T TOUCH)

VELCRO

LIFT-ARM

COUNTERWEIGHT
VELCRO

Figure 4 - Sensor Mount

Balance Check
1. Check the balance point of the counterbalanced antenna/lift-arm/sensor
assembly: Loosen the elevation hub screws to see if the antenna tilts down or
up. It should tilt up since a slight rear-heavy balance offset will help reduce any
backlash.
2. Correct the balance point by adding or removing weight from the
counterweight.

Securing the Cables

1. Unlock the tripod shaft. Extend it at least 500 mm (20 inches) from the bottom.
Insert a split pin into the nearest tripod locking pin hole with the eye directly
under the rotator cable gland (or as close as possible).

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 2. Insert a tripod locking pin in the next hole below the split pin. The tripod locking
pin allows the tripod shaft to be turned without any vertical movement.
3. Lock the tripod shaft. Connect the quick-disconnect connectors together. Wrap
the power cable twice around and down the tripod shaft, flush with the eye of
the split pin. Mark that point on the cable with a felt-tip pen.
4. Unwrap the power cable and thread it through the eye of the split pin. Secure
the marked position of the cable tightly to the split-pin using a cable-tie.
5. If the coaxial cable is also needs to be secured on the tripod, in the same way,
wrap the coaxial cable three times around the tripod shaft, flush with the eye
of the split pin. Mark that point on the cable with a felt-tip pen.
6. Unwrap the coaxial cable and secure the marked position of the cable to the
outside of the eye of the split-pin loosely using a rubber-band or light cable-tie.

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 7. The above procedure ensures that the quick-disconnect in the power cable will
activate, disabling the rotator, before the coaxial cable gets too wound up.

QUICK-DISCONNECT
ACTIVATES AFTER
2 TURNS
IN EITHER DIRECTION

500 mm
(20 inches)

POWER CABLE
2-TURNS

SPLIT PIN WITH

TRIPOD CABLE TIE
CLAMP

Figure 5 - Quick Disconnect Power Cable

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Software Installation
Install a free serial terminal application used to configure and control SARCTRAC:
1. On Windows:
a. Open a browser and download PuTTY for Windows, 64bit, 32bit, x86 or
ARM processors from here:
[Link]
b. Run the installer. If asked “Do you want PuTTY to make changes to your
device”: Select “Yes”.

Figure 6 - PuTTY Installation

2. On Linux, open a terminal window and type:
a. sudo apt-get update
b. sudo apt-get -y upgrade
c. sudo apt-get -y install putty

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Connecting to SARCTRAC
Connect to SARCTRAC from a PC using the simple serial terminal application installed
above:
1. On Windows: Start Device Manager; or
2. On Linux: Open a terminal window and type “dmesg”
3. Plug the SARCTRAC USB dongle into a free USB port on your PC.
4. On Windows: Note the COM port number of the new device now appearing in
Device Manager, e.g. COM3; or
5. On Linux: Open a terminal window and type “dmesg” again. Note the new
attached device, e.g. ttyUSB0.
6. Start PuTTY.
7. Select Connection type: Serial
8. Change the Serial line to the COM Port/USB device for the SARCTRAC dongle.
9. Change the Speed to 9600.
10. Save the settings: Type “SARCTRAC” in Saved Sessions and press Save.

Figure 7 – Device Manager and PuTTY Configuration

11. Select SARCTRAC and press Open. You should see a black PuTTY terminal
window. See Figure 8.
12. Press <Esc> three times to log in to the SARCTRAC USB Dongle.
13. The SARCTRAC USB dongle will show that it is set up to connect to
“SARCTRAC0”, that means SARCTRAC rotator unit 0. Note that you can enter
a different SARCTRAC rotator unit number, here, if you have more than one
unit.
14. Ensure that the antenna is mounted securely on the lift-arm; the lift-arm is
securely mounted on the rotator and the rotator is securely mounted on the
tripod.
15. Turn the 12V DC power supply on.
16. Check/adjust the power supply output for 12 VDC.
17. Turn the power supply off.

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 18. Connect the power supply to the SARCTRAC rotator: Positive to the red wire
and negative to the red wire with the black stripe. Note: SARCTRAC has
reverse-polarity protection.
19. Turn the Power Supply on.
20. The USB dongle will connect to the rotator via a dedicated WiFi link. The display
will show the SSID of the rotator, the connection status and prompt you to log
into the rotator.

