Home

OM-20000046 Vol 1.book

Contents

1. k 85 0 3 35 i 9 7 H 81 4 3 21 6 9 0 38 kroer a De 0 27 4 8 0 19 T 3 16 0 GEIT Ee 24 0 0 63 3 0 95 O 7 an 0 L 5 8 G 1 97 z ry 68 0 2 68 oa p in 2 46 a Be d e 94 9 2 40 age LO 4 LO 3 70 14 33 B i 120 7 i 4681 118 0 O P gr ga O 125 0 4 75 iG 4 65 co i 14 92 Tots Gack i cal Ea O O Ho 0 b ou O ag O 8 O 6 8 19 7 10 27 3 7 0 77 0 15 H 24 2 4 0 95 75 8 2 98 9 0 0 35 0 06 16 0 m i l 0 63 1 9 6 0 38 4 8 R 0 19 2 91 a All dimensions are in millimeters inches b The mounting holes on the OEM4 GPSCard are designed for use with M3 screws The hole size is actually 3 45mm 29 drill 0 136 which is a British Standard medium fit Figure 63 OEM4 Board Dimensions OEM4 Family Installation and Operation User Manual Rev 16 167 Appendix D Operating Temperature Specifications Archive ENVIRONMENTAL 40 C to 85 C Storage Temperature 45 C to 95 C Humidity Voltage Not to exceed 95 non condensing POWER REQUIREMENTS 6 to 18 VDC Allowable Input Voltage Ripple 100 mV p p max
2. Weight 56 grams MECHANICAL DRAWINGS r Om gt 10 4 a 6 PLACES 60 0 rem 56 6 go Mo 2 00 Seel 5 EE lt 7 Sk on al 0a N coh oe 2 cr r ce 9 32 PIN 1 oy DO Jeo ET ee 3 3 z ge z Olsd 512055 TT rol lagon 49 0 96 8 98 02 100 0 1 8 Board Thickness 12 8 Sys Gard an L ai 5 5 59 4 Figure 39 OEM4 G2L Board Dimensions a All dimensions are in millimeters b The mounting holes on the OEM4 G2L GPSCard are designed for use with M3 screws 116 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A ENVIRONMENTAL Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing Voltage 3 3 0 15 VDC Allowable Input Voltage Ripple 150 mV p p max Power consumption 1 6 W typical RF INPUT LNA POWER OUTPUT Antenna Connector MMCX female 50 Q nominal impedance see Figure 9 on Page 32 RF Input Frequencies 1575 42 MHz L1 1227 60 MHz L2 LNA Power output from card 4 75 to 5 10 VDC 0 100 mA Connector MMCX female see Figure 9 on Page 32 External Clock Input Frequency 5 MHz or 10 MHz Input Impedance 50 Q nominal Input VSWR 2
3. 12 1000 10 10 HI k 2000 00 TO RECEIVER SI1GNAL WIRE TO PE EN3CTF COLOR DB 9 SOCKET SGND GREEN NC 2 RTS2 ORANGE 8 3 CTS2 BLUE 7 4 RADPWR YELLOW NC d RXD2 RED 3 6 TXD2 BROWN 2 7 GROUND BLACK 5 Reference Description 10 7 pin Switchcraft EN3C7F connector 11 DB9S connector 12 Connector key Figure 55 ProPak LBplus 7 Pin Serial Cable 148 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A A 6 2 4 8 Pin Switchcraft to DB9 Serial Cable NovAtel part number 60723063 The serial cable shown below provides a means of interfacing between the COM3 port on the ProPak LBplus and another serial communications device such as a PC At the ProPak LBplus end the cable is equipped with a 8 pin Switchcraft connector Switchcraft part number EN3C8F which plugs directly into the COM3 port At the other end a DB9S connector is provided ne I eT ti ik 100010 j 10 ll 2000 100 4 TO RECEIVER SIGNAL WIRE TO PC EN3C8F COLOR DB 9 FEMALE A QUT N A NC 2 RIGHT OUT PWM OUT GREEN NC 3 RXD3 RED 3 4 TXD3 BROWN 2 5 A IN YELLOW NC 6 LEFT OUT BLUE NC i GROUND BLACK 5 8 BRB IN ORANGE NC Reference Description 10 8 pin Switchcraft EN3C8Fconnector 11 DB9S connector 12 Connector key Figure 56 Pro
4. a The ProPak LBplus COMI port is RS 232 and also provides access to strobe signals 36 OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 3 3 2 USB OEM4 G2 G2L FlexPak and ProPak G2plus Only The OEM4 G2 G2L and FlexPak receivers running firmware version 2 100 or higher along with the accompanying NovAtel USB drivers for Windows 2000 and Windows XP provide three virtual serial ports over a single USB connection using USB D and USB D signals See Figure 40 on Page 119 and Figure 42 on Page 124 for pin out information The ProPak G2plus with 2 200 firmware or higher provides a USB connection through its COM1 port see Table 24 on Page 136 These three virtual serial ports identified by the GPSCard as USB1 USB2 and USB3 are available to existing Windows applications which use COM ports to communicate for example HyperTerminal and GPSolution4 The NovAtel USB drivers assign COM port numbers sequentially following any existing ports on the PC For example if a PC has COM1 and COM2 ports the NovAtel USB drivers will assign COM3 to USB1 COM4 to USB2 and COMS to USB3 lt The assignment of COM port numbers is tied to the USB port on the PC This allows you to switch receivers without Windows assigning new COM ports However if you connect the receiver to a different USB port Windows detects the receiver s presence on that USB port and assigns three new COM port numbers
5. 7 RESETOUT Reset TTL signal output to an external system Active low 8 ERROR Indicates a fatal error when high 9 GND Digital ground lt For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 136 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications A 5 2 Cables A 5 2 1 Appendix A 12V Power Adapter Cable NovAtel part number 01017023 The power adapter cable supplied with the ProPak G2plus see Figure 47 provides a convenient means for supplying 12 VDC while operating in the field Input is provided through the standard 12V power outlet The output from the power adapter utilizes a 4 pin LEMO connector LEMO part number FGG 0B 304 CLAD52Z and plugs directly into the PWR input located on the back panel of the ProPak G2plus For alternate power sources please see Section 3 1 3 on Page 28 9 Reference 0O00O FWD OEM4 Family Installation and Operation User Manual Rev 16 ROMs Description Reference Black 5 Red 6 Orange 7 Brown 8 Connector key marking 12 12V adapter 13 Spring Description Ground 7 to 18 VDC 7 to 18 VDC Ground Universal tip 6 Amp slow blow fuse Figure 47 ProPak G2plus Power Cable 137 Technical Specifications Appendix A A 5 2 2 Null Modem Cable NovAtel part number 60323062 This cable supplied with the ProPak G2plus see Figure 48 provides an easy means of comm
6. Power consumption Antenna Connector 2 7 W typical RF INPUT LNA POWER OUTPUT MMCX connector 50 Q nominal impedance RF Input Frequencies LNA Power Internal Output from card default External Optional Input 1575 42 MHz L1 1227 60 MHz L2 4 50 to 5 25 VDC Q 0 100 mA 12 to 30 VDC 100 mA max user supplied OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D INPUT OUTPUT DATA INTERFACE COM1 AND COM2 Electrical format RS232 Can be factory configured for LVTTL operation Bit rate 300 1200 4800 9600 default 19200 57600 115200 230400 bps Lead input CTS and DCD on COM2 Lead output RTS and DTR on COM2 Signals supported TX RX RTS CTS DTR DCD DTR and DCD are on COM2 only Electrical format LVTTL Bit rate 300 1200 4800 9600 default 19200 57600 115200 230400 bps Lead input CTS Lead output RTS Signals supported TX RX RTS CTS a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hard ware is required for higher rates including 230 400 bps OEM4 Family Installation and Operation User Manual Rev 16 169 Appendix D Specifications Archive INPUT OUTPUT STROBES MSR Measure Output Normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe Event1 Mark 1 Input
7. log CMROBS ontime 1 log CMRREF ontime 10 log CMRDESC ontime 10 5 For CMR the station ID must be less than 31 refer to the RTKSOURCE and DGPSTXID commands in Volume 2 of this manual set CMRDESC is logged with an offset of 5 to allow interleaving with CMRREF Note that Trimble rovers must receive CMRDESC messages from a base Novatel CMR Type 2 messages are for compatibility only When received a type 2 message is discarded For transmission all fields are permanently set as follows Record Length 33 bytes Short Station ID cref COGO Code ot Long StationID UNKNOWN OEM4 Family Installation and Operation User Manual Rev 16 61 Chapter 5 Message Formats 5 5 NMEA Format Data Logs The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 3 01 For further information see the appendix on Standards and References in the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its 62 description Field Type Symbol Special Format Fields Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No
8. Technical Specifications 13 Pin Deutsch to DB9 Straight Cable NovAtel part number 01017518 The straight through serial cable shown below is used to connect the FlexPak to a modem or radio transmitter to propagate differential corrections At the FlexPak end the cable is equipped with a 13 pin Deutsch connector Deutsch part number 59064 11 35SF which plugs directly into a COM port The male DB9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information on its connectors This cable looks identical to the null modem serial cable see Page 131 but its use and part number differs It is 2 meters in length 1 Reference 1 2 2 Sa leio fwe B PAIRED RADI 52 sso GE EE 4 EVENT MG GE JEvENT2 MC sho StS PAIRED m seo TED POUT soo sig fs fe S1 PAIRED S2 o USB D WC Bl TERROR jwe Description 13 pin Deutsch connector DB9S connector Figure 45 FlexPak 13 Pin Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications A 4 2 4 USB Serial Cable NovAtel part number 01017359 Appendix A The USB cable shown below provides a means of interfacing between the COM1 or COM2 port on the FlexPak and another serial communications device such as a PC At the FlexPak end the cable is equipped with a 13 pin Deutsch connector Deutsch part number 59064 11 35SF
9. The receiver is not properly powered Check for and switch a faulty power cable See Section 3 1 3 Power Supply Requirements Page 28 and Section 3 3 3 Status Indicators Page 37 The receiver cannot establish communication Check for and switch faulty serial cables and ports See Section 3 3 3 Status Indicators Page 37 and Section 8 6 Status LED Page 108 Refer also to the COMCONFIG log in Volume 2 of this manual set The receiver is not tracking satellites Check for and replace a faulty antenna cable See Section 3 1 1 Selecting a GPS Antenna Page 27 Section 3 1 2 Choosing a Coaxial Cable Page 27 Section 3 2 3 Connecting the Antenna to the Receiver Page 33 Section 3 3 5 External Antenna LNA Power OEM4 G2 Only Page 39 and refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual No data is being logged See Section 3 3 3 Status Indicators Page 37 and Section 4 1 Communications with the Receiver Page 41 Random data is being output by the receiver See Section 3 3 3 Status Indicators Page 37 Refer also to the COMCONFIG log and FRESET command in Volume 2 of this manual set Continued on Page 111 110 OEM4 Family Installation and Operation User Manual Rev 16 Troubleshooting Chapter 9 A command is not accepted by the receiver See Section 4 1 Communications with the Receiver Page 41 and refer to the FRESET command in Volume 2 of this
10. Type 9 messages contain the following information for a group of three satellites in view at the base station Scale factor User Differential Range Error Satellite ID e Pseudorange correction Range rate correction Issue of Data IOD 5 2 4 RTCM15 lonospheric Corrections 56 RTCM Type 15 messages are designed to support the broadcast of ionospheric delay and rate of change measurements for each satellite as determined by the base station receiver This message is used to improve the ionospheric de correlation that would otherwise be experienced by a rover at a long distance from the base station This log is designed to work in conjunction with Type messages using dual frequency receivers It is anticipated Type 15 messages will be broadcast every 5 10 minutes Type 15 messages are designed to enable the rover to continuously remove the ionospheric component from received pseudorange corrections The delay and rate terms are added exactly like Type 1 corrections to provide the total ionospheric delay at a given time and the total ionospheric delay is then subtracted from the pseudorange corrections The resulting corrections are then iono free The rover subtracts its measurements or estimates of ionospheric delay from its own pseudorange measurements and applies the iono free corrections Structure Follows RTCM standard for Type 15 message OEM4 Family Installation and Operation User Manual Rev 16 Message
11. cccccsccecceeeeeseneeeseneeeeeeaeeeecaeeesaaeseeeeeeeenaeeseeaes 75 20 OMNIS TAR CONCEP Luma date desde ghee eannteceden enya lave riaa ne aa a daiinh 77 21 Typical RT 2 Horizontal Convergence Static Mode mmrrrrnennnvnnrnrrnnnnnnvnnrrrrennnnnnnnennne 83 22 Typical RT 2 Horizontal Convergence Kinematic Mode uarnrnnnrnrrnnnnnrnnnrrrrnnnnnvnnnnnnn 83 23 Typical RT 20 Convergence Static Mode urnnrnnnnrrnnnnnvnnnrrrrnnnnvnnnenrnnnnnnrnnrnnressnnnnnnnnnne 85 24 Typical RT 20 Convergence Kinematic Mode rrrannnvnnnnrrnnnnnvnnnenrnnnnnrnnnennrenrnnrnnnnnnn 85 25 Convert Screen Examples ranrnnrnnnnvrnnnnnvnnannvvnnnrrannnnnvnnnrrrnnannvnnnenrennnnrnnnennenennrnnsennnneennne 91 26 Convert Command Line Argument cccecceeeeeeeeeeneeeeeeeeeseaeesecaeeeseaaeeseeueeeenaeeesaes 94 27 Main Screen of WinLoad mnnnennnnrrnannnvnnnnvrnnnnnvennnrrrnannvnenenrrnnanannnernrrnsnnnnenennenennnnnennnee 101 28 WinLoad s Open Dialog rrrnnnvrvnrnvrrnnnnvvnnnnrrnnnnnrnnnrrrnnnrnnnnrnnrnnsnnnnnersrnnsennnensnnrnenenneeeenn 101 29 Open File in WinLoad eenrnoonnrnnnonvonnnnnvnnnvnrvnnnnvnnnnnvrennnnvnssnnrenennrnnnennrnssnrnnsennrenennrnneennn 102 30 COM Port Setup vciSie kinetin aa ee a Gia AE 102 31 Searching for Gard arsina a ive ean mad el es 102 32 Authorization Code Dialog cccccccceceeeeeeceeeeeeeeeeceaaeeeeneeecaaeeeseeeeeeaeeeeeaeeeseeeeeeeeeeees 103 33 Update Process Complete cccceccceeeeeeeceee
12. which plugs directly into the COM2 port See also Section A 4 2 3 13 Pin Deutsch to DB9 Straight Cable NovAtel part number 01017518 on Page 132 At the other end a USB connector is provided 01017359 REV X 000 10 2000 25 0 WIRING DEUTSCH CONN SIGNAL SERIES A WIRE ON RECEIVER USB PLUG COLOR PIN 5 GND PIN 4 BLACK PIN USB D PIN 3 GREEN PIN 2 USB D PIN 2 WHITE INSULATE TO PREVENT SHORT RED Reference Description 1 Deutsch connector 2 USB connector P Figure 46 FlexPak USB Cable OEM4 Family Installation and Operation User Manual Rev 16 133 Appendix A Technical Specifications A 5 ProPak G2plus INPUT OUTPUT CONNECTORS Antenna Input TNC female jack 50 Q nominal impedance 4 75 to 5 10 VDC 100 mA max output from ProPak G2plus to antenna LNA PWR 4 pin LEMO connector 7 to 18 VDC at 2 8 W typical COM1 DB9P connector COM2 DB9P connector AUX DB9P connector I O DB9S connector OSC BNC connector external oscillator PHYSICAL Size 185 x 154 x 71 mm Weight 1 0 kg maximum including OEM4 G2 GPSCard ENVIRONMENTAL Operating Temperature 40 C to 75 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing a The AUX port on the ProPak G2plus supports input from an IMU If applicable refer also to your SPAN User Manual 134 OEM4 Family Installation and Operation User Manua
13. 7 to 15 VDC a See Appendix C Replacement Parts starting on Page 153 for connector part numbers b The power input range becomes 9 to 18 VDC when an IMU device is connected To operate a complete SPAN system requires 12 to 18 VDC If applicable see the SPAN Technology User Manual for more information Installation Overview Once you have selected the appropriate equipment complete the following steps to set up and begin using your NovAtel GPS receiver 1 If your receiver has been provided as a GPSCard without an enclosure install the card in an enclosure with a wiring harness as described in Section 3 2 1 on Page 30 Mount the GPS antenna to a secure stable structure as described in Section 3 2 2 on Page 33 Connect the GPS antenna to the receiver using an antenna RF cable using the information given in Section 3 2 3 on Page 33 Apply power to the receiver as described in Section 3 2 4 on Page 34 Connect the receiver to a PC or other data communications equipment by following the information given in Section 3 2 5 on Page 34 Figure 8 on the next page shows a typical set up for an enclosed receiver OEM4 Family Installation and Operation User Manual Rev 16 29 Chapter 3 Installation and Set Up Figure 8 Typical Receiver Installation Reference Description 1 Receiver GPSAntenna Model 702 or 701 RF Antenna Cable 12V Power Adapter Cable Optional AC Adapter or Aircraft Power Conditioner Null Mo
14. Message Formats on Page 51 describes the various message formats in more detail Enabling SBAS Positioning OEM4 family receivers with a W WAAS MSAS or EGNOS in their model name are capable of SBAS positioning This positioning mode is enabled using the SBASCONTROL command EGNOS at one time used the IGNOREZERO test mode At the time of printing ZEROTOTWO is the correct setting for all SBAS including EGNOS running in test mode On a simulator you may want to leave this parameter off or specify NONE explicitly As a result the following commands are typically used to enable WAAS and EGNOS modes respectively SBASCONTROL WAAS ENABLE 0 ZEROTOTWO SBASCONTROL EGNOS ENABLE 120 ZEROTOTWO See Section 6 2 Satellite Based Augmentation System SBAS on Page 66 for more information Enabling L Band Positioning ProPak LBplus Only L Band equipped receivers allow you to achieve sub meter accuracy In order to use this positioning mode you must enable L band tracking to the Canada Wide Differential Global Positioning System CDGPS or OmniSTAR signal A subscription to OmniSTAR is required to use the OmniSTAR service The CDGPS signal is free and available without subscription To obtain an OmniSTAR subscription contact them at 1 800 338 9178 or 713 785 5850 If you contact OmniSTAR you will be asked to provide the receiver s OmniSTAR serial number which is different from the NovAtel serial number To obtain the OmniSTAR serial number enter
15. RTK RTCM18 provides uncorrected carrier phase measurements and RTCM19 provides uncorrected pseudorange measurements The measurements are not corrected by the ephemerides contained in the satellite message The messages have similar formats Word 3 the first data word after the header contains a GPS TIME OF MEASUREMENT field which is used to increase the resolution of the MODIFIED Z COUNT in the header Word 3 is followed by pairs of words containing the data for each satellite observed Appropriate flags are provided to indicate L1 C A or P code or L2 cross correlated or P code measurements The carrier smoothing interval for pseudoranges and pseudorange corrections is also furnished for a total frame length of six 30 bit words 180 bits maximum Structure Follows the RTCM SC 104 Standard for a Type 18 and Type 19 message For RT 20 or RT 2 you may periodically transmit a set of RTCM Type 18 and RTCM Type 19 together with an RTCM Type 3 message and an RTCM Type 22 message OEM4 Family Installation and Operation User Manual Rev 16 57 Chapter 5 Message Formats 5 2 7 RTCM20 and RTCM21 Measurement Corrections RTK RTCM20 provides carrier phase corrections and RTCM21 provides pseudorange corrections Types 20 and 21 are corrected by the ephemerides contained in the satellite message and are therefore referred to as corrections Message Type 21 is very similar to the standard Type I message but has additional measurement qu
16. Reference Description Reference Description 1 3 pin Deutsch connector A Black 12V adapter B Red Outer contact C White Natural 3 amp slow blow fuse Center contact Foil shield ook WwW PD Figure 43 FlexPak Power Cable 130 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A A 4 2 2 13 Pin Deutsch to DB9 Null Modem Cable NovAtel part number 01017375 The null modem serial cable shown below provides a means of interfacing between the COM1 or COM2 port on the FlexPak and another serial communications device such as a PC At the FlexPak end the cable is equipped with a 13 pin Deutsch connector Deutsch part number 59064 11 35SF which plugs directly into a COM port At the other end a RS 232 DB9S connector is provided To use this cable in RS 422 mode you must cut the DB 9 connector off and make a cable to match the COM2 port for RS 422 see Section 23 FlexPak COM2 Port Pin Out Descriptions on Page 129 This cable looks identical to the straight through serial cable see Page 132 but its use and part number differs It is 2 meters in length 1 2 Alt WN BLUE WHITE BROWN BROWN WHITE GREEN BLUE GREEN BLACK RED RED BLACK YELLOW BLACK ORANGE WHITE WHITE BLACK ORANGE BLACK Reference Description 1 13 pin Deutsch connector 2 DB9S connector Figure 44 FlexPak 13 Pin Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 131 Appendix A A 4 2 3 132
17. all textiles non conductive shoes Chairs finished wood vinyl fiberglass Packing and common polyethylene bags wraps envelopes and bubble pack handling pack foam common plastic trays and tote boxes Assembly spray cleaners cleaning and common solder sucker repair areas common soldering irons common solvent brushes synthetic bristles cleaning drying and temperature chambers OEM4 Family Installation and Operation User Manual Rev 16 151 Appendix B Electrostatic Discharge Control ESD Practices B 4 Handling Printed Circuit Boards 152 ESD damage to unprotected sensitive devices may occur at any time ESD events can occur far below the threshold of human sensitivity Follow this sequence when it becomes necessary to install or remove a circuit board 1 After you are connected to the grounded wrist strap remove the circuit board from the frame and place it on a static controlled surface grounded floor or table mat Remove the replacement circuit board from the static shielding bag or clamshell and insert it into the equipment Place the original board into the shielding bag or clamshell and seal it with a label Do not put repair tags inside the shielding bag or clamshell Disconnect the wrist strap OEM4 Family Installation and Operation User Manual Rev 16 Appendix C Replacement Parts The following are a list of the replacement parts available for your NovAtel GPS receiver Should you require assistanc
18. area is required The CDGPS system is a free Canada wide DGPS service that is accessible coast to coast beyond the U S border and into the Arctic 6 4 1 Coverage The two systems provide different coverage areas e Worldwide OmniSTAR e Canada America Wide CDGPS 6 4 1 1 Worldwide OmniSTAR In most world areas a single satellite is used by OmniSTAR to provide coverage over an entire continent or at least very large geographic areas In North America a single satellite is used but it needs three separate beams to cover the continent The three beams are arranged to cover the East Central and Western portions of North America The same data is broadcast over all three beams but the user system must select the proper beam frequency The beams have overlaps of several hundred miles so the point where the frequency must be changed is not critical The North American OmniSTAR Network currently consists of ten permanent base stations in the Continental U S plus one in Mexico These eleven stations track all GPS satellites above 5 degrees elevation and compute corrections every 600 milliseconds The corrections are sent to the OmniSTAR Network Control Center NCC in Houston via wire networks At the NCC these messages are checked compressed and formed into packets for transmission up to the OmniSTAR satellite transponder This occurs approximately every few seconds A packet will contain the latest corrections from each of the North Americ
19. ee OEM4 Family USER MANUAL VOLUME 1 Installation and Operation OM 20000046 Rev 16 Proprietary Notice OEM4 Family of Receivers Installation amp Operation Manual Publication Number OM 20000046 Revision Level 16 Revision Date 2005 06 22 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel GPSolution MiLLennium ProPak RT 20 and RT 2 are registered trademarks of NovAtel Inc FlexPak PAC GPSCard and GPSAntenna are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Manufactured and protected under U S Patent Narrow Correlator 5 101 416 5 390 207 5 414 729 5 495 499 5 809 064
20. internal pull down resistor To select RS 422 upon startup apply 3 3 V to USERIO I or tie it to pin 38 of the 40 pin connector Pin 38 on the 40 pin connector is usually an ERROR indicator and during normal GPSCard operations is set LOW but for a few seconds during GPSCard initialization immediately after applying power to the GPSCard this pin is set HIGH at 3 3 Volts It drops to LOW a few seconds later when the GPSCard has been fully booted up around the time that the COMx prompt is output from the GPSCard on all COM ports USERIO1 needs to be initialized HIGH during this initial boot up phase in order to set up the COM1 port for RS 422 mode Therefore set pin 38 ERROR to HIGH to provide a convenient 3 3 V source that is used to trigger the USERIO1 to set the COM1 port to RS 422 mode See also Page 35 for note lt Your OEM4 G2 hardware revision must be 3 00 or later and you must be running firmware 2 110 or later in order to use this RS 422 feature on the COM1 port of the OEM4 G2 GPSCard Additional Features and Information This section contains information on the additional features of the OEM4 family receivers which may affect the overall design of your receiver system 3 3 1 Strobes On many of the OEM4 family receivers a set of inputs and outputs that provide status and synchronization signals are given These signals are referred to as strobes As shown in Table 7 on Page 36 not all strobe signals are provided on all rec
21. 0 25 second off per flash sequence followed by a 1 second delay The sequence will repeat indefinitely If there is more than one error or status present the lowest number will be output The codes are ordered to have the highest priority condition output first The first flash in the 6 flash sequence indicates if the code that follows is an error bit or a status bit Error bits will flash red and status bits will flash yellow The next 5 flashes will be the binary number of the code most significant bit first A red flash indicates a one and a yellow flash indicates a zero For example for an error bit 6 the binary number is 00110 so the output sequence would be 0 0 5 0 75 1 251 50 2 0 2 25 2 75 3 0 3 5 3 75 4 25 5 25 followed by a 1 second delay The sequence repeats indefinitely until the receiver is reset In the example on Page 109 the first flash in the sequence is red which means that a bit is set in the receiver error word The next five flashes give a binary value of 00111 Converting this value to decimal results in a value of 7 Therefore bit 7 of the receiver error word is set indicating there is a problem with the supply voltage of the receiver s power circuitry OEM4 Family Installation and Operation User Manual Rev 16 Built In Status Tests pe 7 ES HETE cs 11 Figure 38 Status LED Flash Sequence Example Reference Description 1 Red Yellow 1 Second Pause Word Identifier Flash Bit Identifi
22. 8 5 6 Set and Clear Mask for all Status Code Arrays on Page 108 The error word is the first field after the log header in the RXSTATUS log as shown in the example below or the third from last field in the header of every log lt RXSTATUS COM2 0 71 0 FINE 1209 239039 799 00000022 b8d0 754 lt 00000022 4 lt 00040028 00000000 00000000 00000000 lt 00400005 00000008 00000000 00000000 lt 00000000 00000000 00000000 00000000 lt 00000000 00000000 00000000 00000000 Receiver Error Word Figure 36 Location of Receiver Error Word The numbering of the bits is shown in Figure 37 on Page 107 106 OEM4 Family Installation and Operation User Manual Rev 16 Built In Status Tests Chapter 8 0000002 2 Se rn oe I I I Io I I I i ig I 0000 0000 0000 0000 0000 0000 0010 0010 Bit 15 Bit 0 Figure 37 Reading the Bits in the Receiver Error Word Refer to the RXSTATUS and the RXSTATUSE VENT logs in Volume 2 of this manual set for more detailed descriptions of these logs If the receiver error word indicates an error please also see Section 9 1 Table 20 Resolving a Receiver Error Word on Page 112 8 5 3 Status Code Arrays There are 3 status code arrays the receiver status word the auxiliary 1 status and the auxiliary 2 status Each status code array consists of 4 32 bit words the status word a priority mask a set mask and a clear mask The status word is similar to the
23. 87 Chapter 7 PC Software and Firmware 7 1 7 2 88 Visit the Firmware and Software Updates section of the NovAtel website www novatel com for the most recent versions of the PC software and receiver firmware GPSolution Convert Installation The CD accompanying this manual contains the Windows applications GPSolution and Convert They are both installed via a standard Install Shield set up application Also included on the CD is sample source code to aid development of software for interfacing with the receiver and product documentation Both applications utilize a database in their operations so the necessary components of the Borland Database Engine BDE are installed as well as the necessary database tables and an alias for the database The install set up application does all this automatically so the user has only to select where they would like the applications installed on their PC It is strongly recommended that you close all applications before installing GPSolution and Convert You must close any applications that may be using the BDE before installing The install set up modifies the BDE configuration so that it can recognize the new GPSolution and Convert database The software operates from your PC s hard drive You will need to install the software from the CD supplied by NovAtel 1 Start Microsoft Windows 2 Place the NovAtel CD in your CD ROM drive If the setup utility is not automatically accessib
24. AI 8 Description Universal tip Slow blow fuse Spring Positive line Negative line has text printed on it Shrinkable tubing Positive Negative Figure 67 PowerPak Power Adapter OEM4 Family Installation and Operation User Manual Rev 16 181 Appendix D D 5 2 2 Y Type Null Modem Cable NovAtel part number 60715062 Specifications Archive This cable supplied with the PowerPak see Figure 68 provides an easy means of communications with the receiver s RS232 port from a PC The cable is equipped with a 9 pin connector at the PowerPak end which can be plugged into either COM or COM2 At the PC end both a 9 pin and a 25 pin connector are provided to accommodate most PC serial RS232 communication ports S13 1 ey 25 28 514 00000900000000000 Wiring Table I Caution This cable is not supplied and will not work with a PowerPak 4E unit configured for RS422 communication N 0o0o0000N9Q0000000000 Connector Pin Number 4 Reference From DB25S 28 2 3 5 6 amp 8 7 20 To DEQS 26 2 3 7 4 5 1 amp 6 To DE9S 27 3 2 8 1 amp 6 5 4 Description Reference Description 26 DE9S Female 28 DB25S Female 27 DE9S Female Figure 68 PowerPak Y Type Null Modem Cable 182 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive D 6 ProPak 4E INPU
25. Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude yyyyy Yy Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which a
26. Formats Chapter 5 Type 15 messages contain the following information for each satellite in view at the base station Satellite ID Ionospheric delay Iono rate of change When operating as a base station the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged You must also by logging the RTCM Type 1 corrections When operating as a rover station the receiver COM port receiving the RTCM data must have its INTERFACEMODE command set 5 2 5 RTCM16 Special Message This log contains a special ASCII message that can be displayed on a printer or cathode ray tube The base station wishing to log this message out to rover stations that are logged onto a computer must use the SETRTCM16T command to set the required ASCII text message Once set the message can then be issued at the required intervals with the LOG port RTCM 16 interval command The Special Message setting can be verified in the RXCONFIGA log The received ASCII text can be displayed at the rover by logging RTCM16T ONNEW The RTCM16 data log follows the RTCM Standard Format Words 1 and 2 contain RTCM header information followed by words 3 to n where n is variable from 3 to 32 which contain the special message ASCII text Up to 90 ASCII characters can be sent with each RTCM Type 16 message frame Structure Follows the RTCM Standard SC 104 for a Type 16 message 5 2 6 RTCM18 and RTCM19 Raw Measurements
27. However any binary data received will be converted to a form of ASCII hexadecimal before it is logged When the from port AB field is suffixed with a B all data received by that port will be redirected to the to port exactly as it is received The log header and time tag adhere to standard NovAtel Binary format followed by the pass through data as it was received ASCII or binary Pass through logs are best utilized by setting the trigger field as onchanged or onnew If the data being injected is ASCII then the data will be grouped together with the following rules blocks of 80 characters any block of characters ending in a lt CR gt any block of characters ending in a lt LF gt OEM4 Family Installation and Operation User Manual Rev 16 47 Chapter 4 Operation any block remaining in the receiver code when a timeout occurs If the data being injected is binary then the data will be grouped as follows blocks of 80 bytes any block remaining in the receiver code when a timeout occurs If a binary value is encountered in an ASCII output then the byte is output as a hexadecimal byte preceded by a backslash and an x For example OA is output as x0A An actual V in the data is output as The output counts as one pass through byte although it is four characters The first character of each pass through record is time tagged in GPS weeks and seconds For example you could connect two OEM4 family receivers toget
28. Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue a FRESET command 2 Log the following data to a file on your PC for 30 minutes RXSTATUSB once RAWEPHEMB onchanged RANGEB ontime 1 BESTPOSB ontime 20 RXCONFIGA once VERSIONB once 3 Send the file containing the log to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel ca incoming or the support QGnovatel ca e mail address If there is a hardware problem that has not been resolved please send a list of the troubleshooting steps you have taken and their result See also Chapter 9 on Page 110 12 OEM4 Family Installation and Operation User Manual Rev 16 The following notices apply to the ProPak LBplus ProPak G2plus and FlexPak G2L FCC NOTICE This equipment has been tested and found to comply with the radiated and conducted emission limits for a Class B digital device for both CISPR 22 and Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular ins
29. Indicators Indicator Indicator Color Status Green Data is being transmitted from COM1 COM1 Red Data is being received on COM1 Green Data is being transmitted from COM2 COM2 Red Data is being received on COM2 AR Green Data is being transmitted from COM3 Red Data is being received on COM3 PWR Red The receiver is powered Table 10 ProPak LBplus Status Indicators Indicator Indicator Color Status A Red Hardware error Green Valid position computed Red The receiver is powered 3 3 4 External Oscillator OEM4 G2 G2L and ProPak G2plus Only 38 For certain applications requiring greater precision than what is possible using the on board 20 MHz voltage controlled temperature compensated crystal oscillator WCTCXO you may wish to connect the OEM4 G2L or OEM4 G2 to an external high stability oscillator The external oscillator can be either 5 MHz or 10 MHz Installation consists of connecting a cable from the external oscillator to the receiver s external oscillator input connector For the ProPak G2plus with firmware 2 200 or higher the BNC external oscillator port labeled OSC is used See Figure 5 ProPak G2plus Rear Panel on Page 21 For the OEM4 G2L and OEM4 G2 an MMCX female connector is used as shown in Figure 9 on Page 32 and Figure 10 on Page 33 respectively The receiver does not have to be powered down during this procedure If you are handling the OEM
30. PAC Correlator 6 243 409 B1 Dual Frequency GPS 5 736 961 Anti Jamming Technology 5 734 674 Copyright 2000 2005 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable DEG 2 OEM4 Family Installation and Operation User Manual Rev 16 Table of Contents Proprietary Notice Software License Warranty Policy Customer Service Notice Foreword 1 Introduction 1 1 Overview of the OEM4 Family rrnnnnrnnnonnvnnnnrrrnnnnvnnrnrrrrnnnnnnnrrrrennnnnnnrrnrenennrnneennn 11 COMMON Fea eS a a a a A setene a E Rs V2 GPS AIS A A AAA EA EEE AE EE EAE E AAE A 1 2 1 OEM4 G2L GPSCard rreveversrsrrrrrerrrrersrsvsvsvnvnrererersrrrsennrnnnnnnnnsnsnserersener 1 22 OEM4G2 GPSGard uanstrengt arsen ara Aaaa TS ENCIOSUES ua an TI E ED A te EE E E AAE res aa ae IEE RAL mel EE oN E E E AT 1 3 3 ProPak L BpIUS itea E E E ee S R AE A S Ek 2 Receiver System Overview 2GRSCAM Te 2 1 1 Radio Frequency RF Section wrrrararrrnnnnvvnrnrravnonnvnrnnrrrnnnnnnnrrrrnennnnnnrenn 2 1 2 Digital Electronics Section rrnannvvnnnnvrnnnnnvnnnrrrnnnnnvnnrnrrrrnnrnenrrrreennnnnnnnnnen 2 2 Enclosure and Wiring Harness rrnronnnnnnnvvrnnnnnnnrrrnnnnnnnnrrnnnrensrvnnnnsensrrnnnsennnrrnnnen 2 3 GPS Antenna uasneskersteuna egene end ape ean 2 3 1 Optional LNA Power Supply arrrvrnonvvnnnnnvnnnnnvvnnnnrnnnnnnnnrnnrrnnnnnnnnrnrrnenennnnrenn 2 4 Prin
31. RTS1 RTS1 RTS2 RTS2 8 CTS1 CTS1 cTs2 CTS2 9 N C TXD1 N C TXD2 Table 45 ProPak 4E I O Port Pin Out Descriptions Connector PinNo Signal Name Signal Description 1 VARF Variable frequency out 2 PPS Pulse per second 3 MSR Measure output 4 Event Mark 1 input 5 PV Valid position available 6 GND Digital ground 7 GND Digital ground 8 GND Digital ground BY For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 OEM4 Family Installation and Operation User Manual Rev 16 185 Appendix D Specifications Archive D 6 2 Cables D 6 2 1 12V Power Adapter Cable NovAtel part number 01016331 The power cable supplied see Figure 69 allows you to connect a DC power source of your choice It is conveniently equipped with a 12V power adapter for supplying 12 VDC while operating in the field The output from the power adapter utilizes a 4 pin LEMO connector LEMO part number FGJ 0B 304 CNLD52Z For field replacement of the LEMO connector please see Appendix C Page 153 for a list of the manufacturers part numbers The input power cable is fuse protected and has been charged from 4 amp to 2 5 amp The 12V power adapter is equipped with a 3 Amp slow blow fuse located inside the adapter tip The tip can be unscrewed to allow replacement of the fuse if necessary To ensure optimum performance when replacing the fuse first spring load the fuse The adap
32. Reference Point ARP 60 5 4 CMR Format Messaging rrrvrnnrnvvnnnnrrnnnrrrrvnnnrnnnnnnrennnrnnnsnnnnersnrnesnnnenrrnrnesnnnnnnennne 60 5 4 1 Using RT 2 or RT 20 with CMR Format Messages cseseeeseteeeeeseees 61 5 5 NMEA Format Data LOGS esio ia ieii iaai ia a din E A 62 6 Positioning Modes of Operation 63 Ee e O A ETE A A A A NT 63 6 1 1 GPS System Errors melaa aae aua eaa aren ae are aaea a tta EE 65 6 2 Satellite Based Augmentation System SBAS urrnrnnnnnnnnnnnrrvnnnnvnnrnvrnnnnnrnnennnne 66 6 21 SBAS ReECe6IVEN aata eet at Mien idee ee Wadi dee 68 6 2 2 SBAS Commands and LOGS ccceeeeeeeeeeceneeeeeeeeeeeeeesaaeeseeeeessnaaeeeenees 69 6 3 Pseudorange Differential eyssir revsi anir AAE ENE ESE S 69 4 OEM4 Family Installation and Operation User Manual Rev 16 Table of Contents 6 3 1 Pseudorange Algorithms sissors iunn iinun eaaa EEE EA ERA ATTS 69 6 3 2 Position Sottoserie a aaa e aeaa a ar AEAEE EE RREA A 69 6 3 3 Dual Station Differential Positioning rrrrrrvrvnnnvnnnorrrrnnnrrnnennrnnrnnrrnnrnnnnrenn 70 6 4 L Band Positioning soerersraia erana eN EAEE TS 73 6421 COVEragE A E T tea eeee divide alo tele 73 6 4 2 L Band Service LeVEIS cceccecceseeseeeeeeceeeeeeeeeseaaeeeseseaeeeeesseaeeeeesenaees 75 6 4 3 L Band Commands and LOgS ccceeceeeeeeeeeeeeeeeeaeeseeeeeessaaeeeeeeeeeeaeetees 78 6 5 Carrier Phase Differential rrrrnrrrrnrrrrnnvrrrnrrrnnvvrnn
33. SEP 6 3 2 Position Solutions Due to the many different applications for differential positioning systems two types of position solutions are possible NovAtel s carrier phase algorithms can generate both matched and low latency position solutions while NovAtel s pseudorange algorithms generate only low latency solutions These are described below OEM4 Family Installation and Operation User Manual Rev 16 69 Chapter 6 Positioning Modes of Operation 1 The matched position solution is computed at the rover station when the observation infor mation for a given epoch has arrived from the base station via the data link Matched obser vation set pairs are observations by both the base and rover stations which are matched by time epoch and contain the same satellites The matched position solution is the most ac curate one available to the operator of the rover station but it has an inherent latency the sum of time delays between the moment that the base station makes an observation and the moment that the differential information is processed at the rover station This latency de pends on the computing speed of the base station receiver the rates at which data is trans mitted through the various links and the computing speed of the rover station the overall delay is on the order of one second Furthermore this position cannot be computed any more often than the observations are sent from the base station Typically the update rat
34. Set Up This chapter contains instructions and tips to set up your NovAtel receiver to create a GPS receiver system similar to that described in Chapter 2 Receiver System Overview on Page 24 3 1 Additional Equipment Required In order for the receiver to perform optimally the following additional equipment is required e An interface for power communications and other signals and an enclosure to protect against the environment if your receiver has been purchased as a GPSCard without an enclosure e A NovAtel GPS antenna e A quality coaxial cable and interconnect adapter cable as necessary e Data communications equipment capable of serial communications e A serial cable if not included with the receiver e A power supply e A power cable if not included with the receiver A CAUTION When the OEM4 family receiver is installed in a permanent location such as in a building it should be protected by a lightning protection device according to local building codes See also Warranty Policy on Page 11 3 1 1 Selecting a GPS Antenna An active antenna is required because its low noise amplifier LNA boosts the power of the incoming signal to compensate for the line loss between the antenna and the receiver NovAtel offers a variety of single and dual frequency GPS antenna models as indicated in the table below All include band pass filtering and an LNA The GPS antenna you choose will depend on your particular application Eac
35. Software NovAtel USB Configuration Utility DX These drivers have not been certified by Microsoft s Windows Hardware Quality Lab WHQL Depending on your computer s Driver Signing Policy Windows may refuse to install this driver or may display a warning See Section 7 4 3 Windows Driver Signing on Page 96 for details 7 4 1 Windows XP Installation If upgrading drivers uninstall older versions using the NovAtel USB Configuration tool located in the Start Menu under Program Files OEM4 PC Software After connecting the NovAtel GPS receiver to a USB port on the PC the Found New Hardware wizard appears Click on Next 1 Select the Install from a list or specific location Advanced field and click on Next 2 Clear the Search removable media check box select the Include this location in the search field and Browse to the newest USB driver install directory on the supplied OEM4 family CD 3 Click on Next 4 Click on Finish to complete the driver installation After installing the NovAtel USB driver Windows detects the OEM4 receiver s new virtual COM ports and begins to initialize them As each port is detected the Found New Hardware wizard appears Complete the following steps for each port 1 Select the Install the software automatically field recommended and click on Next 2 Click on Finish Installation is complete when no more dialogs appear The new COM ports corresponding to the receiver s USB1 USB2 and USB3 port
36. The NovAtel USB Configuration Utility installed with the NovAtel USB drivers allows you to change the COM port numbers assigned to the virtual serial ports The USB drivers along with installation instructions are available on the OEM4 Family CD by selecting USB Support from the main menu You can also check for updates to the drivers or release notes on our website at www novatel com 3 3 3 Status Indicators Many of the OEM4 family receivers have LED indicators that provide the status of the receiver The GPSCards have a single indicator which is shown in Figure 9 on Page 32 for the OEM4 G2L and Figure 10 on Page 33 for the OEM4 G2 The LED blinks green on and off at approximately I Hz to indicate normal operation If the indicator is red then the receiver is not working properly The operation of this indicator is further described in Section 8 6 on Page 108 The FlexPak ProPak G2plus and ProPak LBplus provide the status indicators shown in Tables 8 10 Table 8 FlexPak Status Indicators Indicator Indicator Color Status Green Data is being transmitted from COM1 COM1 Red Data is being received on COM1 Green Data is being transmitted from COM2 COM2 Red Data is being received on COM2 Red Hardware error ANT Green Valid position computed PWR Red The receiver is powered OEM4 Family Installation and Operation User Manual Rev 16 37 Chapter 3 Installation and Set Up Table 9 ProPak G2plus Status
37. The voltage input range for each GPSCard type is given in the table below Table 31 Voltage Input Ranges for GPSCards GPSCard Power Input Range OEM4 6 to 18 VDC Euro4 5 0 0 125 VDC All PowerPak and ProPak enclosures provide a TNC female connector which can be connected to the antenna directly with any of NovAtel s coaxial cables For the GPSCards an interconnect adapter cable is required to convert the TNC male end of the coaxial cable to the card s specific RF input connector type which is given in the table below Table 32 GPSCard RF Input Connectors GPSCard RF Input Connector OEM4 MMCX female Euro4 SMB right angle male Connect the power supply set to the voltage given in the table below to the wiring harness Table 33 GPSCard Power Inputs GPSCard Power Input Range OEM4 6 to 18 VDC Euro4 5 0 0 125 VDC For a PowerPak or ProPak enclosure connect the power supply to the port described in Table 34 on Page 156 155 OEM4 Family Installation and Operation User Manual Rev 16 Appendix D Specifications Archive Table 34 Enclosure Power Inputs Enclosure Power Input Port Power Input Range ProPak G2 4 pin LEMO male connector 7 to 18 VDC PowerPak 4 Standard 2 1 mm center positive receptacle labelled 6 18V DC 6 to 18 VDC PowerPak 4E Standard 2 1 mm center positive receptacle labelled 10 36VDC 10 to 36 VDC ProPak 4E 4 p
38. Version NovAtel part number 60723066 This cable can be used to connect the DB 9 version of the ProPak G2 to a modem or radio transmitter to propagate differential corrections The cable is equipped with a female DB9 connector at the receiver end The male DB9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information on its connectors The cable is approximately 2 m in length See Figure 59 E L w ES i i E J fm er Pa S 9 a a ONDINA OWN OGNIDASKVN Reference Description Reference Description 10 DB9P male connector 12 9 conductor cable 11 DB9S female connector Figure 59 ProPak G2 DB 9 Version Straight Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 163 Appendix D Specifications Archive D 2 2 4 1O Strobe Port Cable for DB 9 Version NovAtel part number 60723065 The strobe lines on the DB 9 version of the ProPak G2 can be accessed by inserting the male DB9 connector of the I O strobe port cable into the J O port The other end of this cable is provided without a connector to provide flexibility The jacket insulation is cut away slightly from the end but the insulation on each wire is intact The cable is approximately 2 m in length See Figure 60