Figure 8 – PuTTY Terminal Window

21. Press <Esc> three times, this time to log in to the SARCTRAC rotator.
22. This display will show the rotator’s system configuration, a list of user
commands and the motor status. See: Figure 9. Note: The SARCTRAC rotator
software version number is now 1.1.

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 Figure 9 - SARCTRAC Login Screen

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Setting the Starting Position
CAUTION: Satellite antennas are PRICKLY BEASTS. SARCTRAC may move the
antenna with little warning or in an unexpected direction. The antenna may be
damaged or bystanders may be injured. NEVER operate SARCTRAC without constant
adult supervision. NEVER stand next to the antenna when SARCTRAC is operating. Be
prepared to IMMEDIATELY disconnect the power if the antenna moves in an
unexpected direction, before it hurts someone or damages something.

1. If you have just powered up SARCTRAC, it is pointing in the starting position.

2. Press <s><Enter> to start the motors.
3. SARCTRAC will steer the antenna to North and horizontal. This is known as the
home position.
4. The antenna will gently oscillate around the home position.
5. Note: SARCTRAC operates on a closed-loop feedback system, continuously
reading the absolute azimuth and elevation of the antenna from the sensor,
comparing it with the required set point and driving the motors to reduce the
antenna pointing error to zero. It works by reading the Earth’s magnetic and
gravitational fields. These fields are relatively weak and the sensors are very
sensitive, picking up small amounts of noise here and there. That is why you
will see the system hunting around the set point in a random fashion, but only
by a degree or so. Hand-held Yagi antennas have a half-power beamwidth of
nearly 90 degrees, so these small errors will not affect satellite operations.
6. Now, for SARCTRAC’s automatic anti-windup and safety features to be effective
it must be aligned so that the power-up or starting position and the home
position are approximately the same and the cables start in an unwound state.
From this starting point SARCTRAC can turn 1¼ turns in either direction before
automatically unwinding the cables or 2 turns, if the automatic function is off
or fails, before the quick-disconnect safety feature operates.
7. It is simple to set up this starting condition: Start the motors, loosen the tripod
camp and carefully (without any abrupt movements) turn the tripod shaft
around on the tripod locking pin in a direction so that SARCTRAC unwinds the
cables. Finish by positioning the eye of the split pin in the opposite direction to
the home position. Then tighten the tripod clamp and stop the motors. Press
<r> to reset the automatic windup function to this position. Always return the
rotator to this position before powering down to avoid this procedure when
starting.

Testing the Safety Features

1. Type 0 -90 <Enter> to point the antenna vertically downward.
2. The elevation limit switch will activate to reset the rotator at -30 degrees,
thereby protecting the antenna from damage. The rotator will disconnect from
the SARCTRAC USB Dongle.
3. Remove the elevation limit switch control jumper from the wire protruding from
the SARCTRAC Sensor. The rotator will re-connect with the USB Dongle and

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 the home position can be restored. Remember to reattach the elevation limit
switch control jumper to ensure continued protection.
4. From the correct starting position, turn off the Automatic Anti-Windup function
(using the <P> command).
5. Use the unwind left or unwind right functions to turn the rotator more than two
turns in either direction from the starting position.
6. The quick disconnect in the power cable will activate to avert cable windup.
7. To restore operation to the correct starting position, hold the quick-disconnect
connectors together, login and use the unwind left or unwind right commands.

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SARCTRAC Manual Operation
The SARCTRAC serial terminal utility can be used to manually operate, control, reset,
program, debug, monitor, simulate and test satellite tracking operations.
1. Log into the rotator <Esc><Esc><Esc> and proceed with the following steps
to test out each command.
2. Press <s><Enter> to start and stop the motor operation. See Figure 10. Note
1: The following commands automatically start the motors if they were
stopped: <az> <el>, |, >, <, s, D, L, M, R, S. Note 2: The following commands
automatically stop the motors if they were started: l, s, C, F, P.

Figure 10 – Start/Stop command

3. Press 30 45<Enter>. The rotator will move to 30 degrees azimuth and 45
degrees elevation.
4. Press 0 0<Enter>. The rotator will return to the home position.
5. Press -30 45. The rotator will move to -30 degrees azimuth and 45 degrees
elevation.
6. Press <|><Enter. The rotator will return to the home position.