39. Volume 2 of this manual set Continued on Page 114 OEM4 Family Installation and Operation User Manual Rev 16 113 Chapter 9 Troubleshooting 21 None This bit simply indicates if clock steering has been manually disabled Refer also to the FRESET command in Volume 2 of this manual set 22 None This bit only indicates if the clock model is valid Refer also to the FRESET command in Volume 2 of this manual set 23 None This bit indicates whether or not the phase lock loop is locked when using an external oscillator Refer also to the FRESET command in Volume 2 of this manual set 30 None This bit indicates if any bits in the auxiliary 2 status word are set The auxiliary 2 word simply provides status information and does not provide any new information on problems Refer also to the FRESET command in Volume 2 of this manual set 31 None This bit indicates if any bits in the auxiliary 1 status word are set The auxiliary 1 word simply provides status information and does not provide any new information on problems Refer also to the FRESET command in Volume 2 of this manual set 114 OEM4 Family Installation and Operation User Manual Rev 16 Appendix A Technical Specifications A 1 OEM4 Family Receiver Performance PERFORMANCE Subject To GPS System Characteristics Position Accuracy Standalone L1 only 1 8 m CEP L1 L2 1 5 m CEP WAAS L1 only 1 2 m CEP L1 L2 0 8 m CEP Code Differential
40. allows a NovAtel rover receiver to operate in either RT 2 or RT 20 mode while receiving pseudorange and carrier phase data via CMR messages version 3 0 from a non NovAtel base station receiver The NovAtel receiver can also transmit CMR messages version 3 0 The station ID must be lt 31 when transmitting CMR corrections refer to Volume 2 Chapter 2 of this manual set The CMRPLUS output message distributes the reference station information over 14 updates Refer to the CMRPLUS log in Volume 2 Chapter 3 of this manual set for more details The message lengths of the three CMR messages are as follows CMROBS 6 frame 6 header 8 L1 channels 7 L2 channels 192 bytes maximum CMRREF 6 frame 6 header 19 31 bytes CMRDESC 6 frame 6 header variable 26 to 75 38 bytes minimum 87 bytes maximum lt No guarantee is made that the OEM4 will meet its performance specifications if non NovAtel equipment is used Trimble rovers must receive CMRDESC messages from a base 1 Talbot N C 1996 Compact Data Transmission Standard for High Precision GPS Proceeding of the ION GPS 96 Conference Kansas City MO September 1996 Vol I pp 861 871 OEM4 Family Installation and Operation User Manual Rev 16 Message Formats Chapter 5 See Section 4 3 Transmitting and Receiving Corrections on Page 44 for more information on using these message formats for differential operation 5 4 1 Using RT 2 or RT 20
41. and fields Please keep this in mind when combining NovAtel and non NovAtel RINEX data When converting to RINEX two files are produced a RINEX observation file and a RINEX navigation file The default names of these two files conforms to the RINEX Version 2 10 recommended naming convention of ssssdddf yyt where SSSS 4 character station name Convert4 uses the first four characters of the lt infile gt parameter as the station ID ddd day of year f file sequence number within the day Convert4 sets this to zero t file type o for the observation and n for the navigation file Selecting the RINEX field see Figure 25 Convert Screen Examples on Page 91 in the Convert To section causes the 1 Destination File field to be replaced by the Observation File and Ephemeris File fields Note that Observation File refers to the RINEX OBS file while Ephemeris File refers to the RINEX NAV file 2 RINEX Headers buttons to appear allowing you to supply additional information that appears in the header records of the RINEX output files for example Company Name Marker Name and Marker Number For best results the NovAtel receiver input data file should contain the logs as in Table 18 on Page 93 1 For further information on RINEX Version 2 10 file descriptions you may wish to consult the U S National Geodetic Survey website at http www ngs noaa gov CORS Rinex2 html 92 OEM4 Family Installation and Operation User Manual Rev 1
42. and the NovAtel OEM4 G2 GPSCard It is a rugged sealed enclosure that provides protection against adverse environments It has DB 9 connectors to access data and status signals The ProPak G2plus offers the following features e A mounting enclosure with a PCB interconnect back plane e Three serial ports provided on three DB 9P connectors e Auxiliary status and synchronization signals e GPS antenna and power ports e Indicators to provide power and communication status The following accessories are included with the ProPak G2plus e 112 V power adapter cable e 2 or more data cables e ACD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the ProPak G2plus please see Section A 5 starting on Page 134 Figure 5 ProPak G2p us Rear Panel OEM4 Family Installation and Operation User Manual Rev 16 21 Chapter 1 Introduction 1 3 3 ProPak LBplus The NovAtel ProPak LBplus provides a hardware interface between your equipment and the NovAtel OEM4 G2 GPSCard Additionally within the ProPak LBplus an L Band receiver provides correction data As shown in Figure 6 the ProPak LBplus is a rugged sealed enclosure suitable for adverse conditions lt In order to receive L Band corrections a subscription to the OmniSTAR service or use of the free Canada Wide Differential Global Positioning System CDGPS signal is required See Section 4 5 on Page 46 or the ProPak LBplus Quick Start G
43. carrier noise residual locktime reject code satellite system and measurement is displayed for all satellites being tracked The popup dialog box for this window provides access to the Options dialog box that allows the user to select which fields are displayed in the Channel Tracking Status window e Position Window This window displays the receiver s current Latitude Longitude and Height along with the standard deviations of each The time and date as received from the receiver are displayed OEM4 Family Installation and Operation User Manual Rev 16 89 Chapter 7 PC Software and Firmware The popup dialog box for this window provides access to the Options dialog box that allows the user to select what units are displayed for position velocity height time and distance e Velocity and Heading Window This window displays direction of travel in the left dial and climb in the right dial The overall velocity is displayed in the top left hand corner the vertical component of velocity is displayed in the lower left hand corner the north and east components of velocity are displayed in the top right and bottom right corners of the window respectively The popup dialog box for this window provides access to the Options dialog box that allows the user to select velocity filter settings The user can enable velocity filtering and use a slider control to select a velocity below which the receiver will be considered st
44. d 2 3 4 5 6 7 8 9 Wiring Table I O Port I O Port I O Port Cable 1 O Port I O Port I O Port Cable Pin Signal Wire Color Pin Signal Wire Color VARF Black 6 Reserved Green 2 PPS Brown 7 Reserved Blue 3 Reserved Red 8 GND Violet 4 Eventi Orange 9 GND White Grey 5 PV Yellow Reference Description Reference Description 10 DB9S male connector 11 9 conductor cable Figure 60 ProPak G2 DB 9 Version I O Strobe Port Cable 164 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 2 2 5 Null Modem Cable for LEMO Version NovAtel Part Number 403 0 0036 The LEMO version of the ProPak G2 includes a null modem cable which provides an easy means of communications with a PC The cable is equipped with a 10 pin LEMO connector at the receiver end which can be plugged into the COM or COM2 port At the PC end a DB 9 connector is provided to accommodate most PC serial RS232 communication ports a il S5 S1 8 i 1 RV 2 XD 5 4 4 Z s9 S6 12 13 Reference Description Reference Description 1 Brown 8 Violet 2 Black 9 Grey 3 Red 10 White not used 4 Orange 11 Connector key marking 5 Yellow 12 10 pin LEMO connector 6 Green 13 DB9S female connector 7 Blue Figure 61 ProPak G2 LEMO Version Null Modem Cable OEM4 Family Installation and Operation User Manual
45. data record would pass through creating two records The reason that two records are logged from the accepting receiver is because the first record was initiated by receipt of the BESTPOSA log s first terminator lt CR gt Then the second record followed in response to the BESTPOSA log s second terminator lt LF gt Note that the time interval between the first character received and the terminating lt LF gt can be calculated by differencing the two GPS time tags This pass through feature is useful for time tagging the arrival of external messages These messages could be any user related data If the user is using this feature for tagging external events it is recommended that the command interpreter be disabled so that the receiver does not respond to the messages Refer to the INTERFACEMODE command in Volume 2 of this manual set If the BESTPOSB binary log data were input to the accepting port log com2 passcomla onchanged the BESTPOSB binary data at the accepting port is converted to a variation of ASCII hexadecimal before it is passed through to COM2 port for logging Transferring Time Between Receivers The following are clock steering states Fine An OEM4 family receiver that is tracking satellites and has a receiver clock state of FINE or FINESTEERING Cold Clock An OEM4 family receiver that needs to have its clock synchronized with the Fine receiver It may have any clock state including UNKNOWN Warm Clock An OEM4 family rece
46. difficult and loss of lock makes reliable ambiguity solutions difficult to maintain A carrier phase measurement is also referred to as an accumulated delta range ADR At the L1 frequency the wavelength is 19 cm at L2 it is 24 cm The instantaneous distance between a GPS satellite and a receiver can be thought of in terms of a number of wavelengths through which the signal has propagated In general this number has a fractional component and an integer component such as 124 567 967 330 cycles and can be viewed as a pseudorange measurement in cycles with an initially unknown constant integer offset Tracking loops can compute the fractional component and the change in the integer component with relative ease however the determination of the initial integer portion is less straight forward and in fact is termed the ambiguity In contrast to pseudorange algorithms where only corrections are broadcast by the base station carrier phase algorithms typically double difference the actual observations of the base and rover station receivers Double differenced observations are those formed by subtracting measurements between identical satellite pairs on two receivers ADR double difference ADR ADR x A sat j 3 ADR x B T ADR x B sat gt tx A sat i sat i An ambiguity value is estimated for each double difference observation One satellite is common to every satellite pair it is called the reference satellite and it is generally
47. input MMCX female connector OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 2 1 Figure 10 OEM4 G2 Connector and Indicator Locations Reference Description 1 Power data and signal connector 40 pin dual row male connector with 0 025 square pins and 0 1 spacing 2 LED status indicator 3 RF signal input and LNA power output MMCX female connector 4 External oscillator input MMCX female connector 3 2 2 Mounting the GPS Antenna Once the GPSCard is installed in a wiring harness and enclosure the antenna to be used with the receiver must be mounted The GPS receiver has been designed to operate with any of the NovAtel single frequency or dual frequency GPS antenna models See Section 3 1 1 on Page 27 for more information When installing the antenna system e Choose an antenna location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction Refer to the Multipath section in the GPS Reference Manual e Mount the antenna on a secure stable structure capable of safe operation in the specific environment 3 2 3 Connecting the Antenna to the Receiver Connect the antenna to the receiver using high quality coaxial cable as discussed in Section 3 1 2 on Page 27 The ProPak G2plus ProPak LBplus and FlexPak enclosures provide a TNC female connector which can be connected to the antenna directly with any of NovAtel
48. it is valid and superior to the pseudorange based position Otherwise it will contain the pseudorange based position Similarly RTKVEL and BESTVEL will contain the low latency RTK velocity RT 20 solutions will always use floating L1 ambiguities When valid L2 measurements are available RT 2 solutions will have other solution types that depend on convergence time baseline length number of satellites satellite geometry and the level of ionospheric activity detected 6 5 1 1 RT 2 Performance The RT 2 software provides the accuracies shown in Table 14 RT 2 Performance Static Mode on Page 82 Figure 21 Typical RT 2 Horizontal Convergence Static Mode on Page 83 Table 15 RT 2 Performance Kinematic Mode on Page 82 and Figure 22 Typical RT 2 Horizontal Convergence Kinematic Mode on Page 83 for typical multipath ionospheric tropospheric and ephemeris errors where typical is described as follows A typical multipath environment would provide no carrier phase double difference multipath errors greater than 2 cm or pseudorange double difference multipath errors greater than 2 m on satellites at 11 elevation or greater For environments where there is greater multipath please consult NovAtel Customer Service Typical unmodeled ionospheric tropospheric and ephemeris errors must be within 20 of their average values at a given elevation angle and baseline length It is assumed that the tropospheric correction is computed with stan
49. manual set Differential mode is not working properly See Section 4 3 Transmitting and Receiving Corrections Page 44 and refer to the COMCONFIG log in Volume 2 of this manual set There appears to be a problem with the receiver s memory An environmental or memory failure The receiver temperature is out of acceptable range or the internal thermometer is not working Refer to the NVMRESTORE command in Volume 2 of this manual set See the ENVIRONMENTAL sections in the tables of Appendix A Technical Specifications starting on Page 117 Overload and overrun problems Either the CPU or port buffers are overloaded Reduce the amount of logging See also Section 4 1 1 Serial Port Default Settings Page 41 The receiver is indicating that an invalid authorization code has been used Refer to the Version log in Volume 2 of this manual set The receiver is being affected by jamming Move the receiver away from any possible jamming sources The receiver s automatic gain control AGC is not working properly See Section 3 1 2 Choosing a Coaxial Cable Page 27 and the jamming symptom in this table OEM4 Family Installation and Operation User Manual Rev 16 111 Chapter 9 Troubleshooting 9 1 112 Examining the RXSTATUS Log The RXSTATUS log provides detailed status information about your receiver and can be used to diagnose problems Please refer to Volume 2 of this manual set for det
50. measurements with which to work computed pseudoranges based on its known position relative to the satellite and measured pseudoranges which assumes the receiver position is unknown Now the base station s measured pseudorange unknown position is differenced against the computed range based on known position to derive the differential correction which represents the difference between known and unknown solutions for the same antenna This difference between the two ranges represents the combined pseudorange measurement errors resulting from receiver clock errors atmospheric delays satellite clock error and orbital errors The base station will derive pseudorange corrections for each satellite being tracked These corrections can now be transmitted over a data link to one or more rover stations It is important to ensure that the base station s FIX POSITION setting be as accurate as possible as any errors here will directly bias the pseudorange corrections computed and can cause unpredictable results depending on the application and the size of the base station position errors As well the base station s pseudorange measurements may be biased by multipath reception 6 3 3 2 The Rover Station A rover station is generally any receiver whose position is of unknown accuracy but has ties to a base station through an established data link If the rover station is not receiving differential corrections from the base station it is essentiall
51. position estimate becomes less precise as the baseline length increases Note that the baseline length is the distance between the phase centres of the two antennas Identifying the exact position of your antenna s phase centre is essential this information is typically supplied by the antenna s manufacturer or vendor OEM4 Family Installation and Operation User Manual Rev 16 85 Chapter 6 Positioning Modes of Operation 86 The RTK software automatically makes the transition between short and longer baselines but the best results are obtained for baselines less than 10 km The following are factors which are related to baseline length e ephemeris errors these produce typical position errors of 0 75 cm per 10 km of baseline length e ionospheric effects the dominant error for single frequency GPS receivers on baselines exceeding 10 km Differential ionospheric effects reach their peak at dusk and dawn being at a minimum during hours of darkness Ionospheric effects can be estimated and removed on dual frequency GPS receivers greatly increasing the permissible baseline length but at the cost of introducing additional noise to the solution Therefore this type of compensation is only used in cases where the ionospheric error is much larger than the noise and multipath error e tropospheric effects these produce typical position errors of approximately I cm per 10 km of baseline length This error increases if there is a
52. rover station you can leave the INTERFACEMODE default settings interfacemode com2 OEM4 Family Installation and Operation User Manual Rev 16 45 Chapter 4 Operation 4 4 4 5 46 novatel novatel The rover receiver will recognize the default and use the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the base stations from which to accept pseudorange or RTK corrections respectively They are useful commands when the rover station is receiving corrections from multiple base stations With the PSRDIFFSOURCE command all types may revert to SBAS if enabled using the SBASCONTROL command Refer to Volume 2 of this manual set for more details on these commands See Section 6 2 Satellite Based Augmentation System SBAS on Page 66 for more information on SBAS At the base station it is also possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful if you wish to modify the format of the corrections for a non standard application or if you wish to look at the corrections for system debugging purposes These variants have DATA as part of their names for example RTCADATA1 RTCMDATA1 CMRDATAOBS and more Refer to Volume 2 of this manual set for details Chapter 5
53. s tropospheric layer causes GPS signal propagation delays The amount of delay is at the minimum about three metres for satellite signals arriving from 90 degrees above the horizon overhead and progressively increases as the angle above the horizon is reduced to zero where delay errors may be as much as 50 metres at the horizon e Ephemeris Errors Some degree of error always exists between the broadcast ephemeris predicted satellite position and the actual orbit position of the satellites These errors will directly affect the accuracy of the range measurement e Satellite Clock Errors Some degree of error also exists between the actual satellite clock time and the clock time predicted by the broadcast data This broadcast time error will cause some bias to the pseudorange measurements e Receiver Clock Errors Receiver clock error is the time difference between GPS receiver time and true GPS time All GPS receivers have differing clock offsets from GPS time that vary from receiver to receiver by an unknown amount depending on the oscillator type and quality TCXO versus OCXO and so on However because a receiver makes all of its single point pseudorange measurements using the same common clock oscillator all measurements will be equally offset and this offset can generally be modeled or quite accurately estimated to effectively cancel the receiver clock offset bias Thus in single point positioning receiver clock offset is n
54. significant height difference between the base and rover stations as well as if there are significantly different weather conditions between the two sites A related issue is that of multipath interference the dominant error on short differential baselines Generally multipath can be reduced by choosing the antenna s location with care and by the use of the GPS 702 antenna no need for a choke ring or a L1 L2 antenna and a choke ring antenna ground plane refer to the Multipath section of the GPS Reference Manual 2 Convergence time the position estimate becomes more accurate and more precise with time How ever convergence time is dependent upon baseline length while good results are available after a minute or so for short baselines the time required increases with baseline length Convergence time is also affected by the number of satellites which can be used in the solution the more satel lites the faster the convergence 6 5 1 4 Performance Degradation The performance will degrade if satellites are lost at the rover or if breaks occur in the differential correction transmission link The degradations related to these situations are described in the following paragraphs Provided lock is maintained on at least 4 SVs and steady state has been achieved the only degradation will be the result of a decrease in the geometrical strength of the observed satellite constellation If steady state has not been achieved then the length
55. squares solution L Band technology generates corrections optimized for the location It is this technique that enables the L Band receiver to operate independently and consistently over the entire coverage area without regard to where it is in relation to the base stations 6 4 2 2 High Performance Service The OmniSTAR High Performance HP service gives you more accuracy than the OmniSTAR VBS or CDGPS services OmniSTAR HP computes corrections in dual frequency RTK float mode within about 10 cm accuracy To obtain OmniSTAR HP corrections your receiver must have an HP subscription from OmniSTAR lt For optimal performance allow the OmniSTAR HP solution to converge prior to starting any dynamic operation OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 RI amp amp A a 5 L TM NJ r 7 3 wee 3 ties gt Figure 20 OmniSTAR Concept Reference Description 1 GPS satellites 2 Multiple L Band ground stations 3 Send GPS corrections to 4 4 Network Control Center where data corrections are checked and repackaged for uplink to 5 L Band Geostationary Satellite L Band DGPS signal Correction data are received and applied real time DGPS uplink ON ODO OEM4 Family Installation and Operation User Manual Rev 16 77 Chapter 6 Positioning Modes of Operation 6 4 3 L Band Commands and Logs 6 5 78 The ASSIGNLBAND command allows you to se
56. the following command in a terminal window or the Console window in GPSolution LOG LBANDINFO The log that is generated will display the L Band serial number in the fifth field following the log header It is a six digit number in the range 700000 to 799999 This log also provides the status of your subscription Refer to Volume 2 of this manual set for more information OEM4 Family Installation and Operation User Manual Rev 16 Operation Chapter 4 In order to activate an OmniSTAR subscription the receiver must be powered and tracking an L Band satellite When advised by OmniSTAR of the appropriate satellite frequency and data link rate for your location use the ASS IGNLBAND command to configure your receiver The CDGPS frequencies are on Page 74 and these can also be used with the ASS IGNLBAND command As an example if your frequency is 1 525 000 kHz and your data link speed is 1200 baud enter the following ASSIGNLBAND USER 1525000 1200 To confirm you are tracking an L Band signal log the L Band status information by entering the following command LOG LBANDSTAT For example if you are receiving CDGPS the fifth field after the header should be 00c2 LBANDSTAT COM1 0 43 5 FINESTEERING 1295 149951 671 00000000 976 34461 lt 1547546977 46 18 4541 0 0 00 00c2 00 0 0 0 0 8070 0001000 Please refer to Volume 2 of this manual set for more details 4 6 Pass Through Logging The pass through logging feature enables the receiver t
57. the PDOP the better the solution Pseudorange differential is the focus of this section Carrier phase algorithms are discussed in Carrier Phase Differential on Page 78 6 3 1 Pseudorange Algorithms Pseudorange algorithms correlate the pseudorandom code on the GPS signal received from a particular satellite with a version generated within the base station receiver itself The time delay between the two versions multiplied by the speed of light yields the pseudorange so called because it contains several errors between the base station and that particular satellite The availability of four pseudoranges allows the base station receiver to compute its position in three dimensions and the offset required to synchronize its clock with GPS system time The discrepancy between the base station receiver s computed position and its known position is due to errors and biases on each pseudorange The base station receiver calculates these errors and biases for each pseudorange and then broadcasts these corrections to the rover station The rover receiver applies the corrections to its own measurements its corrected pseudoranges are then processed in a least squares algorithm to obtain a position solution The wide correlator receiver design that predominates in the GPS industry yields accuracies of 3 5 m SEP NovAtel s patented Narrow Correlator tracking technology reduces noise and multipath interference errors yielding accuracies of I m
58. the new policy Click on OK again to close the System Properties dialog Unplug the NovAtel receiver USB cable plug it back in and follow the installation instructions described above in either Windows XP Installation or Windows 2000 Installation starting on Page 95 OEM4 Family Installation and Operation User Manual Rev 16 97 Chapter 7 PC Software and Firmware 7 5 Firmware Upgrades amp Updates 98 The receiver stores its program firmware in non volatile memory which allows you to perform firmware upgrades and updates without having to return the receiver to the distributor New firmware can be transferred to the receiver through COM1 and the unit will immediately be ready for operation at a higher level of performance The first step in upgrading your receiver is to contact your local NovAtel dealer Your dealer will assist you in selecting the best upgrade option that suits your specific GPS needs If your needs are still unresolved after seeing your dealer then you can contact NovAtel directly through any of the methods described in the Customer Service section see Page 12 at the beginning of this manual When you call be sure to have available your receiver model number serial number and program revision level This information can be found by issuing the LOG VERSION command at the port prompt After establishing which new model revision level would best suit your needs and having described the terms and conditions you
59. top LEMO 10 pin plug DE9P male 10 conductor cable Figure 70 ProPak 4E Straight Through Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 187 Appendix D Specifications Archive D 6 2 3 Null Modem Serial Port Cable NovAtel part number 01016329 The null modem serial cable see Figure 71 is used to connect the ProPak 4E to a serial RS232 communication port on a terminal computer The end connectors are a 10 pin LEMO plug LEMO part number FGG 1K 310 CLAC55Z to 9 pin D connector DE9S socket This cable looks identical to the straight serial cable see Page 187 but its use and part number differs For field replacement of the LEMO connector please see Appendix C Page 153 for a list of the manufacturers part numbers Reference 188 11 S5 S1 Caution This cable is not supplied and will pane not work with a ProPak 4E unit S9 S6 configured for RS422 X communication 14 Description Reference Description Brown S1 White not used jumpered to S6 Black S2 Red Red 3 Black Orange S4 Green from 6 and Brown from 1 Yellow S5 Yellow Green S6 Orange Blue S7 Violet Violet S8 Blue Gray S9 Gray White 13 DE9S female Red marker at top 14 10 conductor cable LEMO 10 pin plug Figure 71 ProPak 4E Null Modem Cable OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 6 2 4 1O Strobe Port Cable NovAtel par
60. upgrade path The OEM4 family includes OEM4 G2 OEM4 G2L GPSCards and FlexPak ProPak G2plus and ProPak LBplus enclosures The GPSCards which are provided as printed circuit boards are ideal for custom integration The enclosures above offer a complete solution a protective enclosure that provides an interface to the GPSCard s power data and status signals 1 1 1 Common Features 16 All OEM4 family receivers have the following features e 24 channel all in view parallel tracking e Pulse Aperture Correlator PAC technology which is described in the Multipath section of the GPS Reference Manual e Fast reacquisition e Fully field upgradeable firmware e Low power consumption e 20 Hz raw data and position output rates At minimum the following models are available for each receiver e LI only e LI L2 e LI plus RT 20 e LI L2 plus RT 2 e LI plus Satellite Based Augmentation System SBAS support e LI1 L2 plus SBAS support Those models with dual frequency capabilities make the following possible e Longer baselines in differential positioning mode due to the reduction of atmospheric errors e Faster resolution of carrier phase ambiguities when performing RTK positioning e Enhanced positioning precision due to the additional measurements OEM4 Family Installation and Operation User Manual Rev 16 Introduction Chapter 1 1 2 GPSCards The OEM4 family GPSCards consist of a single printed circu
61. with CMR Format Messages To enable receiving CMR messages follow these steps 1 Issue the COM command to the rover receiver to set its serial port parameters to the proper bit rate parity and so on This command is described in detail in Volume 2 of this manual set 2 Issue the INTERFACEMODE COMn CMR command to the rover receiver where COMn refers to the communication port that is connected to the data link This command is described in detail in the OEM4 Family User Manual Volume 2 of this manual set Assuming that the base station is transmitting valid data your rover receiver will now begin to operate in RT 2 or RT 20 mode To send CMR messages do the following Periodically transmit three CMR messages at the base station A CMROBS message contains base station satellite observation information and should be sent once every or 2 seconds A CMRREF message contains base station position information and should be sent once every 10 seconds Also the rover receiver will automatically set an approximate position from this message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual A CMRDESC message contains base station description information and should be sent once every 10 seconds however it should interlinked with the CMRREF message Example
62. 0 1 Signal Level 0 dBm minimum to 13 0 dBm maximum Frequency Stability 0 5 ppm maximum Wave Shape Sinusoidal INPUT OUTPUT DATA INTERFACE COM1 Electrical format RS232 Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 Lead input CTS Lead output RTS Signals supported TX RX RTS CTS Electrical format LVTTL Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 bps Lead input CTS Lead output RTS Signals supported TX RX RTS CTS USB Requires Firmware Version 2 100 or higher Signals supported USB D USB D a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware is required for higher rates including 230400 bps OEM4 Family Installation and Operation User Manual Rev 16 117 Appendix A Technical Specifications INPUT OUTPUT STROBES Eventi Mark 1 Input An input mark for which a pulse greater than 105 ns triggers certain logs to be generated Refer to the MARKPOS and MARKTIME logs and ONMARK trigger in Volume 2 of this manual set Polarity is configurable using the MARKCONTROL command discussed in Volume 2 of this manual set The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered Event2 Mark 2 Input An input mark for which a pulse greater than 55 ns triggers certain logs to be generated Refer to the MARK2POS and MARK2TIM
63. 0 45 m CEP RT 20 0 20 m CEP RT 2 0 01 m 1 ppm CEP OmniSTAR VBS 1 0 m CEP HP 0 10 m CEP Post Processed 5mm 1 ppm CEP Hot 30 s Almanac and recent ephemeris saved and approximate position Warm 40 s Almanac approximate position and time no recent ephemeris Cold 50 s No almanac or ephemeris and no approximate position or time Time To First Fix Reacquisition 0 5 s L1 typical 1 0 s L2 typical Minimum firmware version 2 100 required Data Rates Raw Measurements 20 Hz Computed Position 20 Hz OmniSTAR HP Position 20 Hz Time Accuracy 20 ns RMS Velocity Accuracy 0 03 m s RMS Measurement Precision C A code phase 6cm RMS L1 carrier phase Differential 0 75 mm RMS L2 P code 25 cm RMS L2 carrier phase Differential 2 mm RMS Dynamics Vibration 4 g sustained tracking Velocity 515 m s Height 18 288 m a Typical values Performance specifications are subject to GPS system characteristics U S DOD operational degradatic ionospheric and tropospheric conditions satellite geometry baseline length and multipath effects b Time accuracy does not include biases due to RF or antenna delay c In accordance with export licensing OEM4 Family Installation and Operation User Manual Rev 16 115 Appendix A Technical Specifications A 2 OEM4 G2L GPSCard Size 60mm x 100mm x 12 8mm with connectors
64. 1 Standard Service The OmniSTAR VBS service uses multiple GPS base stations in a solution and reduces errors due to the GPS signals traveling through the atmosphere It uses a wide area DGPS solution WADGPS and data from a relatively small number of base stations to provide consistent accuracy over large areas A unique method of solving for atmospheric delays and weighting of distant base stations achieves sub meter capability over the entire coverage area regardless of your location relative to any base station This achieves a truly wide area system with consistent characteristics CDGPS is able to simultaneously track two satellites and incorporate the corrections into the position The output is SBAS like see WAAS32 WAAS45 in Volume 2 of this manual set and can incorporate these corrections to generate differential quality position solutions CDGPS allows anyone within the area of coverage to take advantage of its benefits NovAtel s ProPak LBplus provides GPS with L Band corrections in one unit using a common antenna This means that with CDGPS or a subscription to the OmniSTAR VBS service the ProPak LBplus is a high quality receiver with sub meter capabilities The position from the GPSCard in the receiver is used as the L Band system s first approximation After the L Band processor has taken care of the atmospheric corrections it then uses its location versus the base station locations in an inverse distance weighted least
65. 16 13 Notice Electromagnetic Compatibility EMC Common Regulatory Testing e FCC Part 15 e EN 61000 6 1 EN 61000 6 3 e EN 61000 4 2 e EN 61000 4 3 e EN 61000 4 4 e EN 61000 4 6 e EN 61000 4 8 e ENV 50204 ProPak G2plus Additional Testing e EN 61000 6 2 e EN 61000 4 5 e EN 61000 4 11 TEC EN 60950 e EN 60555 2 EN 60555 3 FlexPak G2L Additional Testing e EN 61000 4 5 IEC EN 60950 ProPak LBplus Additional Testing e ISO 7637 1 e IEC EN 60950 Radiated Emissions Class B Generic Immunity Generic Emissions Class B Electrostatic Discharge Immunity Radiated RF EM Field Immunity Test Electrical Fast Transient Burst Test Conducted Immunity Magnetic Field Immunity Radiated Immunity Keyed Carrier 900 MHz Phone Band Generic Immunity Industrial Surge Immunity Voltage Dips and Interruptions Safety of Information Technology Equipment Harmonic Emissions Voltage Changes Fluctuations and Flicker Surge Immunity Safety of Information Technology Equipment Conducted Transients Safety of Information Technology Equipment Lightning Protection Notice 1 Do not install the external antenna lines extra building during a lightning storm 2 A primary lightning protection device from Polyphaser Corporation for example must be provided by the operator customer according to local building codes as part of the extra building installation to ensure transient voltage levels of less than 600 V maximu
66. 30 1 5 cm s gt 60 1 single point or pseudorange differential positioning 2 I Mode Static or Kinematic 2 After 60 seconds reverts to pseudorange positioning single point or differential depending on messages previously received from the base station For baselines under 30 km long the RT 2 solution shows two pronounced steps in accuracy convergence these correspond to the single point solution switching to the floating ambiguity solution which in turn switches to the narrow or wide lane solution If you were monitoring this using NovAtel s GPSolution program the convergence sequence might look something like this Latitude N 51 1 jev 2 035 m Latitude N 51 11 0881m Latitude 51 159773 StdDew 0 008 m Longitude W114 1623 m Longitude VW114 04 0 660 m Longitude W s jev 0 007 m Height 108 4 322 m Height 1059 041 m MSL jev 1 079 m Height ev cal Mon Apr 11 14 04 Mon Apr 11 14 02 41 2 ocal Solution Status Computed Solution Age 0 000 Position Type Single 82 Mon Apr 11 14 04 Solution Status Computed Solution Age 0 000 Solution Status Computed Solution Age 0 000 Position Type PSR Diff Position Type Narrow Integer OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 Baselines 0 1km 15km 25km 50km 0 8 CEP meters 1800 2100 2400 2700 3000 3
67. 300 0 300 600 900 1200 1500 Seconds of Convergence 15s Figure 21 Typical RT 2 Horizontal Convergence Static Mode Baselines w 8 0 1 km15 km 25 km 50 km o E a LU O 0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 15s Seconds of Convergence Figure 22 Typical RT 2 Horizontal Convergence Kinematic Mode OEM4 Family Installation and Operation User Manual Rev 16 83 Chapter 6 6 5 1 2 RT 20 Performance Positioning Modes of Operation As shown in Table 17 RT 20 Performance below Figure 23 Typical RT 20 Convergence Static Mode on Page 85 and Figure 24 Typical RT 20 Convergence Kinematic Mode on Page 85 the RT 20 system provides nominal 20 cm accuracy CEP after 3 minutes of continuous lock in static mode After an additional period of continuous tracking from 10 to 20 minutes the system typically reaches steady state and position accuracies in the order of 3 to 4 cm The time to steady state is about 3 times longer in kinematic mode RT 20 double difference accuracies are based on PDOP lt 2 and continuous tracking of at least 5 satellites 6 preferred at elevations of at least 11 5 All accuracy values refer to horizontal RMS error and are based on low latency positions The level of position accuracy at any time will be reflected in the standard deviations output with the position Table 17 RT 20 Performance Tracking Mode Peta Delay a
68. 38 56 66 117 121 output connector 126 134 data 16 P P code 16 parity 35 41 54 61 pass through logs 47 49 patent 16 PDOP see dilution of precision polarity 28 ports COM 42 43 55 communication 45 51 cross connecting 14 RXSTATUSEVENT log 105 serial 41 44 position base station 42 overview 17 RTK 16 static 79 power connector 117 121 130 137 requirements 117 121 supply 27 precision 16 69 priority mask 104 107 processing circuitry 25 propagation 66 pseudorange algorithms 69 corrections 54 56 errors 81 measurement 66 72 79 positioning 65 69 Index solutions 86 R radio frequency RF 104 106 antenna power supply 39 GPSAntenna 25 GPSCard section 25 overview 17 real time kinematic software 80 positioning 78 receiver status 104 105 107 redirect data 47 reference station see base station remote station see rover station replacement parts 153 154 reset 106 108 123 resolution 16 revision firmware 12 98 manual 2 196 RF see radio frequency Rinex 91 92 root mean square RMS 84 rover station 69 accuracy 80 differential positioning 45 70 80 faster data update to 55 format messages 53 height 86 RTCA 51 53 RTCM 51 55 56 RTCMV3 59 RTK filter 86 87 logs 82 messages vs accuracy 80 performance 80 85 positioning 16 78 radio 41 S satellite antenna location 33 DGNSS 51 ID 54 56 overvie
69. 4 G2 or OEM4 G2L directly anti static practices must be observed Once the external oscillator has been installed the EXTERNALCLOCK command must be issued to define the clock model for example cesium rubidium or ovenized crystal If the input clock rate is 5 MHz the EXTERNALCLOCK command must be issued to change the 10 MHz default rate For more information on this command please refer to Volume 2 of this manual set OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 3 3 5 External Antenna LNA Power OEM4 G2 Only For the OEM4 G2 it is possible to supply power to the LNA of an active antenna either from the antenna port of the GPSCard itself or from an external source The internal antenna power supply of the GPSCards can produce 4 75 to 5 10 VDC at up to 100 mA This meets the needs of any of NovAtel s dual frequency GPS antennas so in most cases an additional LNA power supply is not required If a different antenna is used whose LNA requires voltage capacity beyond what the receiver can produce then the external LNA power option must be utilized This simply requires setting a voltage supply between 12 and 30 VDC 100 mA maximum and connecting it to pin 40 of the 40 pin connector on the OEM4 G2 See also Appendix A RF Input LNA Power Output on Page 117 In either case the LNA power is fed to the antenna through the same coaxial cable used for the RF signals The internal LNA pow
70. 4 G2L 3 3 0 15 VDC OEM4 G2 4 5 to 18 VDC All members of the OEM4 family receivers are designed to prevent internal damage when subjected to a reverse polarity power connection The OEM4 G2 also provides protection from short over OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 voltage events It is recommended that appropriate fuses or current limiting be incorporated as a safety precaution on all power lines used Use a sufficient gauge of wire to ensure that the voltage at the connector is within the GPSCard s requirements 3 1 3 2 ProPak G2plus ProPak LBplus or FlexPak Enclosures The ProPak G2plus ProPak LBplus and FlexPak enclosures are supplied with a 12V power adapter with a built in slow blow fuse for use with a standard 12 VDC power outlet NovAtel s Aircraft Power Conditioner can also be used to provide further protection for your receiver If a different supply is desired the table below provides the input range required as well as the type of connector required to mate with the receiver s power connector The supply should be capable of 5 W Table 5 Power Requirements for Enclosures Enclosure Power Cable Connector Required Power Input Range FlexPak 3 pin Deutsch socket connector labelled O 6 to 18 VDC ProPak G2plus 4 pin LEMO socket connector labelled PWR 7 to 18 VDG 3 2 ProPak LBplus 2 pin Switchcraft socket connector labelled t
71. 6 PC Software and Firmware Chapter 7 Table 18 NovAtel Logs for Rinex Conversion NovAtel OEM4 Family Log Recommended Trigger RANGEA B or ontime 15 RANGECMPA B BESTPOSA B or once PSRPOSABB or RTKPOSA B or MARKPOSA B IONUTCA B onchanged RAWEPHEMA B onchanged VERSION once SITEDEFA B once a Information from this log overrides data entered into the Receiver Number and Receiver Version fields using the OBS file button of the RINEX Headers section see Figure 25 on Page 91 b Available on DL 4plus receivers refer to the DL 4plus User Manual Information from this log overrides data entered into the Marker Name Marker Number Antenna Type and Antenna Delta H fields using the OBS file button of the RINEX Headers section 7 3 2 Convert Command Line Switches Convert4 supports several command line switches to facilitate batch processing To access its Command Line Arguments window open a command prompt window select Accessories Command Prompt from the Start menu Change directory cd to the directory on your hard drive that Convert4 is stored Type the following convert4 h The Convert4 Command Line Arguments window appears as shown in Figure 26 on Page 94 OEM4 Family Installation and Operation User Manual Rev 16 93 Chapter 7 PC Software and Firmware Convert4 Command Line Arguments oj x Syntax conyert4 lt infile gt a b r batch Where lt infile gt Names t
72. An input mark negative pulse gt 55 ns time tags output log data to the time of the falling edge of the mark input pulse PV Position Valid Indicates a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command has been set refer to the FIX POSITION command in user manual Volume 2 of this manual set ERROR Output for which a high level indicates an error STATUS_RED Status output which is high or pulses to indicate that the OEM4 card is not working properly STATUS_GREEN Status output which pulses to indicate that the OEM4 card is working properly PPS Pulse Per Second A one pulse per second time synchronization output This is an active low pulse 1 ms 50 ns minimum where the falling edge is synchronized to receiver calculated GPS time VARF Variable A programmable variable frequency output ranging from 0 20 MHz refer to the Frequency FREQUENCYOUT command in Volume 2 of this manual set This is a normally high active low pulse RESETOUT Reset TTL signal output to external system active low 100 ms duration RESETIN Reset TTL signal input from external system active low gt 1 us duration STROBE ELECTRICAL SPECIFICATIONS Output Voltage LVTTL levels Low minimum 0 VDC and maximum 0 55 VDC 24 mA High minimum 2 4 VDC and maximum 3 6 VDC 8 mA Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC Hig