Figure 11 – Unwind to home command

7. Press <>><Enter>. The rotator will unwind one (1) turn to the right and reset
the starting position to the home position. Note: Cancel this command with
<<><Enter>.

Figure 12 – Unwind 1-turn right command

8. Press <<><Enter>. The rotator will unwind one (1) turn to the left and reset
the starting position to the home position. Note: Cancel this command with
<>><Enter>.

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 Figure 13 – Unwind 1-turn left command
9. Press <a><Enter> to abort the following functions: D, L, M, R, S. Note: If these
functions are running, the command letter itself is not displayed because user
character echo is switched off during these commands.

Figure 14 – Abort command

10. Press <l><Enter> to logout and stop the motors. Press <Esc><Esc><Esc>
to log back in.

Figure 15 – Logout command

11. Press <r><Enter> to reset the system and set the starting position to the
current position.

Figure 16 – System reset command

12. Press <C><Enter> to calibrate the sensor. Press <a><Enter> to abort. Do not
use this command without further instructions from the factory.

Figure 17 – Calibration command

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 13. Press <D><Enter> to see the raw 3D Sensor data.
a. Magnetometer x, y and z axis
b. Accelerometer x, y and z axis
c. Type a<Enter> to abort this display.

Figure 18 - Debug command

14. Press <F><Enter> to restore the factory default sensor calibration and system
configuration. When asked, press <1><Enter> to restore the data or
<0><Enter>, or just <Enter>, to skip it and make no changes.

Figure 19 – Restore factory sensor calibration and system configuration

15. Press <L><Enter> to start a long test sequence which takes 25 minutes to
complete. This test turns the rotator to various cardinal positions (in order to
demonstrate motor control, calibration, anti-windup and home functions. The
error results of this test are not indicative of the calibration accuracy of the
system rather they can be used to adjust the PID motor controller settings.

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 Figure 20 – Long test command
Press <M><Enter> to see a display of the system operation including:
d. The AZ and EL angles – Where the antenna is actually pointing.
e. The AZ and EL set points – Where the antenna has been set to move to.
f. The AZ Windup angle – Accumulated degrees from the starting position.
g. The Windup flag – Anti-Windup has been activated = 1, otherwise 0
h. The AZ and EL error angles – The error between actual and set angles.
i. The Received Signal Strength Indicator - In dBm: 0 (strong) -100 (weak)
j. Type a<Enter> to abort this display.

Figure 21 – Monitor command

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 16. Press <P><Enter> to program the device.

Figure 22 – Program command

17. Press <R><Enter> to start a race test sequence. This test turns the rotator to
within 1 degree of 5 cardinal positions and then moves to the next. The elapsed
time results of this test are not are not indicative of the calibration accuracy of
the system, rather they can be used to determine if the calibration process has
been completed properly or is grossly inaccurate.

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 Figure 23 – Race test command
18. Press <S><Enter> to see a simulation of satellite tracking
a. The monitor data will be displayed.
b. The antenna will track at 1 degree per second via the following points:
c. (0, 0), (90, 90), (180, 0), (270, 90), (360, 0), then in reverse.
d. Type a<Enter> to abort this function.
e. Type 0 0<Enter> to return to the home position.

Figure 24 – Simulation command

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SARCTRAC Automatic Operation
SARCTRAC can be used in conjunction with a number of popular satellite tracking
applications to automatically track satellites. These applications may also control your
rig frequency to compensate for Doppler shift.
The following sections provide brief information for setting some popular satellite
tracking applications. Only the important configuration information is shown.
To set up SARCTRAC with any tracking application you will first need to know:
• The COM Port Number of the SARCTRAC Dongle: e.g. COM3 on Windows or
/dev/ttyACM0 on Linux. Change this below to match the USB serial port used.
• Baud Rate: Must be 9600bps
• Rotator Protocol: EasyCommII. However, for different applications, this
translates into: “Rotator model 202”, “SARCNET”, “EASYCOMM-I” or
“SAEBRTTrackBox”, so you might have to do some research to find the
configuration setting corresponding to this protocol.