73. CEP rate 0 2 seconds 1 cm s 2 7 seconds 2 cm s 7 30 seconds 5 cm s 6 3 3 Dual Station Differential Positioning 70 It is the objective of operating in differential mode to either eliminate or greatly reduce most of the errors introduced by the system biases discussed in GPS System Errors on Page 65 Pseudorange differential positioning is quite effective in removing most of the biases caused by satellite clock error ionospheric and tropospheric delays for baselines less than 50 km and ephemeris prediction errors However the biases caused by multipath reception and receiver clock offset are uncorrelated between receivers and thus cannot be cancelled by between receiver single differencing operation Differential operation requires that stations operate in pairs Each pair consists of a base station and a rover station A differential network could also be established when there is more than one rover station linked to a single base station In order for the differential pair to be effective differential positioning requires that both base and rover station receivers track and collect satellite data simultaneously from common satellites When OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 the two stations are in relatively close proximity lt 50 km the pseudorange bias errors are considered to be nearly the same and can be effectively cancelled by the differential
74. E logs in Volume 2 of this manual set Polarity is configurable using the MARKCONTROL command discussed in Volume 2 of this manual set The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered PV Position Valid Output that indicates whether a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command has been set refer to the FIX POSITION command in Volume 2 of this manual set ERROR Output for which a high level indicates an error PPS Pulse Per Second A time synchronization output This is a pulse 1 ms 50 ns where the leading edge is synchronized to receiver calculated GPS time The polarity and period of the pulse can be configured using the PPSCONTROL command described in Volume 2 of this manual set VARF Variable Frequency A programmable variable frequency output ranging from 0 20 MHz refer to the FREQUENCYOUT command in Volume 2 of this manual set This is a normally high active low pulse RESETIN Reset LVTTL signal input 2 4 to 3 3 VDC maximum from external system active low gt 20 Us duration STROBE ELECTRICAL SPECIFICATIONS Outputs Voltage LVTTL levels Low minimum 0 VDC and maximum 0 4 VDC 5 mA High minimum 2 4 VDC and maximum 3 3 VDC 5 mA Eventi and Event2 Inputs Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 0 VDC and maximum 5 5 VDC RESETIN Input Volt
75. GPSAntenna see 4 Section 3 3 5 External Antenna LNA Power OEM4 G2 Only on Page 39 and the ANTENNAPOWER command in Volume 2 of this manual set Continued on Page 177 176 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D STATUS RED Indicates the Euro4 is not working properly when high or pulsing 5 STATUS ORE Indicates the Euro4 is working properly when pulsing at 1 Hz 6 Reserved for future use 7 TXD1 NC COM1 transmitted data for RS422 not connected for RS232 and LVTTL 8 CTS1 CTS1 COM1 clear to send for RS422 clear to send for RS232 and LVTTL 9 RTS1 RTS1 COM1 request to send for RS422 request to send for RS232 and LVTTL 10 CTS1 NC COM1 clear to send for RS422 not connected for RS232 and LVTTL 11 GPAI ee purpose analog input see the RXHWLEVELS log in Volume 2 of this manual 12 set CTS3 CTS3 COM3 clear to send for RS422 clear to send for RS232 and LVTTL 13 RTS3 RTS3_ COM3 request to send for RS422 request to send for RS232 and LVTTL 14 ERROR Indicates fatal error warning 15 TXD2 NC COM2 transmitted data for RS422 not connected for RS232 and LVTTL 16 CTS2 CTS2 COM2 clear to send for RS422 clear to send for RS232 and LVTTL 17 RTS2 J RTS2 COM2 request to send for RS422 request to send for RS232 and LVTTL 18 CTS2 NC COM2 clear to
76. Installation and Operation User Manual Rev 16 17 Chapter 1 Introduction 1 22 OEM4 G2 GPSCard The OEM4 G2 is the second generation of the original OEM4 In addition to what is listed in Section 1 1 1 on Page 16 the OEM4 G2 offers e An improved processor and memory e 20 less power consumption compared to the OEM4 e Three serial ports one of which is user selectable for RS 232 or RS 422 e USB support with firmware version 2 100 or higher e An external oscillator input e Two mark inputs for triggering the output of logs on external events e Programmable PPS output with firmware version 2 100 or higher e Auxiliary strobe signals for status and synchronization e On board power conversion eliminating the need for external power conditioning e Voltage and temperature monitoring and reporting e Software load compatibility with other OEM4 family products Included with the OEM4 G2 is a wrist grounding strap to prevent ESD damage when handling the card and a CD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the OEM4 G2 please see Section A 3 starting on Page 120 Top Bottom Figure 2 OEM4 G2 GPSCard 18 OEM4 Family Installation and Operation User Manual Rev 16 Introduction Chapter 1 1 3 Enclosures The OEM4 family GPSCards can be housed in a ProPak G2plus ProPak LBplus or FlexPak enclosure to provide a complete receiver solution When connected to an antenna and a p
77. L1 Nominal Accuracy 2 cm CEP 20 cm CEP Lane Searching Wide lane and narrow lane None NovAtel s RTK software algorithms utilize both carrier and code phase measurements thus the solutions are robust reliable accurate and rapid While both RT 20 and RT 2 operate along similar principles RT 2 achieves its extra accuracy and precision due to its being able to utilize dual frequency measurements Dual frequency GPS receivers have two main advantages over their single frequency counterparts when running RTK software 1 resolution of cycle ambiguity is possible due to the use of wide lane searching 2 longer baselines are possible due to the removal of ionospheric errors Depending on the transmitting receiving receivers and the message content various levels of accuracy can be obtained Please refer to the particular accuracy as shown in the following table Table 13 Summary of RTK Messages and Expected Accuracy Transmitting Receiving Accuracy Rover Expected Message Formats Base L1 and L2 RTK L1 and L2 RT 2 2 cm CEP RT 2 RTCAOBS with RTCAREF RTCM Types 18 and 19 with Types 3 and 22 RTCM Types 20 and 21 L1 only RT 2 or RT 20 20cm CEP RT 20 CMROBS with CMRREF RT 20 20 cm CEP RT 20 L1 RTK L1 and L2 or RT 2 or RT 20 20 cm CEP RT 20 RTCM Type 59 with Type 3 L1 only L1 Pseudorange Corrections RTCM Type 1 Lt andL2or Any differential 1 SEP DGPS RTCA Type 1 L1 only e
78. L1 L2 Model 532 L1 L2 Optional RF Antenna Cable 5 meters 15 meters 30 meters 22 cm interconnect adapter cable GPS 702 GPS 701 GPS 600 LB GPS 533 GPS 532 C006 C016 C032 GPS C002 C 5 Manufacturer s Part Numbers The following original manufacturer s part numbers for the FlexPak ProPak G2plus and ProPak LBplus cables are provided for information only and are not available from NovAtel as separate parts C 5 1 FlexPak Deutsch Part Part Description 3 pin plug connector on 12V power adapter cable Page 130 13 pin plug connector on serial cables Page 131 Page 133 59064 09 98SN 59064 11 35SF C 5 2 ProPak G2plus Part Description 4 pin socket connector on power cable Figure 47 on Page 137 LEMO Part FGG 0B 304 CLAD52Z C 5 3 ProPak LBplus Switchcraft Part Part Description 2 pin socket connector on 12V power adapter cable Page 146 6 pin socket connector on serial cable Page 147 7 pin socket connector on serial cable Page 148 8 pin socket connector on serial cable Page 149 EN3C2F EN3C6F EN3C7F EN3C8F 154 OEM4 Family Installation and Operation User Manual Rev 16 Appendix D Specifications Archive This appendix gives some details on OEM4 family products that are now obsolete Obsolete products are still supported but are not available In a future hardware revision these models will no longer be supported D 1 Installation and Setup
79. M format message is less than that of an RTCA format message The communications equipment that you use may have an error detection capability of its own to supplement that of the RTCM message although at a penalty of a higher overhead Consult the vendor s documentation for further information 1 For further information on RTCM SC 104 messages you may wish to refer to RTCM Recommended Standards for Differential GNSS Global Navigation Satellite Systems Service Version 2 3 OEM4 Family Installation and Operation User Manual Rev 16 53 Chapter 5 Message Formats If RTCM format messaging is being used the optional station id field that is entered using the FIX POSITION command can be any number within the range of 0 1023 for example 119 The representation in the log message would be identical to what was entered The NovAtel logs which implement the RTCM Standard Format for Type 1 3 9 16 18 19 and 22 messages are known as the RTCM1 RTCM3 RTCM9 RTCM16 RTCM18 RTCM19 and RTCM22 logs respectively while Type 59N 0 messages are listed in the RTCMS9 log All receiver RTCM standard format logs adhere to the structure recommended by RTCM SC 104 Thus all RTCM message are composed of 30 bit words Each word contains 24 data bits and 6 parity bits All RTCM messages contain a 2 word header followed by 0 to 31 data words for a maximum of 33 words 990 bits per message Message Frame Header Data Bits Word 1 Message fra
80. OM2 AUX Connector Pin No RS232 RS422 Oni RS232 RS422 N C Table 40 ProPak G2 LEMO Version Serial Port Pin Out Descriptions COM1 COM3 Connector PINNO RS232 RS422 N C 2 RXD2 3 TXD2 GND 5 GND 6 Eventi RTS2 OEM4 Family Installation and Operation User Manual Rev 16 159 Appendix D Specifications Archive Table 41 ProPak G2 DB 9 Version I O Port Pin Out Descriptions Connector Pin Signal No Name Signal Descriptions VARF Variable frequency out GND Digital ground 2 PPS Pulse per second 3 N C Not connected 4 Event1 Mark 1 input 5 PV Valid position available 6 N C Not connected 7 N C Not connected 8 9 GND Digital ground lt For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 160 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive D 2 2 Cables D 2 2 1 Appendix D 12 V Power Adapter Cable NovAtel part number 01017023 The power adapter cable supplied with the ProPak G2 see Figure 57 provides a convenient means for supplying 12 VDC Input is provided through a standard 12 V power outlet The output from the power adapter utilizes a 4 pin LEMO connector and plugs directly into the PWR input located on the back panel of the ProPak G2 For alternate power sources please see Section 3 3 1 on P
81. ONMENTAL table sections of Appendix A Technical Specifications starting on Page 117 2 See Section 3 1 3 Power Supply Requirements Page 28 3 See Section 3 1 1 Selecting a GPS Antenna Page 27 Section 3 1 2 Choosing a Coaxial Cable Page 27 Section 3 2 3 Connecting the Antenna 4 to the Receiver Page 33 Section 3 3 5 External Antenna LNA Power 5 OEM4 G2 Only Page 39 and refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual 6 7 See Section 4 1 1 Serial Port Default Settings Page 41 8 9 10 11 14 Move the receiver away from any possible jamming sources 15 See Section 3 1 2 Choosing a Coaxial Cable Page 27 and move the receiver away from any possible jamming sources 16 Move the receiver away from any possible jamming sources 17 See Section 3 1 2 Choosing a Coaxial Cable Page 27 and move the receiver away from any possible jamming sources 18 None Once enough time has passed for a valid almanac to be received this bit will be set to 0 Also refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual 19 None This bit only indicates if the receiver has calculated a position yet Refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual 20 None This bit is simply a status bit indicating if the receiver s position has been manually fixed and does not represent a problem Refer also to the FIX command in
82. P GPS P per nt L1 C A L1 C A Channel DB B er 17 10 l ion COM1 log com1 bestposa cove 00 i oe lol cn leget ad oi 0 ne 90 0 01m s Lod Velocity North R _ 30 Me Dir 248 1 Elev 74 5 fi 60 I i i i Eo W t 90 HDOP PI ee TDOP Vertical East 1079 87 1 054004mis 180 30 0 00m s Ki Ei Most windows have a popup menu accessible by right clicking on the window with the mouse They provide a way to customize the window by changing the font or to print the window contents Some of the windows have access to the Options dialog which contains further settings for certain windows e Constellation Window The Constellation window displays the location of the satellites that are being tracked The PRN numbers are displayed in the center of each satellite symbol Double clicking on the satellite symbol will cause a popup window to appear displaying the information about that PRN such as azimuth elevation residual Doppler carrier noise locktime pseudorange tracking state and reject code The concentric circles on the display represent the horizon at 0 degrees outer edge of the plot and the zenith directly overhead at 90 degrees center of the plot The DOP values of the position are shown in the four corners of the window e Channel Tracking Status Window This window provides the user with the tracking status of the satellites in view Information such as channel PRN channel state Doppler
83. Page 132 There are not enough pins on the DB9F connector to accommodate this extra pin However if you cut the COM cable you can access wires for all the pins on the Deut sch side of the cable including the Deutsch Pin 1 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A DIMENSIONS Noel AN COMI com2 I I YE 7 fall JL 44 3 KO URD a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversion to imperial measurements OEM4 Family Installation and Operation User Manual Rev 16 127 Appendix A Technical Specifications A 4 1 Port Pin Outs The pin numbering for each of the ports is described in the tables that follow Table 22 FlexPak COM1 Port Pin Out Descriptions Deutsch RS 232 Only Connector Pin No Signal Name 1 GPIO 2 RXD1 3 CTS1 4 EVENT1 5 GND 6 EVENT2 7 RTS1 8 TXD1 9 POUT 10 PPS 11 USB D 12 USB D 13 ERROR lt For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 128 OEM4 Family Installation and Operation User Manual Rev 16 Techni
84. Pak LBplus 8 Pin Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 149 Appendix B Electrostatic Discharge Control ESD Practices B 1 Overview Static electricity is electrical charge stored in an electromagnetic field or on an insulating body This charge can flow as soon as a low impedance path to ground is established Static sensitive units can be permanently damaged by static discharge potentials of as little as 40 volts Charges carried by the human body which can be thousands of times higher than this 40 V threshold can accumulate through as simple a mechanism as walking across non conducting floor coverings such as carpet or tile These charges may be stored on clothing especially when the ambient air is dry through friction between the body and or various clothing layers Synthetic materials accumulate higher charges than natural fibers Electrostatic voltage levels on insulators may be very high in the order of thousands of volts Various electrical and electronic components are vulnerable to electrostatic discharge ESD These include discrete components hybrid devices integrated circuits ICs and printed circuit boards PCBs assembled with these devices B 2 Handling ESD Sensitive Devices ESD sensitive devices must only be handled in static controlled locations Some recommendations for such handling practices follow e Handling areas must be equipped with a grounded table floor mats and wri
85. ProPak G2plus Rear Panel cc ccceceeceseececeeeeeeeeeaeeeeeeeeeceaeeseneeeseaaeeseaaeeeceeeeeeeeeseaees 21 6 ProPak LBplus and Its Rear Panel mrnrrnnnnnnnnvrnnnnnnnnvrnnnnnnnnrrnnnnensrrrnnnsersrrrnnnsersnrrnnneenn 22 7 GPS Receiver System Functional Diagram anrrrnnnnvnnnnvrnnnnrrnnnnnrenrnnrrvnnnnnnrnnrrennnnnnnennne 24 8 Typical Receiver Installation rrnnnrnonnrrnnnronnrrrnnnnrnnrrnnnnrnnrrrnnnnnnnrrannnennnrrennsennrnannstennn 30 9 OEM4 G2L Connector and Indicator Locations rsrenenvrrnnnrrrnnnnvnnrnnrrnnnnnnnrnrrrnnnnnnnnrnnn 32 10 OEM4 G2 Connector and Indicator Locations rarnnvererrrnnnnrnnnenvvnnnnnrrnnnnrnnrnrrnnnnnnnnrrnnne 33 11 Typical Operational Configuration eccccceceeceeeeeeeeeaeeeeeeeeesaaeeeeeeeeseaeeseeeeeeentaeeeeees 40 12 Pass Through Log Data aeieea e aed hentia dies bake 48 13 TIPPS Alignment di a a a e a a iaa anaa 50 14 Single Point Averaging Typical Results rrarnnrnnnonvvnnnnrrrnnnnvnnrnnrrnnnnnnnnerrrennnnnnnnennne 64 15 Single Point Averaging Typical Results with WAAS rrrnnannnvnnrnrrnrnnnvnnnorrrrnnnnrnnnnnnn 65 16 The SBAS GonNcept Lauen murrer badet aeaa e a dee a aaa iaee 68 17 Typical Differential Configuration ceccececeeeeeeeeeeeeeeeeeseeeeeeeeaaeseeeeeesaaeeseneeeeesaeeeeeaes 71 18 CDGPS Frequency Beams rrnnannvnnnnnrrnnannvnnnvnrennnnrnnnnnnenennnrnnnnnnennnnrnnssnnnnnennrnsennnnenennne 74 19 CDGPS Percentage Coverage Map
86. R VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITH OUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WAR RANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRIT TEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FIT NESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDEN TAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase You may also visit our website at http www novatel com and select Support Repair Request from the side menu Once you have obtained an RMA n
87. RS422 RS232 Only N C 7 RTS1 RTS3 8 CTS1 CTS3 9 N C N C Table 43 PowerPak I O Port Pin Out Descriptions PowerPak 4E PowerPak 4 Connector Pin No Signal Descriptions Signal Name Signal Name 1 VARF VARF Variable frequency out 2 PPS PPS Pulse per second 3 MSR Reserved Measure output Reserved for future use 4 Event1 Eventi Mark 1 input 5 PV PV Valid position available 6 GND ERROR Digital ground Error indicator ve GND Reserved Digital ground Reserved for future use 8 GND GND Digital ground 9 GND GND Digital ground BY For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 5 2 Cables D 5 2 1 12V Power Adapter Cable NovAtel part number 01014989 The power adapter cable supplied with the PowerPak see Figure 67 provides a convenient means for supplying 12 VDC while operating in the field Input is provided through the standard 12V power outlet The output from the power adapter utilizes a standard 2 1 mm plug where the center is a female contact positive and the outer jacket contact is negative and plugs directly into the power jack located on the front panel of the PowerPak For alternate power sources please see Section 3 1 3 on Page 28 2 3 i oN ET VS Reference 1 ON DOOR W PD o 7
88. Rev 16 165 Appendix D Specifications Archive D 2 2 6 Straight Serial Cable for LEMO Version NovAtel Part Number 403 0 0037 This cable can be used to connect the LEMO version of the ProPak G2 to a modem or radio transmitter to propagate differential corrections The cable is equipped with a 10 pin LEMO connector at the receiver end that should ideally be plugged into COM2 on the receiver The male DB 9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information on its connectors The cable is approximately 2 m in length Lg 1 A 20 3 40 50 60 7 80 90 100 Reference Description Brown Black Red Orange Yellow Green Blue NO of WD Reference 8 9 10 11 12 13 P1 P5 He P6 P9 13 o1 o2 3 oO 4 5 6 97 8 9 Description Violet Grey White not used Connector key marking 10 pin LEMO connector DB9P male connector Figure 62 ProPak G2 LEMO Version Straight Serial Cable 166 OEM4 Family Installation and Operation User Manual Rev 16 Appendix D Specifications Archive D 3 OEM4 GPSCard Size 85mm x 125mm with connectors Weight 120 grams MECHANICAL DRAWINGS
89. S 222 TTL FlexPak RS 232 RS 232 RS 422 Not available ProPak G2plus RS 232 RS 232 RS 232 ProPak LBplus RS 232 RS 232 RS 232 34 a If Pin 1 on the Deutsch connector is grounded the COM2 communications mode is set to RS 422 Each port may support some or all of the following signals e Data Terminal Ready DTR e Clear To Send CTS e Transmitted Data TXD e Request To Send RTS e Received Data RXD e Data Carrier Detect DCD On many of the receivers extra control lines are provided on COM2 for use with modems or other differential correction data links The ProPak G2plus ProPak LBplus and FlexPak enclosures are Data Terminal Equipment DTE so that TXD RTS and DTR are outputs while RXD CTS and DCD are inputs A null modem cable is required to connect to another DTE like a terminal or a PC OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 The port settings bit rate parity and so on are software configurable These are further described in Chapter 4 Operation on Page 40 See Appendix A Technical Specifications starting on Page 115 for further information on data communications characteristics 3 2 5 1 User Selectable Port Configuration OEM4 G2 Only 3 3 The OEM4 G2 offers a user selectable configuration for the COM1 port The configuration is selected using the USERIO1 pin By default RS 232 is selected as the USERIO1 input is set low by an
90. Single Point The NovAtel OEM4 family receivers are capable of absolute single point positioning accuracies of 1 8 meters CEP GDOP lt 2 no multipath The general level of accuracy available from single point operation may be suitable for many types of positioning such as ocean going vessels general aviation and recreational vessels that do not require position accuracies of better than 1 8 meters CEP However increasingly more and more applications desire and require a much higher degree of accuracy and position confidence than is possible with single point pseudorange positioning This is where differential GPS DGPS plays a dominant role in higher accuracy real time positioning systems By averaging many GPS measurement epochs over several hours it is possible to achieve a more accurate absolute position This section attempts to explain how the position averaging function operates and to provide an indication of the level of accuracy that can be expected versus total averaging time OEM4 Family Installation and Operation User Manual Rev 16 Chapter 6 Positioning Modes of Operation 64 The POSAVE command implements position averaging for base stations Position averaging will continue for a specified number of hours or until the averaged position is within specified accuracy limits Averaging will stop when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved When averaging is c
91. T OUTPUT CONNECTORS Appendix D Antenna Input TNC female jack 50 Q nominal impedance 4 25 to 5 25 VDC 90 mA max output from ProPak 4E to antenna LNA Power 4 pin LEMO 10 to 36 VDC continuous at 3 3 W typical ENVIRONMENTAL Operating Temperature 40 C to 65 C Storage Temperature 45 C to 95 C COM1 10 pin LEMO COM2 10 pin LEMO Strobes 8 pin LEMO PHYSICAL Size 245 x 130 x 59 mm Weight 1 2 kg maximum including Euro4 GPSCard Humidity Not to exceed 95 non condensing OEM4 Family Installation and Operation User Manual Rev 16 183 Appendix D Specifications Archive 245 130 a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversion to imperial measurements 184 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 6 1 Port Pin Outs Table 44 ProPak 4E Serial Port Pin Out Descriptions Connector COMI Ne RS232 RS422 RS232 1 N C RXD1 DCD2 RXD2 2 RXD1 RXD1 RXD2 RXD2 3 TXD1 TXD1 TXD2 TXD2 4 N C RTS1 DTR2 RTS2 5 GND GND GND GND 6 N C CTS1 N C CTS2 7
92. The polarity and period of the pulse can be configured using the PPSCONTROL command described in Volume 2 of this manual set A programmable variable frequency output ranging from 0 20 MHz refer to the FREQUENCYOUT command in Volume 2 of this manual set This is a normally high active low pulse RESETOUT Reset TTL signal output to external system active low 140 ms duration RESETIN Reset LVTTL signal input from external system active low gt 20 us duration STROBE ELECTRICAL SPECIFICATIONS Output Voltage LVTTL levels Low minimum 0 VDC and maximum 0 55 VDC 24 mA High minimum 2 4 VDC and maximum 3 6 VDC 8 mA Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 0 VDC and maximum 5 5 VDC RESETIN Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 4 VDC and maximum 3 3 VDC OEM4 Family Installation and Operation User Manual Rev 16 123 Appendix A Technical Specifications 2 4 6 8 10 12 1416 18 20 22 24 26 28 30 32 34 36 38 40 HER EEE EE EE EE EE EE EE EE om HER EEE EE EE EE EE EE EE EE E 1 3 5 7 9 11 1315 17 19 21 23 25 27 29 31 33 35 37 39 Figure 42 Top view of 40 Pin Connector on the OEM4 G2 Descriptions Pin Vin Voltage In 4 5 to 18 VDC 1 PV Output indicates good solution or valid GPS position when high 2 USB D USB interface data Requires fi
93. Y Table 27 ProPak LBp us COM1 Port Pin Out Descriptions A Connector Pin No Signal Name Signal Description 1 PPS Pulse per second output 2 Event1 Mark 1 input 3 POUT Power output 4 RXD1 RS232 receive to COM1 on the receiver 5 TXD1 RS232 transmit from COM1 on the receiver 6 GND Signal power ground a Both COM1 and COM2 have power output pins that can be used to pass power to peripherals The voltage on each will be approximately 1 V lower than VIN The maximum continuous current is 500 mA 144 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A lt For strobe signal descriptions please see Section 3 3 1 Strobes on Page 35 gt Signal Description Table 28 ProPak LBplus COM2 Port Pin Out Descriptions Connector Pin No Signal Name 1 SGND Signal ground 2 RTS2 RS232 ready to send from COM2 on the receiver 3 CTS2 RS232 clear to send to COM2 on the receiver 4 POUT Power output 5 RXD2 RS232 receive to COM2 on the receiver 6 TXD2 RS232 transmit from COM2 on the receiver 7 PGND Power ground a Both COM1 and COM2 have power output pins that can be used to pass power to peripherals The voltage on each will be approximately 1 V lower than VIN The maximum continuous current is 500 mA ma Table 29 ProPak LBplus COM3 Port Pin Out Descriptions F Connector Pin No Signal Name Sig
94. a ge gag 1 10 20 Figure 41 OEM4 G2 Board Dimensions a All dimensions are in millimeters inches b The mounting holes on the OEM4 G2 GPSCard are designed for use with M3 screws The hole size is actually 3 45 mm 29 drill 0 136 which is a British Standard medium fit 120 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A Operating Temperature ENVIRONMENTAL 40 C to 85 C Storage Temperature 45 C to 95 C Humidity Voltage Not to exceed 95 non condensing POWER REQUIREMENTS 4 5 to 18 0 VDC Allowable Input Voltage Ripple Power consumption RF Antenna Connector See Figure 10 on Page 33 100 mV p p max 2 3 W typical INPUT LNA POWER OUTPUT MMCX female 50 Q nominal impedance RF Input Frequencies 1575 42 MHz L1 1227 60 MHz L2 LNA Power Internal Output from card default External Optional Input Connector See Figure 10 on Page 33 4 75 to 5 10 VDC 0 100 mA 12 to 30 VDC 100 mA max user supplied EXTERNAL OSCILLATOR INPUT MMCX female External Clock Input Frequency 5 MHz or 10 MHz Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 0 dBm minimum to 13 0 dBm maximum Frequency Stability 0 5 ppm maximum Wave Shape Sinusoidal OEM4 Family Installation and Operation User Manual Rev 16 121 Appendix A Technical Specificat
95. able more consistently and has a high degree of service reliability CDGPS features wide area technology possible spatial integrity with all Government of Canada maps and surveys 24 hour 7 days a week built in network redundancies and an openly published broadcast protocol Figure 19 CDGPS Percentage Coverage Map on Page 75 is a conservative map of the coverage areas that CDGPS guarantee The coverage may be better in your area 1 If the coordinates are output using the CSRS datum Refer to the DATUM command in Volume 2 of this manual set OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 90 95 100 Figure 19 CDGPS Percentage Coverage Map In Figure 19 100 coverage means that a correction is received for every visible satellite at or above 10 degrees 90 coverage means that a correction is received for 90 of visible satellites For example if a user views 10 satellites but has 90 coverage then there are no corrections available for one of the satellites In that case our firmware shows that a correction is missing for that SV and excludes it from the position calculation 6 42 L Band Service Levels Two levels of service are available Standard Sub meter accuracy from OmniSTAR VBS and CDGPS High Performance Decimeter accuracy from OmniSTAR HP OEM4 Family Installation and Operation User Manual Rev 16 75 Chapter 6 Positioning Modes of Operation 76 6 4 2
96. ablished to facilitate the establishment of various radio navigation standards which includes recommended GPS differential standard formats See Section 4 3 Transmitting and Receiving Corrections on Page 44 for more information on using these message formats for differential operation The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104 Differential GPS Service RTCM SC 104 Washington D C have been adopted by NovAtel for implementation into the receiver Because the receiver is capable of utilizing RTCM formats it can easily be integrated into positioning systems around the globe As it is beyond the scope of this manual to provide in depth descriptions of the RTCM data formats it is recommended that anyone requiring explicit descriptions of such should obtain a copy of the published RTCM specifications Refer to the Standards References section of the GPS Reference Manual for reference information RTCM SC 104 Type 3 amp 59 messages can be used for base station transmissions in differential systems However since these messages do not include information on the L2 component of the GPS signal they cannot be used with RT 2 positioning Regardless of whether single or dual frequency receivers are used the RT 20 positioning algorithm would be used This is for a system in which both the base and rover stations utilize NovAtel receivers Note that the error detection capability of an RTC
97. adah ation hints Babine 133 47 ProPak G2plus Power Cable cccceecceceeeeceeeeeeeeaeeeeeeeeeeeaaeeeeneeessaeeeeeeeeessaaeeseaeees 137 48 ProPak G2plus Null Modem Cable ccccccceeeeeeceeeeeeeeeeeeeeaeeeeeneeesaaeseeaeeeessaeeeseneees 138 49 ProPak G2plus Straight Through Serial Cable ccccccccseececeeeeeeeeeeeeeeeeeeessaeesennees 139 50 ProPak G2plus I O Strobe Port Cable cccccccesceceesceceeeeeeeeaeeceaeeeeeaaeesseneeesaeeeennees 140 51 USB Serial Cable sess a r tics rake Gees 141 52 ProPak LBplus Port PiN OUTS isteirean rena a a a a EA RAEE A 144 53 ProPak LBplus Power Cable rnnannvnnnnnvrnnnnnvnnnnnrrnnnnnnnnnnrrnnnnnnnnenrrnnsnnnnnsrnrenennrnnnennennn 146 54 ProPak LBplus 6 Pin Serial Cable ccccecceeeececeeeeeeeeseeeeecaeeesaaeeeseaeeeseaeeeseseeeseneees 147 55 ProPak LBplus 7 Pin Serial Cable rnrnnrnrrnnnnnnrnnnnrrnnnnnvnnnnrrrnnnnnnnnnnrrnnnnnnnnrerrnnnnnnnnnnn 148 56 ProPak LBplus 8 Pin Serial Cable arnnnnnrnnannnvnnnnrrnnnnnvnnnnrrrnnnnvnnnnnrrnnnnnnnnnnrrnnsnnnnenen 149 57 ProPak G2 Power Cable rmnnnnrrnnnnvnnnnnnrennnnrnnnnnvennnnrnnnnnnrennnnrnnnnnrensnnrnnsennrennsrnnnnnnnennn 161 58 ProPak G2 DB 9 Version Y Type Null Modem Cable mrnnnrnnnnnrvnnnnrnnnnnnvnnrnrrnnnnnnnnnn 162 59 ProPak G2 DB 9 Version Straight Serial Cable rrrrnrnrrnnnnnrnnrrrrrnnnnnnnnrnrrrnnnnnnernnr 163 60 ProPak G2 DB 9 Version I O Strobe Port Cable urnrrnnonrrnn
98. age LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 4 VDC and maximum 3 3 VDC 118 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A 23 2119171513119 7 5 3 1 EENEN EEEE BE BE HH E HE EEE EE EE Bom om 2422 201816141210 8 6 4 2 s Figure 40 Top view of 24 Pin Connector on the OEM4 G2L Descriptions Pin GND Digital Ground 1 GND Digital Ground 2 VARF Variable frequency out 3 PPS Output pulse 1 ms wide for which the leading edge is used as the reference 4 Polarity and period can be configured using the PPSCONTROL command described in Volume 2 of this manual set VCC Voltage input 3 3 0 15 VDC 5 VCC Voltage input 3 3 0 15 VDC 6 Event2 Mark 2 input which requires a pulse longer than 55 ns Polarity can be 7 configured using MARKCONTROL detailed in Volume 2 of this manual set Eventi Mark 1 input which requires a pulse longer than 105 ns Polarity can be 8 configured using MARKCONTROL detailed in Volume 2 of this manual set ERROR Indicates fatal error when high 9 PV Output indicates good solution or valid GPS position when high 10 CTS2 Clear to Send for COM 2 input 11 RESETIN Reset LVTTL signal input 2 4 to 3 3 VDC maximum from external system 12 active low RTS2 Request to Send for COM 2 output 13 RXD2 Received Data for COM 2 input 14 CTS1 Clear to Send for COM 1 input 15 TXD2 Transmit
99. age 35 9 Reference 0O00O FWD OEM4 Family Installation and Operation User Manual Rev 16 ROMs Description Reference Black 5 Red 6 Orange 7 Brown 8 Connector key marking 12 12 V adapter 13 Spring Description Ground 7 to 18 VDC 7 to 18 VDC Ground Universal tip 3 Amp slow blow fuse Figure 57 ProPak G2 Power Cable 161 Appendix D Specifications Archive D 2 2 2 Y Type Null Modem Cable for DB 9 Version NovAtel part number 60715062 This cable supplied with the DB 9 version of the ProPak G2 see Figure 58 provides an easy means of communications with a PC The cable is equipped with a 9 pin connector at the receiver end which can be plugged into the COMI COM2 or AUX port At the PC end both a 9 pin and a 25 pin connector are provided to accommodate most PC serial RS232 communication ports 13 1 s5 S1 25 28 814 28 00000RN0000000000 00000900000000000 Wiring Table Connector Pin Number From DB25S 28 2 3 4 5 6 amp 8 7 20 To DB9S 26 2 3 8 7 4 5 1 amp 6 To DB9S 27 3 2 7 8 186 5 4 Reference Description Reference Description 26 DB9S Female 28 DB25S Female 27 DB9S Female Figure 58 ProPak G2 DB 9 Version Y Type Null Modem Cable 162 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 2 2 3 Straight Serial Cable for DB 9
100. ails on this log and on how to read the receiver error word and status word Tables 20 and 21 on pages 112 to 114 give you actions to take when your receiver has an error flag in either of these words Table 20 Resolving a Receiver Error Word Bit Set Action to Resolve 0 Issue a FRESET command refer to Volume 2 of this manual set 1 Issue a FRESET command refer to Volume 2 of this manual set 2 Issue a FRESET command refer to Volume 2 of this manual set 4 Contact Customer Service as described on Page 12 5 Check the VERSION log refer to Volume 2 of this manual set 6 Issue a FRESET command refer to Volume 2 of this manual set 7 See Section 3 1 3 Power Supply Requirements Page 28 8 Issue a NVMRESTORE command refer to Volume 2 of this manual set 9 Check temperature ranges in the ENVIRONMENTAL table sections of Appendix A Technical Specifications starting on Page 117 10 Contact Customer Service as described on Page 12 11 12 13 14 15 Move the receiver away from any possible jamming sources OEM4 Family Installation and Operation User Manual Rev 16 Troubleshooting Chapter 9 Table 21 Resolving an Error in the Receiver Status Word Bit Set Action to Resolve 0 Check the Error Word in the RXSTATUS log See also Table 20 Resolving a Receiver Error Word on Page 112 1 Check temperature ranges in the ENVIR
101. ak LBplus and another serial communications device such as a PC At the ProPak LBplus end the cable is equipped with a 6 pin Switchcraft connector Switchcraft part number EN3C6F which plugs directly into the COM1 port At the other end a DB9S connector is provided The cable is 2 m in length m HL 5 000410 10 lII a 100 200020 O RECEIVER SIGNAL WIRE DB 9 FEMALE EN3C6F COLOR TO PC I PPS OU BLUE NC 2 MARK INPUT YELLOW NC 3 DMU POWER ORANGE NC RXD RED 3 5 TXD BROWN 2 6 GROUND BLACK 5 Reference Description 10 6 pin Switchcraft EN3C6F connector 11 DB9S connector 12 Connector key Figure 54 ProPak LBplus 6 Pin Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 147 Appendix A Technical Specifications A 6 2 3 7 Pin Switchcraft to DB9 Serial Cable NovAtel part number 60723062 The serial cable shown below provides a means of interfacing between the COM2 port on the ProPak LBplus and another serial communications device such as a PC At the ProPak LBplus end the cable is equipped with a 7 pin Switchcraft connector Switchcraft part number EN3C7F which plugs directly into the COM2 port At the other end a DB9S connector is provided 3 LI i en j Se USA aio
102. al 105 109 I VO 117 122 126 134 136 idle time 41 impedance 117 121 126 134 142 input antenna 126 134 commands 42 event 123 136 installation 15 88 integration 15 ionospheric 66 70 80 81 86 K kinematic 78 85 L latency base station 87 differential positioning 70 extrapolation error 70 reduction 55 RT 20 performance 84 latitude 72 L Band 73 antenna 27 commands and logs 78 enable 46 47 receiver enclosure 22 service levels 75 76 LED 37 104 106 108 lightning protection 14 LNA see low noise amplifier logs 43 CMR 45 in GPSolution 90 L Band 78 position averaging 64 positioning 80 86 RTCA 45 51 RTCM 45 51 54 RTK 82 84 status 104 107 Volume 2 154 longitude 72 loss of lock 79 low noise amplifier LNA 25 117 121 LVTTL 122 M mark input MKD 123 messages error 42 event 105 MKI see mark input modem 47 mounting 31 multipath antenna models 27 interference 69 reduction 86 RT 2 performance 81 N Narrow Correlator tracking technology 69 navigation accuracy 56 applications 17 satellite system 51 standards 53 NMEA 62 noise ionospheric effects 86 reduction 69 satellite pair 79 Notices 13 14 OEM4 Family Installation and Operation User Manual Rev 16 NovAtel Inc 2 11 12 null modem 41 O OCXO see oscillators offset 69 72 79 OmniSTAR 73 HP 76 VBS 75 operation 15 40 oscillators
103. al external power to antenna other than a standard NovAtel GPSAntenna 40 refer to the ANTENNAPOWER command in Volume 2 of this manual set lt To create a common ground tie together all digital grounds GND with the ground of the power supply OEM4 Family Installation and Operation User Manual Rev 16 125 Appendix A Technical Specifications A 4 FlexPak INPUT OUTPUT CONNECTORS ANT Waterproof TNC female jack 50 Q nominal impedance 4 75 to 5 10 VDC 100 mA max output from FlexPak to antenna LNA PWR 3 pin waterproof Deutsch connector 6 to 18 VDC Deutsch PN 59065 09 98PN COM1 13 pin waterproof Deutsch connector Deutsch P N 59065 11 35PF COM2 13 pin waterproof Deutsch connector Deutsch P N 59065 11 35PF Size 45 x 147 x 123 mm Weight 350 g maximum Mounting System Integral flange with two 7 mm 9 32 inch diameter mounting holes 133 mm 5 25 inches apart Operating Temperature 40 C to 75 C Storage Temperature 40 C to 85 C Humidity Not to exceed 95 non condensing Waterproof To IEC 60529 IP X7 126 a Normally RS 232 but can be dynamically changed to RS 422 by grounding Pin I on the COM2 Deutsch connector You can switch between RS 232 and RS 422 by changing the state of this pin You do not have to cycle power on the FlexPak for this change to take effect Pin 1 is a No Connect N C at the DB9F end of the FlexPak communication cable see
104. ality information and can be used to support cross correlation receivers Message Type 21 is also useful in non kinematic applications requiring high accuracy and integrity See Section 5 2 6 above for the message format of the Type 18 and 19 messages that are similar to the Type 20 and 21 messages 5 2 8 RTCM22 RTCM Extended Base Station Parameters RTK Message Type 22 provides firstly a means of achieving sub millimeter precision for base station coordinates and secondly base station antenna height above a base which enables mobile units to reference measured position to the base directly in real time The first data word of message Type 22 provides the corrections to be added to each ECEF coordinate Note that the corrections may be positive or negative The second data word which may not be transmitted provides the antenna L1 phase center height expressed in integer and fractional centimeters and is always positive It has the same resolutions as the corrections The range is about 10 meters The spare bits can be used if more height range is required 5 2 9 RTCM59 Type 59N 0 NovAtel Proprietary Message RTK RTCM Type 59 messages are reserved for proprietary use by RTCM base station operators Each message is variable in length limited only by the RTCM maximum of 990 data bits 33 words maximum The first eight bits in the third word the word immediately following the header serve as the message identification code in the
105. an base stations All of the eastern Canadian Provinces the Caribbean Islands Central America south of Mexico and South America is covered by a single satellite AM Sat A single subscription is available for all the areas covered by this satellite OmniSTAR currently has several high powered satellites in use around the World They provide coverage for most of the World s land areas Subscriptions are sold by geographic area Any Regional OmniSTAR service center can sell and activate subscriptions for any area They may be arranged prior to traveling to a new area or after arrival Contact OmniSTAR at www omnistar com for further details OEM4 Family Installation and Operation User Manual Rev 16 73 Chapter 6 Positioning Modes of Operation 74 6 4 1 2 Canada America Wide CDGPS The CDGPS service utilizes the MSAT 1 and MSAT 2 communications satellites In order to enable CDGPS positioning you must enable L band tracking to the CDGPS signal The CDGPS signal is broadcast on 4 different spot beams on the MSAT 1 satellite Depending on your geographic location there will be a different frequency for the CDGPS signal as shown in Figure 18 Figure 18 CDGPS STATE Beams The following are the spot beam names and their frequencies East 1 547 646 Hz East Central 1 557 897 Hz West Central 1 557 571 Hz West 1 547 547 Hz The data signal is structured to perform well in difficult or foliated conditions so the service is avail
106. ata Terminal Ready for COM 2 output 23 CTS2 Clear to Send for COM 2 input 24 TXD2 Transmitted Data for COM 2 output 25 RTS2 Request to Send for COM 2 output 26 RXD2 Received Data for COM 2 input 27 STATUS GREEN Indicates the OEM4 card is working properly when pulsing at 1 Hz 28 GPIO USERO Reserved 10 kQ pull down resistor 29 GPIO USER1 Reserved 10 kQ pull down resistor 30 GPIO_USER2 Reserved 10 kQ pull down resistor 31 Continued on Page 172 OEM4 Family Installation and Operation User Manual Rev 16 171 Appendix D Specifications Archive MSR Normally high active low pulse is 1 ms 50 ns wide Falling edge is used as the 32 reference RESETIN Reset TTL signal input from external system active low 33 GPAI General purpose analog input see the RXHWLEVELS log in Volume 2 of this 34 manual set RESETOUT Reset TTL signal output to external system active low 35 GND Digital Ground 36 GPIO_FR Reserved 10 kQ pull up resistor 37 ERROR Indicates fatal error when high 38 Reserved 39 LNA_PWR Optional external power to antenna other than a standard NovAtel GPSAntenna 40 see the ANTENNAPOWER command in Volume 2 of this manual set lt To create a common ground tie together all digital grounds GND with the ground of the power supply 172 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 4 Euro4 GPSCard Size 100 mm x 167 mm ex
107. ationary This setting is useful for preventing GPS signal effects from making a stationary object appear to move e INS Window If applicable please refer to your SPAN User Manual for more on INS e Plan Window This window displays real time graphic plotting of the current position of the GPS antenna as computed by the GPS receiver The latitude and longitude shown at the top of the window is the position of the receiver antenna when the window was opened or after the reset plan button was pressed The receiver s position is plotted relative to this initial position e Console Window This window allows the user to communicate directly to the receiver through the serial port It is essentially a terminal emulator with added receiver functionality Commands can be issued to the receiver via the command editor at the bottom of the window and sent by pressing the Enter button or simply pressing lt Enter gt on the keyboard The command editor has recall functionality similar to DosKey whereby pressing the up arrow on the keyboard will move backward through the previously issued commands and pressing the down arrow will move forward through the previously issued commands This allows the user to scroll through previously issued commands and then press the lt Enter gt key to issue that command again Feedback from the receiver is displayed in the ASCII Messages or Console window depending on the format of the message ASCII or Abbreviated ASCII re
108. be decompressed The syntax for decompression is as follows Syntax filename password where filename is the name of the compressed file but not including the EXE extension password is the password required to allow decompression Example oem1001 12345678 A windows based dialog box is provided for password entry The self extracting archive will then generate the following files WinLoad exe WinLoad utility program HowTo txt Instructions on how to use the WinLoad utility WhatsNew txt Information on the changes made in the firmware since the last revision XXXX hex Firmware version update file where XXXX program version level for example 1001 hex OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 7 5 2 2 Using the WinLoad Utility WinLoad is a windows based program used to download firmware to OEM4 family GPSCards The main screen is shown in Figure 27 WinLoad olx File Settings Help ie kash p Card Properties PSN Enclosure OSN t Abort HW Rev Hex File Properties Platform Type Version Authorization Code ee i C RON Scip NE Query Card ICOM 1 Connect 9600 Download 115200 7 Figure 27 Main Screen of WinLoad If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct 7 5 2 2 1 Opena File to Download From the fil
109. cal Specifications Appendix A Table 23 FlexPak COM2 Port Pin Out Descriptions Deutsch RS 232 Deutsch RS 422 Pin Function Pin Function 1 Select 1 Select 232 422 232 422 Mode Mode 2 RXD2 2 RXD2 3 CTS 3 RXD2 4 Event 1 4 Event 1 5 GND 5 GND 6 Event 2 6 Event 2 7 RTS2 7 TXD2 8 TXD2 8 TXD2 9 POUT 9 POUT 10 PPS 10 PPS 11 USB D 11 USB D 12 USB D 12 USB D 13 ERROR 13 ERROR lt The cable supplied needs to be modified to work in RS 422 mode see Section A 4 2 3 13 Pin Deutsch to DB9 Straight Cable NovAtel part number 01017518 on Page 132 OEM4 Family Installation and Operation User Manual Rev 16 129 Appendix A Technical Specifications A 4 2 Cables DX Deutsch cable connector pin numbers are labelled on the connectors A 4 2 1 12V Power Adapter Cable NovAtel part number 01017374 The power adapter cable supplied with the FlexPak provides a convenient means for supplying 12 VDC while operating from a 12V source the actual voltage range for the receiver is 6 to 18 VDC The figure below shows the cable and a wiring diagram of the 12V adapter The output of the power adapter uses a 3 pin Deutsch socket Deutsch part number 59064 09 98SN This cable plugs directly into the PWR port on the front of the FlexPak 2 H See MRI 00010 6 a Ar A 4 h ie J a 5
110. cipal Power Supply sitirans en i ii aa i a iaa 2 5 Data Communications Equipment urrnrrnnonvvnnnnrrnnnnvrvnnnnvrnnnnrennnnrrnnennenernnrnennnnnn 3 Installation and Set Up 3 1 Additional Equipment Required rarvnnnnnnnnvvnnnnnnnvrrnnnnnnnrrrnnnvrnnrrrnnnensnrrrnneesrsrrrnnsens 3 1 1 Selecting a GPS Antenna rrrnannvnnnonrrnnnnrnnnnnvrnnnnnrnnnenrennrnrnnnennnnennnrnnennnene 3 1 2 Choosing a Coaxial Cable rruannrnnoonrvnnnnrrnnrnrrrnnnnrnnnrnrennnnrrnnennnnernnrnnnnnnnne 3 1 3 Power Supply Requirements ccccccceeseeeeeeeeeeeeeeeseeeeeeeeeaeseeeeeeeseaaeseenees 3 2 Installation Overview iiaii iin iniii aiai ai iada 3 2 1 Installing a GPSCard in a Wiring Harness and Enclosure 0ccese 3 2 2 Mounting the GPS Antenna cccccccceceeseeeeeeeeeeeeaeeeeeaeeeseaaeeseeeeesaaeeeeaees 3 2 3 Connecting the Antenna to the ReCEIVET ccceeeeeceeeeeteeeeeeeeeeeteeeeenees 3 2 4 Applying Power to the Receiver mmmannrrrnarronnvrrvnvrnnnrrrnnrrnnnrrnerrrnnnrnnesrrnnnnne 3 2 5 Connecting Data Communications Equipment rrnronrrnnnnnrnnrnvrnnnnnrnnnrnnnnnn 3 3 Additional Features and Information assrovrnnnnnnvvrrnnnnnnvvrnnnnnnnnnnrnnrrrrnnnrnrnnrrnnnnnn BiG A SHODES uren ee LA EE rn 3 3 2 USB OEM4 G2 G2L FlexPak and ProPak G2plus Only errrrrnnnnnnnrr 3 3 3 Status Indicators sreraonrvnnrnrrrnnnnvrnrrrrrnnnnrnnnnrrrenannnenerrrenannrnenenrenennrnnnrnnnen OEM4 Family Installat