Gpredict™
You must first install HAMLIB.
On Windows: Open a terminal window and execute the following commands:
cd \Program Files (x86)\<Your HAMLIB folder>\bin\
rotctld -m 202 -r COM3 -s 9600 -T [Link] -t 4533 -vvv
On Linux: Open a terminal window and execute the following commands:
rotctld -m 202 -r /dev/ttyACM0 -s 9600 -T [Link] -t 4533 -vvv
Start Gpredict:
Select Edit Preferences | Interfaces | Rotators
Select Add New
Name: SARCTRAC
Host: [Link]
Port: 4533
Az type 0° → 180° → 360°
Select Antenna Control
Select Settings
Device: SARCTRAC
Cycle: 1000msec
Tolerance: 0.01

PstRotator™
Select Communication | RS232 / TCP Server
Select Communication | EL / AZ + EL COM Port | COM 3
Select Setup | EL / AZ + EL Controller Select SARCNET

Orbitron™
Select WispDDE Driver
Start the WispDDE Client

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Open the WispDDE Client
Select Settings | Interface Type: EASYCOMM-I
Select Settings | Baud Rate: 9600

SATPC32™
Select Setup | Rotor Setup | Rotor interface/controller | SAEBRTTrackBox
Select Setup | Rotor Setup | Settings
LPT: 3
Delay: 30
Turning point: S
Select Setup | Rotor Setup | Optional Settings
Update antenna positions: in time intervals
Time interval (sec.): 1

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SARCTRAC Application Notes
The following application notes are included here for those interested in getting the
most out of their satellite ground station.

Electro Magnetic Interference

Electro Magnetic Interference (EMI), also known as Radio Frequency Interference
(RFI), can be a significant problem when listening for weak, VHF/UHF signals,
emanating from tiny, tumbling satellites in orbit. A directional antenna automatically
pointed at the satellite is a definite advantage, but it is not the whole solution to the
problem. Careful setup, design and correct use of system components can make a big
difference to your satellite communications experience.
All non-linear or digital electrical devices create EMI. On the VHF/UHF bands, as used
for satellite communications, EMI can originate from:
• The SARCTRAC Rotator or Sensor.
• The PC controlling the rotator.
• The DC power supplies used for the rotator, computer and radio.
• Other electronic devices in your house or neighbourhood.
• Cables, which radiate EMI, can act as antennas.
The first step in minimising EMI is determining the source. We start by using our radio
and antenna to identify the EMI culprits using the following process:
1. Connect the Yagi antenna (while mounted on the tripod) to the radio.
2. Switch the radio to SSB and adjust it to its most sensitive setting settings.
3. Tune over the VHF and UHF satellite bands: For example: 145.8-146.0MHz and
435-438MHz.
4. Note the frequencies of suspicious noise signals (hash, pulsing, clicking and
buzzing) and carriers (tones and birdies) and their signal strength according to
the radio’s S-Meter.
5. Unlock the tripod, turn the antenna around by hand to peak up the signal
strength of the noise source and determine its horizontal direction. If the signal
strength of the noise source changes, it must be external to the antenna/rotator
assembly.
6. If the noise source appears to be inside the house, locate it by systematically
tuning devices off and on.
7. Lock the tripod in the home position. Turn on SARCTRAC, log into the serial
terminal utility (<Esc><Esc><Esc>) and use it to point the antenna vertically
(0 90 <Enter>). This will minimise most terrestrial sources of EMI so you can
concentrate on any noise from SARCTRAC.
8. Tune over the VHF and UHF satellite bands, again, looking for any noise or
carriers that were not there when SARCTRAC was off. If in doubt, power off
SARCTRAC to determine if it is the source.
9. For comparison, the results of our testing are as follows:

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Sources of EMI by signal strength:
1. Neighbourhood signals (Strong hash and carriers) S8.
2. Laptop PC running application for rotator/radio control (Loud pulsing) S6.
3. Laptop and radio power supplies (wideband hash) S5.
4. CAT cable from PC to radio (audible hash, clicking, pulsing) S2.
5. SARCTRAC rotator/sensor (barely audible hash and birdies) S0.
Now that you know the sources of EMI, you can attempt to minimise it by monitoring
the noise source and using the following steps:
1. Relocate the station to a quieter area.
2. Turn off the offending equipment.
3. Run the offending equipment off batteries.
4. Re-locate the offending equipment.
5. Re-route cables away from the antenna.
6. Try installing clip-on ferrite chokes on cables.