111. cluding the 64 position I O connector Weight 135 grams MECHANICAL DRAWINGS 100 3 9 9 7 i 88 90 0 38 3 500 I T T fe Ho 15 6 i 116 5 4 59 170 7 6 72 174 5 6 87 I 2 7 0 11 4 PLACES 3 2 10 5 0 13 0 41 14 4 0 57 NOTES ALL DIMENSIONS IN MILLIMETERS INCHES TOLERANCES ON DECIMALS O PLACES 1 0 T PLACE 0 5 2 PLACES 0 10 Figure 65 Euro4 Board Dimensions OEM4 Family Installation and Operation User Manual Rev 16 173 Appendix D Specifications Archive ENVIRONMENTAL Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity Voltage Not to exceed 95 non condensing POWER REQUIREMENTS 5 0 0 125 VDC Allowable Input Voltage Ripple 50 mV p p max Power consumption Antenna Connector 2 3 W typical RF INPUT LNA POWER OUTPUT SMB right angle male jack 50 Q nominal impedance RF Input Frequencies 1575 42 MHz L1 1227 60 MHz L2 LNA Power Internal Output from card default External Optional input Connector 4 50 to 5 25 VDC 0 100 mA 12 to 30 VDC 100 mA max user supplied EXTERNAL OSCILLATOR INPUT SMB straight vertical male jack External Clock Input Frequency 5 MHz or 10 MHz Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 0 dBm minimum t
112. cond Normally high active low pulse is 1 ms wide 1 Hz Falling edge is used as the reference VARF Variable A programmable variable frequency output ranging from 0 20 MHz refer to the Frequency FREQUENCYOUT command in Volume 2 of this manual set This is a normally high active low pulse RESETOUT Reset TTL signal output to external system active high RESETIN Reset TTL signal input from external system active low gt 1 us duration STROBE ELECTRICAL SPECIFICATIONS Output Voltage LVTTL levels Low minimum 0 VDC and maximum 0 55 VDC 24 mA High minimum 2 4 VDC and maximum 3 6 VDC 8 mA Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 0 VDC and maximum 5 5 VDC OEM4 Family Installation and Operation User Manual Rev 16 175 Appendix D Component side of Euro4 GPSCard Specifications Archive Keying tab O NNITVONDROFNQNAINORGROTAN HAM TOON OR IL are rer ANNNANANANAMMY a BEER BBE BRE RRR PRR PRR Ree eee eee Figure 66 Front view of 64 Pin Connector on the Euro4 Signal Descriptions Row A Pin GND Digital Ground 1 5VIN Voltage in 5 VDC 0 125 VDC 2 Reserved for future use 3 GND Digital Ground 4 GPIO_USERO Reserved 10 kQ pull down resistor 5 GPIO_USER1 Reserved 10 kQ pull down resistor 6 GND Digital Ground 7 RTS1 NC COM1 Request to sen
113. corrections However if the baseline becomes excessively long the bias errors begin to decorrelate thus reducing the accuracy or effectiveness of the differential corrections 7 p 1 1 1 1 1 1 1 1 1 1 1 sy p 1 1 1 7 moe Yoo ps vat bn Y s Figure 17 Typical Differential Configuration Reference Description 1 GPS Constellation Radio Data Link GPS Antenna with Choke Ring Modem Differential Corrections Input Differential Corrections Output GPS Receiver Base Station 9 Rover Station ON DOB W PD OEM4 Family Installation and Operation User Manual Rev 16 71 Chapter 6 Positioning Modes of Operation 6 3 3 1 The Base Station The nucleus of the differential network is the base station To function as a base station the GPS receiver antenna must be positioned at a control point whose position is precisely known in the GPS reference frame Typically the fixed position will be that of a geodetic marker or a pre surveyed point of known accuracy The base receiver must then be initialized to fix its position to agree with the latitude longitude and height of the phase centre of the base station GPS receiver antenna Of course the antenna offset position from the marker must be accurately accounted for Because the base station s position is fixed at a known location it can now compute the range of its known position to the satellite The base station now has two range
114. ction for future storage or shipment purposes A CAUTION e Always wear a properly grounded anti static wrist strap when handling the GPSCard e Always hold the GPSCard by its corners or the RF shield and avoid direct contact with any of the components Do not let the GPSCard come in contact with clothing at any time because the grounding strap cannot dissipate static charges from fabrics Failure to follow accepted ESD handling practices could cause damage to the GPSCard e Warranty may be voided if equipment is damaged by ESD Remember 3 2 1 2 Mounting the Printed Circuit Board The OEM4 family GPSCards are OEM products and therefore the printed circuit board is provided without a housing structure This allows flexibility in creating a mounting environment to suit particular product and marketing requirements The mounting and enclosure should provide the following e mounting of external connectors e protection from hostile physical environments for example rain snow sand salt water extreme temperatures e electromagnetic shielding to protect from hostile RF environments for example nearby transmitters e electromagnetic shielding so that the final product itself conforms to RF emissions specifications e protection from ESD refer to the Anti Static Practices section of the GPS Reference Manual The GPSCard can be held in place by screws Please see Appendix A Technical Specifications starting on Page 115 f
115. d for RS422 not connected for RS232 and LVTTL 8 TXD1 TXD1 COM1 Transmitted data for RS422 transmitted data for RS232 and LVTTL 9 RXD1 RXD1 COM1 Received data for RS422 received data for RS232 and LVTTL 10 RXD1 NC COM1 Received data for RS422 not connected for RS232 and LVTTL 11 RTS3 NC COM3 Request to send for RS422 not connected for RS232 and LVTTL 12 TXD3 TXD3 COM3 Transmitted data for RS422 transmitted data for RS232 and LVTTL 13 RXD3 RXD3_ COM3 Received data for RS422 received data for RS232 and LVTTL 14 GND Digital Ground 15 RTS2 DTR2 COM2 Request to send for RS422 data terminal ready for RS232 and LVTTL 16 TXD2 TXD2 COM2 Transmitted data for RS422 transmitted data for RS232 and LVTTL 17 RXD2 RXD2 COM2 Received data for RS422 received data for RS232 and LVTTL 18 RXD2 DCD2 COM2 Received data for RS422 data carrier detected for RS232 and LVTTL 19 TXD3 NC COM3 Transmitted data for RS422 not connected for RS232 and LVTTL 20 CTS3 NC COMB Clear to send for RS422 not connected for RS232 and LVTTL 21 RXD3 NC COM3 Received data for RS422 not connected for RS232 and LVTTL 22 GND Digital Ground 23 31 GPIO_FR Reserved 10 kQ pull up resistor 32 Signal Descriptions Row B Pin GND Digital Ground 1 5VIN Voltage in 5 VDC 0 125 VDC 2 Reserved for future use 3 LNA_PWR Optional external power to antenna other than a standard NovAtel
116. d the cable is equipped with a DB9 connector which plugs directly into a COM port At the other end a USB connector is provided UTUTTZUE REV X nn 00010 _ 2000 25 0 WIRING DB9 CONNECTION SIGNAL SERIES A WIRE ON RECEIVER USB PLUG COLOR PIN 5 GND PIN 4 BLACK PIN 6 USB D PIN 3 GREEN PIN 9 USB D PIN 2 WHITE INSULATE TO PREVENT SHORT RED Reference Description 10 Female DB9 connector 11 USB connector Figure 51 USB Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 141 Appendix A Technical Specifications A 6 ProPak LBplus 142 INPUT OUTPUT CONNECTORS Antenna gt TNC female jack 50 Q nominal impedance 4 75 to 5 10 VDC 100 mA max output from ProPak LBplus to antenna LNA Power 2 pin Switchcraft EN3 connector 7 to 15 VDC at 3 7 W typical operating range COM1 xX 6 pin Switchcraft EN3 connector F Z COM2 7 pin Switchcraft EN3 connector C COM3 8 pin Switchcraft EN3 connector PHYSICAL Size 185 x 154 x 71 mm not including mounting bracket 180 x 186 x 75 mm including mounting bracket Weight 1 1 kg maximum ENVIRONMENTAL Operating Temperature 40 C to 75 C Storage Temperature 40 C to 90 C Humidity Not to exceed 95 non condensing a The receiver will turn off and be undamaged at voltages between 15 and 30 VDC Prot
117. dard atmospheric parameters All performance specifications assume that at least 6 satellites above the mask angle varies between 11 and 14 degrees are being tracked on both L1 and L2 In Table 14 RT 2 Performance Static Mode and Table 15 RT 2 Performance Kinematic Mode on Page 82 accuracy values refer to horizontal RMS error The level of position accuracy at any time will be reflected in the standard deviations output with the position OEM4 Family Installation and Operation User Manual Rev 16 81 Chapter 6 Positioning Modes of Operation Table 14 RT 2 Performance Static Mode engin Horizontal accuracy lt 5km 2 cm 0 5 ppm lt 10 km 1 cm I ppm lt 15 km 5cm lt 25 km 7 cm lt 35 km 35 cm lt 35 km 25 cm Table 15 RT 2 Performance Kinematic Mode en Horizontalaccuracy lt 5 km 2 cm 0 5 ppm lt 10 km 2 cm 0 5 ppm lt 15 km 8 cm lt 25 km 10 cm lt 35 km 40 cm lt 35 km 25 cm RTKPOS or BESTPOS logs contain some error due to predictions from base station observations The expected error of a RTKPOS or BESTPOS log will be that of the corresponding MATCHEDPOS log plus the appropriate error from Table 16 There are no data delays for a matched log and therefore no need to add an additional error factor Table 16 RT 2 Degradation With Respect To Data Delay Data Delay s Distance km Accuracy CEP 0 2 1 1 cm s 2 7 1 2 cm s 7
118. dards for GPS WAAS airborne equipment A SBAS capable receiver will permit anyone within the area of coverage to take advantage of its benefits OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 6 22 SBAS Commands and Logs The command SBASCONTROL enables the use of the SBAS corrections in the position filter In order to use this command first ensure that your receiver is capable of receiving SBAS corrections Several SBAS specific logs also exist and are all prefixed by the word WAAS except for the RAWWAASFRAME log The PSRDIFFSOURCE command sets the station ID value which identifies the base station from which to accept pseudorange corrections All DGPS types may revert to SBAS if enabled using the SBASCONTROL command Consult Volume 2 of this manual set for more details on individual SBAS commands and logs 6 3 Pseudorange Differential There are two types of differential positioning algorithms pseudorange and carrier phase In both of these approaches the quality of the positioning solution generally increases with the number of satellites which can be simultaneously viewed by both the base and rover station receivers As well the quality of the positioning solution increases if the distribution of satellites in the sky is favorable this distribution is quantified by a figure of merit the Position Dilution of Precision PDOP which is defined in such a way that the lower
119. dem Data Cable Data Communications Equipment NOOO FB W P 3 2 1 Installing a GPSCard in a Wiring Harness and Enclosure To install a GPSCard begin with the following 1 Ensure you are taking the necessary precautions against ESD as described in Section 3 2 1 1 on Page 31 2 Mount the GPSCard in a secure enclosure to reduce environmental exposure and RF interference as described in Section 3 2 1 2 on Page 31 3 Prepare a wiring harness to interface to the receiver s data status and power signals using the information given in Section 3 2 1 3 on Page 32 30 OEM4 Family Installation and Operation User Manual Rev 16 Installation and Set Up Chapter 3 3 2 1 1 Electrostatic Discharge ESD Precautions Electrostatic discharge is a leading cause of failure of electronic equipment components and printed circuit boards containing ESD sensitive devices and components It is imperative that ESD precautions be followed when handling or installing a GPSCard Refer to the Anti Static Practices section of the GPS Reference Manual for more information on ESD precautions Leave the GPSCard in its static shielding bag or clamshell when not connected in its normal operating environment When removing the GPSCard from the ESD protection follow accepted standard anti static practices Failure to do so may cause damage to the GPSCard When you remove the GPSCard from the original packing box it is recommended that you save the box and ESD prote
120. document describes messages and techniques for supporting GPS However the format accommodates modifications to these systems for example new signals and to new satellite systems that are under development In addition augmentation systems that utilize geostationary satellites with transponders operating in the same frequency bands are now in the implementation stages Generically they are called Satellite Based Augmentation Systems SBAS and they have been designed to be interoperable for example WAAS EGNOS MSAS Message types contained in the current Version 3 0 standard have been structured in different groups Transmit at least one message type from each of the following groups Group Observations RTCM1001 L1 Only GPS RTK RTCM1002 Extended L1 Only GPS RTK RTCM1003 L1 And L2 GPS RTK RTCM1004 Extended Lland L2 GPS RTK Group 2 Base Station Coordinates RTCM1005 RTK Base Antenna Reference Point ARP RTCM1006 RTK Base ARP with Antenna Height 5 3 1 RTCM1001 RTCM1004 GPS RTK Observables RTCM1001 RTCM1002 RTCM1003 and RTCM1004 are GPS real time kinematic RTK messages which are based on raw data From these data valid RINEX files can be obtained As a result this set of messages offers a high level of interoperability and compatibility with standard surveying practices See also Table 18 on Page 93 for details on the logs that Convert4 converts to RINEX The Type 1001 Message supports single frequency RTK operation It do
121. due to NovAtel This provision shall survive termination of this Agreement howsoever arising Warranty a For 90 days from the date of shipment of new purchased product NovAtel warrants that the media for example compact disk on which the Software is contained will be free from defects in materials and workmanship This warranty does not cover damage caused by improper use or neglect b NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person For Software UPDATES and UPGRADES and regular customer suppo
122. e is one solution every two seconds 2 The low latency position solution is based on a prediction from the base station Instead of waiting for the observations to arrive from the base station a model based on previous base station observations is used to estimate what the observations will be at a given time epoch These estimated base station observations are combined with actual measurements taken at the rover station to provide the position solution Because only the base station observations are predicted the rover station s dynamics will be accurately reflected The latency in this case the time delay between the moment that a measurement is made by the rover station and the moment that a position is made available is determined only by the rover proces sor s computational capacity the overall delay is of the order of a hundred milliseconds Low latency position solutions can be computed more often than matched position solu tions the update rate can reach 10 solutions per second The low latency positions will be provided for data gaps between matched positions of up to 60 seconds for a carrier phase solution or 300 seconds for a pseudorange solution unless adjusted using the DGPSTIM EOUT command A general guideline for the additional error incurred due to the extrapo lation process is shown in Table 11 Table 11 Latency Induced Extrapolation Error Time since last base Typical extrapolation station observation error
123. e by the digital section It also supplies power to the active antenna s LNA through the coaxial cable while maintaining isolation between the DC and RF paths The RF section can reject a high level of potential interference for example MSAT Inmarsat cellular phone and TV sub harmonic signals 2 1 2 Digital Electronics Section The digital section of the receiver receives a down converted amplified GPS signal which it digitizes and processes to obtain a GPS solution position velocity and time The digital section consists of an analog to digital converter a 32 bit system processor memory control and configuration logic signal processing circuitry serial peripheral devices and supporting circuitry The digital section performs the translations and calculations necessary to convert the IF analog signals into usable position and status information It also handles all I O functions including the auxiliary strobe signals which are described in detail in Section 3 3 1 on Page 35 For input and output levels please see Appendix A Input Output Strobes on Page 118 for the OEM4 G2L and Page 123 for the OEM4 G2 2 2 Enclosure and Wiring Harness As discussed in Section 1 3 on Page 19 an enclosure is necessary to protect the GPSCard from environmental exposure and RF interference If a ProPak G2plus ProPak LBplus or FlexPak is not being used as the enclosure a wiring harness will also be required to provide an interface to the GPSCard
124. e menu choose Open Use the Open dialog to browse for your file see Figure 28 WinLoad s Open Dialog on Page 101 Look in 3 1 000 z El c File name hex Files of type Hex Files v Cancel Figure 28 WinLoad s Open Dialog OEM4 Family Installation and Operation User Manual Rev 16 101 Chapter 7 PC Software and Firmware Once you have selected your file the name should appear in the main display area and in the title bar see Figure 29 below HM WinLoad C UNZIP 1212 hex File Settings Help Ms C AUNZIPY1212 hex Figure 29 Open File in WinLoad 7 5 2 22 Communications Settings To set the communications port and baud rate select COM Settings from the Settings menu Choose the port on your PC from the Com Port dropdown list and the baud rate from the Download Baudrate dropdown list The baud rate should be as high as possible the default of 115200 is preferred Com Port Download Baudrate fi5200 Connect Baudrate o OK Cancel Figure 30 COM Port Setup 7 5 2 2 3 Downloading firmware To download firmware follow these steps 1 Set up the communications port as described in Communications Settings above 2 Select the file to download see Open a File to Download on Page 101 3 Make sure the file path and file name are displayed in main display area see Figure 29 Open File in WinLoad 4 Click on the Write Flash button to download the firmware 5 Power down and then power up the
125. e of a two volume set The second volume the Command and Log Reference lists and describes the various receiver commands and logs Please remember that since each receiver is shipped from the distributor with a customer specific list of features some commands or logs may not be applicable to your model Other supplementary manuals may be included to accommodate special models and software features with unique functionality It is recommended that these documents be kept together for easy reference It is beyond the scope of this manual to provide details on service or repair Please contact your local NovAtel dealer for any customer service related inquiries see Customer Service on Page 12 User Manual Updates This manual has been revised to include information on a new L Band service NovAtel Inc has developed OEM4 G2L based products to use the Canada Wide Differential Global Positioning System CDGPS a free signal operated by the Canadian government See Enabling L Band Positioning ProPak LBplus Only starting on Page 46 and L Band Positioning starting on Page 73 The most up to date version of this manual set and any related addendum can be downloaded from the Documentation Updates section of www novatel com Prerequisites The OEM4 G2L and OEM4 G2 are OEM products requiring the addition of an enclosure and peripheral equipment before becoming a fully functional GPS receiver The installation chapters of this document provide inf
126. e or need to order additional components please contact your local NovAtel dealer or Customer Service representative C 1 FlexPak Part Description NovAtel Part 12V power adapter cable Page 130 01017374 13 pin Deutsch to DB9 null modem serial cable Page 131 01017375 13 pin Deutsch to DB9 straight through cable Page 132 01017518 13 pin Deutsch to USB connector cable Page 133 01017359 C 2 ProPak G2plus Part Description NovAtel Part T O strobe cable Figure 50 on Page 140 60723065 Straight through serial data cable Figure 49 on Page 139 60723066 Null modem serial data cable Figure 48 on Page 138 60323062 Power cable LEMO 4 pin socket to 12V power outlet plug Figure 47 on Page 137 01017023 C 3 ProPak LBplus Part Description NovAtel Part 12V power adapter cable Page 146 60723064 6 pin Switchcraft to DB9 serial cable Page 147 60723061 7 pin Switchcraft to DB9 serial cable Page 148 60723062 8 pin Switchcraft to DB9 serial cable Page 149 60723063 153 OEM4 Family Installation and Operation User Manual Rev 16 Appendix C C 4 Accessories Replacement Parts Part Description NovAtel Part OEM4 Family Compact Disc with PC utilities OEM4 Family User Manual Volume 1 Installation and Operation OEM4 Family User Manual Volume 2 Commands and Log Reference 01017190 OM 20000046 OM 20000047 Optional NovAtel GPS Antennas Model 702 L1 L2 Model 701 L1 only Model 600 LB L1 L2 L Band Model 533
127. eceiving the RTCM data must have its INTERFACEMODE command set see Transmitting and Receiving Corrections on Page 44 REMEMBER Upon a change in ephemeris base stations will transmit Type I messages based on the old ephemeris for a period of time defined by the DGPSEPHEMDELAY command After the timeout the base station will begin to transmit the Type I messages based on new ephemeris 5 22 RTCM3 Base Station Parameters RTK This log contains the GPS position of the base station expressed in rectangular ECEF coordinates based on the center of the WGS 84 ellipsoid This log uses four RTCM data words following the two word header for a total frame length of six 30 bit words 180 bits maximum This message must be sent at least once every 30 seconds although it is recommended that it be sent once every 10 seconds Also the rover receiver will automatically set an approximate position from this message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual Structure Follows the RTCM SC 104 Standard for a Type 3 message Type 3 messages contain the following information Scale factor ECEF X coordinate ECEF Y coordinate ECEF Z coordinate The receiver only transmits the RTCM Type 3 when the position is fixed by the FIX POSITION command lt This log is
128. ection is included for brief transients above 30 VDC OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A a 6 6 0 5 Ol ot 70 54 040 5 ou o DOi DIV 173 4 0 5 09 DO E j 15 Jen a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversions OEM4 Family Installation and Operation User Manual Rev 16 143 Appendix A Technical Specifications A 6 1 Port Pin Outs Figure 52 is included to provide the pin numbering for each of the ports which are described in the tables that follow ALL 5 CONNECTORS __ ARE KEYED AT THE TOP LEFT Figure 52 ProPak LBplus Port Pin Outs Table 26 ProPak LBp us Power Port Pin Out Descriptions Connector Pin No Signal Name Signal Description 1 VIN Positive power terminal 2 VIN Negative power terminal X