Electro-Magnetic Compatibility
Electro-Magnetic Compatibility (EMC) is a measure of how a system responds to the
presence of nearby Radio Frequency (RF) energy sources. SARCTRAC is mounted at
the antenna and receives high levels of exposure to RF energy. Since there is no balun
at the antenna, RF currents can flow down the outside of the coax and can be coupled
into the sensor cable. Like any other computerized system, SARCTRAC has limits to
amount of RF energy it can deal with. So, how much RF is too much? Here are the
results of our testing:
Table 2 – Electro Magnetic Compatibility Tests
Power Mode Band Result Conditions
10W FM VHF/UHF Pass Feed via Arrow II 10W Duplexer.
50W FM VHF/UHF Pass Direct Feed. EMI choke on cable at sensor.
50W FM VHF/UHF Fail Direct Feed. No EMI chokes.
Rotator disconnection while transmitting; or
Antenna motion halted while transmitting; or
Antenna motion locked requiring power cycle.
>50W FM VHF/UHF Unknown Recommend additional EMI chokes on coax at
antenna feed points and on sensor cable.

Conclusion: The use of some EMI chokes on the sensor cable at the sensor, and/or
the coax cables at the antenna feed points, is mandatory for operation above 10W.
The number of EMI chokes required will depend on the feed-point balance, the SWR
at the operating frequency and the separation between the sensor cable and the coax
cable over all orientations of the antenna. The operation above 50W was not tested,
so be careful. Also, always be mindful of human Electro-Magnetic Radiation (EMR)
limits.

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Polarization Fading
Polarization fading occurs as the satellite tumbles through space and the dominant
polarization of its signal changes with respect to that of the receiving antenna. Most
of the Amateur satellite antennas and the hand-held, dual-band antenna used in this
project are linearly polarized. So, it can be expected that the signal and antenna
polarization will be mismatched at some point in each overhead pass of a satellite. For
some reason this effect is more noticeable when the satellite is close to zenith, just
when you expect to receive the strongest signals!

Tracking Accuracy
SARCTRAC uses a 3D magnetometer and accelerometer in a closed-loop, feedback
control system to point the antenna at the predicted azimuth and elevation of a
satellite. The calibrated accuracy of the sensor is better than say +/- 5 degrees and,
with a fast-moving target, say 1 degree per second, the control system will always be
lagging a couple of degrees behind. This is more than sufficient accuracy to position
a small Yagi antenna, with a 90-degree beamwidth, at a satellite, but it would not be
suitable for say a parabolic dish antenna.

PC-Based Satellite Tracking Applications

We are often asked which is the best PC-based satellite tracking application to use.
The answer is, that it all depends on what you want to do and how you want to do it.
• First, SARCTRAC only emulates the AMSAT™ EasyCommII rotator protocol,
which is efficient and, unlike some protocols, provides position feedback.
• Second, you will most likely need an application that will control your radio
equipment as well.
• Third, everyone has a different computer and operating system.
• Finally, each PC-based satellite tracking application has many different features
and displays. Some you may need, some you may not. Some you may like,
some you may not. The only real way to find out is to download and test them.
Here is a checklist to help you choose a PC-based satellite tracking application:
 General
 Is it compatible with your computer and operating system?
 Rotator Control
 Is it compatible with AMSAT™ EasyCommII rotator control protocol?
 Does it display both the set antenna position and the actual antenna
position?
 Does it provide automatic and manual rotator control?
 Does it sequence satellites and satellite passes?
 Does it automatically position the rotator for the next satellite pass?
 Are the rotator position update rates configurable?
 Can you select your favourite group of satellites to track?
 Does it provide a prediction of future satellite passes?

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  Does the prediction show Local/UTC, AOS AZ, LOS AZ, Max EL, Pass
Duration?
 Does it show which satellites are currently visible?
 Does it show satellite positions and footprints on a map?
 Does it automatically update satellite TLE files from the Internet?
 Radio Control
 Does it do automatic Doppler frequency correction?
 Is it compatible with your radio and CAT cable?
 Can new satellite frequencies and modes be added?
 Can you tune the frequencies incrementally from the set frequencies?
 Are radio frequency update rates configurable?
Based on our testing, the following PC-based satellite tracking application are at least
compatible with SARCTRAC on the indicated operating system:
• PstRotator™ (Windows)
• Orbitron™ (Windows)
• Gpredict™ (Windows, Linux)
• SatPC32™ (Windows)

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SARCTRAC Maintenance
SARCTRAC Configuration
The SARCTRAC system configuration is displayed every time <Enter> is pressed by
itself, at the prompt (>>). It can be changed by pressing <P><Enter> and following
the prompts. The system configuration information is shown in Table 3.
Table 3 - System Configuration
Parameter and Description Range Default Value
WiFi SSID – WiFi Service Set Identifier SARCTRAC0-9 SARCTRAC0
WiFi Channel – 1-13 7
The RF channel in the 2.4GHZ ISM Band.
Change to avoid local channel congestion.
Anti-Windup Function – Repositions the rotator Off, On, End-Of-Pass
to with 180 degrees of the starting position. End-Of-Pass
Anti-Windup Limit – Degrees. 360-720 450
At which point the anti-windup function
operates to unwind the cable.
Magnetic Declination – Degrees. +90 - -90 11.9
Add this value to True bearings to get Magnetic
bearings (+ for East, - for West). See: NCEI
Online Calculator.
Azimuth Offset – Degrees (+ for East, - for +90 - -90 0.0
West).
Elevation Offset – Degrees (+ for Up, - for +90 - -90 0.0
Down).
Sensor Filter Alpha – 0-1 0.30
Decrease to increase smoothing of the 3D
Sensor data
Azimuth Motor Type - 1-3 1
1 = DC Motor via L298N Driver
2 = DC Motor via LMD18200T Driver
3 = AC via Aptinex Opto Triac Driver
Azimuth Motor Proportional Gain – 0-50 20.0
Increase for faster convergence. Decrease for
less overshoot.
Azimuth Motor Integral Gain – 0-20 0.30
Increase for better convergence. Decrease for
less dither.
Azimuth Motor Differential Rate – 0-20 8.0
Increase for greater acceleration/deceleration.
Decrease for less overshoot.
Azimuth Motor Reset – 0-30 3.0
Reset integration beyond this angle. Increase
for faster convergence. Decrease for less
overshoot.

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 Azimuth Motor Deadband – 0-255 56
Zero motor drive = N/255x12V. Increase for
quicker motor start up. Decrease for less dither.
Elevation Motor Type - 1-3 1
1 = DC Motor via L298N Driver
2 = DC Motor via LMD18200T Driver
3 = AC via Aptinex Opto Triac Driver
Elevation Motor Proportional Gain – 0-50 20.0
Increase for faster convergence. Decrease for
less overshoot.
Elevation Motor Integral Gain – 0-20 0.50
Increase for better convergence. Decrease for
less dither.
Elevation Motor Differential Rate – 0-20 8.0
Increase for greater acceleration/deceleration.
Decrease for less overshoot.
Elevation Motor Reset – 0-30 3.0
Reset integration beyond this angle. Increase
for faster convergence. Decrease for less
overshoot.
Elevation Motor Deadband – 0-255 56
Zero motor drive = N/255x12V. Increase for
quicker motor start up. Decrease for less dither.

SARCTRAC Sensor Calibration

The SARCTRAC sensor comes carefully pre-calibrated at the factory using a non-
magnetic, 3-axis, magnetometer/accelerometer calibration gimbal. The factory
calibration is saved in the non-volatile memory in the unit and it can be restored by
the user. The factory calibration should achieve +/- 5 degrees accuracy. However, the
Earth’s magnetic field is weak and it is subject to local magnetic anomalies, such as
iron and steel. Calibration, in itself, cannot mitigate the effect of strong local magnetic
anomalies. On a ship, you may have seen that the compass is mounted on a binnacle,
which has two magnetic balls designed to null-out local magnetic anomalies. This
approach is impractical for SARCTRAC, where the sensor is constantly moving. The
best strategy is to remove the local magnetic anomalies or to relocate SARCTRAC to
a magnetically quiet area. You can locate magnetic anomalies by moving a compass
around the area and checking for any deviations. In the event that the SARCTRAC 3D
Sensor needs to be recalibrated we would do it at the factory. While we can provide
you with the calibration procedure and an on-line instructional video of how to do it
yourself, we really don’t recommend you try it.

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