129. eee 82 15 RT 2 Performance Kinematic Mode eeccccceeeeeenneeeeeeeenaeeeeeeeaaeeeeseeaaeeeeesenaeeeeeeeeaas 82 16 RT 2 Degradation With Respect To Data Delay rrnnnnnnnnvnnnnnnnnnrnnnnnnnnnrrnnnnnrnnrnnnnnnennnnr 82 17 RT 20 Perormaneeuusuaaudsuldeadkaenui kuta hesten 84 18 NovAtel Logs for Rinex Conversion umrsaneranvnnnnnvvnnnnvvnnnnrrnnnnnnnnrrrrnnnnnnnnrenrreennrnnnennenn 93 19 Troubleshooting based on Symptoms urrrvrnnnrrvnnnnrrnnrnrnnrnnrrrnnnnnnnnrrnneennnnernrrnennnnnernnn 110 20 Resolving a Receiver Error Word arsrnnnnnnnnrvnnnnvnnnvrnnnnvansrvrnnnnrnsrrrnnnnsnsrrrnnnnersrrrnnennn 112 21 Resolving an Error in the Receiver Status Word srnnannrnnnnnvnnnrnrvnnnnrrnnrnnrennnrrnnnnnenenn 113 22 FlexPak COM1 Port Pin Out Descriptions rerrnrrnnonnvnnnnrrvnnnnvnnnnrrnnnnnvnnnrnrennrnrnnnrnnnnnn 128 23 FlexPak COM2 Port Pin Out DeSCriptiOnS cccceeeceeeeeeeeeeeeeeeeeeeeeeaeeeeeeeeesaeesennees 129 24 ProPak G2plus Serial Port Pin Out Descriptions ccceceeeeeeeeeenee stents eeeaeeeeeeeeees 136 25 ProPak G2plus I O Port Pin Out Descriptions 0 c cccceeceeeeeeceeeeeeeeaeeteeeeeeeaeeeennees 136 26 ProPak LBplus Power Port Pin Out Descriptions rrrrrrrrnnnnrrnnonvrnnnnnrnnrnnrennrrrnnnnnnnnnn 144 27 ProPak LBplus COM1 Port Pin Out Descriptions ennnrrnnnnnvnnnonrnnnnnrrnnnnnrennnrrnnnnnnnnnn 144 28 ProPak LBplus COM2 Port Pin Out Descriptions rnnnrrnnnnnrnnnnnvvnn
130. eeeceeaeeeeeeeeesaeeseeeeeesaeeeseaeeesecaeeeeaeessaes 103 34 Location of Receiver Status Word ruarnrnnnnnvrnnnnnrnnnnnrvnrnrrnnnnnnnnrnnrnnnannnnnrrnrenennnnnnennee 105 35 Reading the Bits in the Receiver Status Word mmsmrunvrervrrvvrnrrrarvrrnrrrervnrernverrvervverenn 106 36 Location of Receiver Error Word rnnraannvvvnnnvannvvrnnnnnnnvvnnnnnnnrrvnnnnnnsnnnnnnsnsrnnrnnsssrrnnnnn 106 37 Reading the Bits in the Receiver Error Word rnnnnannvrrvnnnnnnvrrnnnnnnnrrnnnnnnsrrrnnsernsrrrnnennn 107 38 Status LED Flash Sequence Example mmmannvvnnnnrrnnnnnnvnnnrrrnnnnnrnnrerrrennnnnnnrerrresnnnnnsennn 109 39 OEM4 G2L Board Dimensions nrvenrrrnnnnnvnnrvrrrnnnnvnnnrnrnnnnnrnnnennrenrnnrnesnnnenersrnensnnnnsennn 116 40 Top view of 24 Pin Connector on the OEM4 G2L unnrrnnennrvnnnnrnnnenrennrnrrnnenrrersrnrrerrnnn 119 41 OEM4 G2 Board Dimensions srrnnnrrnnnnnrnnnnnrnnrnrrrnnnnrnnrnnrnenannnnnrnrrennnnnnnnnnrenennrnnnenneneenn 120 42 Top view of 40 Pin Connector on the OEM4 G2 reennrrnnenvrvnrnnrnnnrnrenernrrnnenrrersrrrnrernnn 124 43 FlexPak Power Gable sundt esse afarer ai 130 44 FlexPak 13 Pin Serial Cable rrannrrnnnnrrrnnnnrnnnonvvnnnnrnnnnnrrennnnrnnennrnnrnnrnnnnnnenrnnrnnnennennnn 131 45 FlexPak 13 Pin Serial Cable rarnrnnnnnnrrnnnnvnnnvnvvnnnnrnnnnnnrvnnnnrnnnnnvenennrnnnsnnennnnrnnnsnnnnnnn 132 6 OEM4 Family Installation and Operation User Manual Rev 16 Figures 46 FlexPak USB Cablecom ena e a inn
131. een Receivers 0 eeeeeeeeenteeeeeeeenaeeeeeeeaaeeeeeeeaaeeeeeeeaaes 49 47 1 Procedures uanuussteradnrte eg AEA ident Shas tae doves ere eee an ened 49 5 Message Formats 51 5 1 RTCA Format MeSSage ccsccececeeeeeeeeeeeceeeeeeeaeeseeeeeeeaaaesecaeeesaaeeeseeeeesaeesseaes 51 Sa RTGAT Lak edda 51 5 1 2 RTCAEPHEM Type Tiii aena ni atea aa a aiai ta aa 52 51 3 RIGAOBS Type a a aa a raaa aeta aaa a Eia Ra Laaa 52 54 RIGAREF Type ii ae a ei aie Al on 53 5 2 RTCM Format Messages cccccccececeeeeeeeeeeeeeeeseneeeseeeeeesaaeeseeaeeeseaeeseeeeeseaeessaes 53 B VRTCM Aste ara ee ee a eed ee NG 54 5 2 2 RTCM3 Base Station Parameters RTK cccccccceeseeeeeseeeseeeeesseeeseneees 55 5 2 3 RTCM9 Partial Satellite Set Differential Corrections 55 5 2 4 RTCM15 lonospheric Corrections ccccccceeceeeeeeeeeeeeeeeeeeeeeeeeeseneeeseneees 56 5 2 5 RTCM16 Special Message cc ccceceeecceeneeeceneeeeeseeeseaeeeseaaeeseeeeeesnaaesennees 57 5 2 6 RTCM18 and RTCM19 Raw Measurements RTK 57 5 2 7 RTCM20 and RTCM21 Measurement Corrections RTK 58 5 2 8 RTCM22 RTCM Extended Base Station Parameters RTK s es 58 5 2 9 RTCM59 Type 59N 0 NovAtel Proprietary Message RTK eese 58 5 3 RTCM Version 3 0 RTCMV3 Messaging ccecceseceeeeeneeesenaeeeseeeesecaeeeseneeeeeas 59 5 3 1 RTCM1001 RTCM1004 GPS RTK Observables rrrrnrnnrrnnnnnrvnrvrrrnnnnnrnnrnr 59 5 3 2 RTCM1005 amp RTCM1006 RTK Base Antenna
132. eivers However for those products for which strobes are available you may want to design your installation to include support for these signals The OEM4 G2L provides 6 TTL compatible I O strobes which can be located on the connector shown in Figure 39 OEM4 G2L Board Dimensions on Page 116 The OEM4 G2 GPSCard has 9 TTL compatible I O strobe lines See Figure 41 OEM4 G2 Board Dimensions on Page 120 The ProPak G2plus provides strobe signals at its I O port as described in Table 25 on Page 136 Access to the ProPak LBplus strobe signals is obtained through the COMI port which is labelled er See Table 27 on Page 144 for more information on the ProPak LBplus strobes Zz Strobe signals include an input and several outputs as described below e Mark Input Event1 Event2 A pulse on this input triggers certain logs to be generated Refer to the MARKPOS and MARKTIME logs and ONMARK trigger in Volume OEM4 Family Installation and Operation User Manual Rev 16 35 Chapter 3 Measure Output MSR Pulse Per Second Output PPS Position Valid Output PV Error Output ERROR LED Red Output STATUS_RED LED Green Output STATUS GREEN Normal operation when pulsing at 1 Hz Variable Frequency VARF Installation and Set Up 2 of this manual set For the OEM4 G2 and OEM4 G2L the polarity is configurable refer to the MARKCONTROL command in Volume 2 of this manual set The mark inputs have 10K pull up resistors to 3 3 V and are fal
133. election and Installation at our website www novatel com or you may obtain it from NovAtel Customer Service directly High quality coaxial cables should be used because a mismatch in impedance possible with lower quality cable produces reflections in the cable that increase signal loss Though it is possible to use other high quality antenna cables the performance specifications of the OEM4 family receivers are warranted only when used with NovAtel supplied accessories 3 1 3 Power Supply Requirements 28 This section contains information on the requirements for the input power to the receiver See Appendix A Technical Specifications starting on Page 115 for more power supply specifications A WARNING Ifthe voltage supplied is below the minimum specification the receiver will suspend operation If the voltage supplied is above the maximum specification the receiver may be permanently damaged voiding your warranty 3 1 3 1 GPSCards The OEM4 G2 GPSCard contains a DC to DC converter that is very tolerant to noise and ripple at its input A tightly regulated input supply to the card is not required as long as it falls within the given input range A tightly regulated input supply to the OEM4 G2L GPSCard is required The power supply used for any GPSCard should be capable of 5 W The voltage input range for each GPSCard type is given in the table below Table 4 Voltage Input Ranges for GPSCards GPSCard Power Input Range OEM
134. en operating as a base station Before this message can be transmitted the receiver FIX POSITION command must be set The RTCA log will be accepted by a receiver operating as a rover station over a COM port after an INTERFACEMODE port RTCA_INTERFACE command is issued The RTCA Standard for SCAT I stipulates that the maximum age of differential correction Type 1 messages accepted by the rover station cannot be greater than 22 seconds Refer to the DGPSTIMEOUT command in Volume 2 of this manual set for information regarding DGPS delay settings 1 For further information on RTCA Standard messages you may wish to refer to Minimum Aviation System Performance Standards DGNSS Instrument Approach System Special Category I SCAT 1 Document No RTCA DO 217 April 19 1995 Appendix A Page 21 OEM4 Family Installation and Operation User Manual Rev 16 51 Chapter 5 Message Formats The RTCA Standard also stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections Refer to the DGPSEPHEMDELAY command in Volume 2 of this manual set for information regarding ephemeris delay settings The basic SCAT I Type 1 differential correction message is as follows Format Message length 11 6 obs 83 bytes maximum Field Type Data Scaling Bits Bytes SCAT I header Message block identifier 8 6 Base station ID 24 Message type 8 this field will a
135. en low and the status LED on the receiver flashes green When an unusual and non fatal event occurs for example there is no valid position solution a bit is set in the receiver status word Receiver operation continues normally the error strobe remains off and the LED continues to flash green When the event ends for example when there is a valid position solution the bit in the receiver status word is cleared When a fatal event occurs for example in the event of a receiver hardware failure a bit is set in the receiver error word part of the RXSTATUS log to indicate the cause of the problem Bit 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LED flashes red and yellow showing an error code An RXSTATUSEVENT log is generated on all ports to show the cause of the error Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation The above two paragraphs describe factory default behavior Customization is possible to better suit an individual application RXSTATUSE VENT logs can be disabled completely using the UNLOG command RXSTATUSEVENT logs can be generated when a receiver status bit is set or cleared by using the STATUSCONFIG SET and STATUSCONFIG CLEAR commands Bits in the receiver status words can als
136. eneneees 19 2 ProPak LBplus Interface rnrurnnnnornnnnnnnvvnvnnnnnnnnvvnnnnnnnnvnnnnnannnnnnnsnnnnnnnnnsannnvennsnnnnnnnne 23 3 NovAtel GPS Antenna Models runanvrnnnnnrnnnnnnvnnnnrrrnnnnnnnrnnrrnnnnnnnerrrrenennnnnnerrrennnnnnneennne 27 4 Voltage Input Ranges for GPSCards mwrnrrnnannnvnnnnrrnnnnnvnnnnrrrnnnnnnnnrrrrrnsnnnnernrrrnnennnnrenn 28 5 Power Requirements for Enclosures rrrnnnnannnvvnnnnnnnnvrnnnnrnnnrrnnnnannnvennnnannnrrnnnnernnrennnseenn 29 6 Default Serial Port Configurations ccccccceeseeeeeeecececeeeeeeeeeeseaeeeeeeeeesaeeeseneeeesiaeeeneneees 34 it Available Strobe Signals on Receivers rrrrurrnrnnvvrrrvnnnrnnnrrrrrnnnnrnnnenrrennnnnnnrrrrreennnnnsennn 36 8 FlexPak Status Indicators tseciiecin adele ates n ie a a neni 37 9 ProPak G2plus Status Indicators cccccccececeeceeeeeeeeeeeeeeeeeeeceaaeeseeeeseeaeeeeeeeeessaaeeneneees 38 10 ProPak LBplus Status Indicators cccecceeeeeeeceeeeeeeee sees eeeeeaeseeeeeeeseaeeseeeeeetaeeeseneeess 38 11 Latency Induced Extrapolation Error ccccccceecececeeeseeeeeeeeeeseeeeeeeeeeeeeeeeeeseeeeaeeeeseneeaees 70 12 Comparison of RT 2 and RT 20 ccccceceeeeeeeneeeeeceeeeseneeeseaeeeesaaeeeeceeesaaeeseeeeesenaaeeeeaes 80 13 Summary of RTK Messages and Expected Accuracy ccccceeeeeeeeeeeneeteeeeeeeeeeeeeeaees 80 14 RT 2 Performance Static Mode 0 cccccceceeeeeeneeeeeeeeeeeeeee seas eeeeeeeeseeeeeeaeeseeaeeeenaae
137. er Flashes End of Sequence End of Previous Sequence Beginning of Sequence Oo ON DO oa KF W PD Most Significant Bit of Binary Value oO Least Significant Bit of Binary Value 11 Start of Next Sequence For a complete hexadecimal to binary conversion list refer to the Unit Conversion section of the GPS Reference Manual Refer also to the RXSTATUS log and its tables in Volume 2 of this manual set for more details on this log and receiver error status OEM4 Family Installation and Operation User Manual Rev 16 109 Chapter 9 Troubleshooting When your receiver appears not to be working properly often there are simple ways to diagnose and resolve the problem In many cases the issue can be resolved within a few minutes avoiding the hassle and loss of productivity that results from having to return your receiver for repair This chapter is designed to assist you in troubleshooting problems that occur and includes navigational instructions to bring you to the part of this manual that details resolutions to aid your receiver s operation If you are unsure of the symptoms or if the symptoms do not match any of those listed use the RXSTATUS log to check the receiver status and error words See Section 9 1 Examining the RXSTATUS Log Page 112 If the problem is not resolved after using this troubleshooting guide contact Customer Service see Page 12 Table 19 Troubleshooting based on Symptoms Symptom Related Section
138. er source should be disabled using the ANTENNAPOWER command Refer to Volume 2 of this manual set for more information on this command External LNA power is not possible with an OEM4 G2L ProPak G2plus ProPak LBplus or FlexPak receiver A CAUTION No warranty is made that the receiver will meet its performance specifications if a non NovAtel antenna is used 3 3 6 Mounting Bracket ProPak G2plus and ProPak LBplus Only Along with the ProPak G2plus and ProPak LBplus enclosures mounting kits have been provided to facilitate mounting the receivers to a surface This section provides information on how to mount the receivers DX The mounting kits are not designed for use in high dynamics or high vibration environments Contact NovAtel Customer Service if your application requires the ProPak G2plus or ProPak LBplus to be mounted in these types of environments 3 3 6 1 ProPak G2plus and ProPak LBplus To install the mounting bracket provided with the ProPak G2plus and ProPak LBplus refer to the instructions provided with the mounting kit Page 143 provides the dimension information for the bracket OEM4 Family Installation and Operation User Manual Rev 16 39 Before operating the receiver for the first time ensure that you have followed the installation instructions in Chapter 3 Installation and Set Up on Page 27 The following instructions are based on a configuration such as that shown in Figure 11 Typical Operational Configuratio
139. erfacemode com2 none rtcmv3 fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm1006 ontime 3 log com2 rtcm1002 ontime 10 CMR interfacemode com2 none cmr fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime 2 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 5 At the rover station enter interfacemode port rx type tx type For example RTCA interfacemode com2 rtca none RTCM interfacemode com2 rtcm none RTCMV3 interfacemode com2 rtcmv3 none CMR interfacemode com2 cmr none For compatibility with other GPS receivers and to minimize message size it is recommended that you use the standard form of RTCA RTCM or CMR corrections as shown in the examples above This requires using the INTERFACEMODE command refer to Volume 2 of this manual set to dedicate one direction of a serial port to only that message type Once the INTERFACEMODE command is used to change the mode from the default NOVATEL you can no longer use NovAtel format messages If you wish to mix NovAtel format messages and RTCA RTCM or CMR messages on the same port you can leave the INTERFACEMODE set to NOVATEL and log out variants of the standard messages with a NovAtel header ASCII or binary variants can be requested by simply appending an A or B to the standard message name For example on the base station interfacemode com2 novatel novatel fix position 51 11358042 114 04358013 1059 4105 log com2 rtcmlb ontime 2 At the
140. erly The receiver s COM COM2 and COM3 default port settings are as follows e 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off Changing the default settings requires using the COM command which is described in Volume 2 of this manual set It is recommended that you become thoroughly familiar with the commands and logs detailed in Volume 2 to ensure maximum utilization of the receiver s capabilities The data transfer rate you choose will determine how fast information is transmitted Take for example a log whose message byte count is 96 The default port settings will allow 10 bits byte It will therefore take 960 bits per message To get 10 messages per second then will require 9600 bps Please also remember that even if you set the bps to 9600 the actual data transfer rate will be less and depends on the number of satellites being tracked filters in use and idle time It is therefore suggested that you leave yourself a margin when choosing a data rate A CAUTION Although the receiver can operate at data transfer rates as low as 300 bps this is not desirable For example if several data logs are active that is a significant amount of information needs to be transmitted every second but the bit rate is set too low data will overflow the serial port buffers cause an error condition in the receiver status and result in lost data 4 1 2 Communicating Using a Remote Terminal One method of communicating with the
141. error word with each of the 32 bits indicating a condition The mask words are used to modify the behavior caused by a change in one of the bits in the associated status words Each bit in any of the masks operates on the bit in the same position in the status word For example setting bit 3 in the priority mask changes the priority of bit 3 in the status word 8 5 4 Receiver Status Code The receiver status word is included in the header of all logs It has 32 bits which indicate certain receiver conditions If any of these conditions occur a bit in the status word is set Unlike the error word bits the receiver will continue to operate unless the priority mask for the bit has been set The priority mask bit will change that of the receiver status word into an error bit Anything that would result from an error bit becoming active would also occur if a receiver status and its associated priority mask bits are set 8 5 5 Auxiliary Status Codes The auxiliary status codes are only seen in the RXSTATUS log The two bits representing the auxiliary status codes give indication about the receiver state for information only The bits typically do not cause degradation of the receiver performance The priority mask for the auxiliary codes does not put the receiver into an error state Setting a bit in the auxiliary priority mask results in the corresponding bit in the receiver status code to be set if any masked auxiliary bit is set Bit 31 of the receive
142. es minimum data for L1 L2 operation while Message Type 1004 provides the full data content The longer observation messages do not change very often and can be sent less often 5 3 2 RTCM1005 amp RTCM1006 RTK Base Antenna Reference Point ARP 5 4 60 Message Type 1005 provides the earth centered earth fixed ECEF coordinates of the antenna reference point ARP for a stationary reference station No antenna height is provided Message Type 1006 provides all the same information as Message Type 1005 but additionally provides the height of the ARP These messages are designed for GPS operation but are equally applicable to future satellite systems and system identification bits are reserved for them Message Types 1005 and 1006 avoid any phase center problems by utilizing the ARP which is used throughout the International GPS Service IGS They contain the coordinates of the installed antenna s ARP in Earth Center Earth Fixed ECEF coordinates datum definitions are not yet supported The coordinates always refer to a physical point on the antenna typically the bottom of the antenna mounting surface CMR Format Messaging The Compact Measurement Record CMR message format was developed by Trimble Navigation Ltd as a proprietary data transmission standard for use in RTK applications In 1996 Trimble publicly disclosed this standard and allowed its use by all manufacturers in the GPS industry The NovAtel implementation
143. es not include an indication of the satellite carrier to noise ratio as measured by the reference station The Type 1002 Message supports single frequency RTK operation and includes an indication of the satellite carrier to noise CNR as measured by the reference station Since the CNR does not usually change from measurement to measurement this message type can be mixed with the Type 1001 and used primarily when a satellite CNR changes thus saving broadcast link throughput The Type 1003 Message supports dual frequency RTK operation but does not include an indication of the satellite carrier to noise CNR as measured by the reference station The Type 1004 Message supports dual frequency RTK operation and includes an indication of the satellite carrier to noise CNR as measured by the reference station Since the CNR does not usually change from measurement to measurement this message type can be mixed with the Type 1003 and used only when a satellite CNR changes thus saving broadcast link throughput OEM4 Family Installation and Operation User Manual Rev 16 59 Chapter 5 Message Formats Message Type 1001 contains the shortest version of a message for GPS observations namely L1 only observables Message Type 1002 contains additional information that enhances performance If throughput is not limited and the additional information is available it is recommended to use the longer version of messages Similarly Message Type 1003 provid
144. ese message formats for differential operation RTCA Format Messages The RTCA Radio Technical Commission for Aviation Services Standard is being designed to support Differential Global Navigation Satellite System DGNSS Special Category I SCAT I precision instrument approaches The RTCA Standard is in a preliminary state Described below is NovAtel s current support for this standard It is based on Minimum Aviation System Performance Standards DGNSS Instrument Approach System Special Category I SCAT I dated August 27 1993 RTCA DO 217 NovAtel has defined three proprietary RTCA Standard Type 7 binary format messages RTCAOBS RTCAREF and RTCAEPHEM for base station transmissions These can be used with either single or dual frequency NovAtel receivers The RTCA message format outperforms the RTCM format in the following ways among others e amore efficient data structure lower overhead e better error detection e allowance for a longer message if necessary RTCAREF and RTCAOBS respectively correspond to the RTCM Type 3 and Type 59 logs used in single frequency only measurements Both are NovAtel proprietary RTCA Standard Type 7 messages with an N primary sub label See Section 4 3 Transmitting and Receiving Corrections on Page 44 for more information on using these message formats for differential operation 5 1 1 RTCA1 This log enables transmission of RTCA Standard format Type 1 messages from the receiver wh
145. event that the base station operator wishes to have multiple Type 59 messages NovAtel has defined only a Type 59N 0 message to date it is to be used for operation in receivers capable of operating in RT 20 Carrier Phase Differential Positioning Mode This log is primarily used by a base station to broadcast its RT 20 observation data delta pseudorange and accumulated Doppler range to rover RT 20 capable receivers Type 59N messages should be sent once every 2 seconds MI 1 The COMSTATSAPB log is very useful for monitoring the serial data link as well as differential data decode success 2 This log is intended for use when operating in RT 20 mode 58 OEM4 Family Installation and Operation User Manual Rev 16 Message Formats Chapter 5 5 3 RTCM Version 3 0 RTCMV3 Messaging RTCM SC 104 is a more efficient alternative to the documents entitled RTCM Recommended Standards for Differential Navstar GPS Service Version 2 x Version 3 0 consists primarily of messages designed to support real time kinematic RTK operations The reason for this emphasis is that RTK operation involves broadcasting a lot of information and thus benefits the most from a more efficient data format The RTCM SC 104 standards have been adopted by NovAtel for implementation into the receiver The receiver can easily be integrated into positioning systems around the globe because it is capable of utilizing RTCM Version 3 0 formats The initial Version 3 0
146. family GPSCard a complete GPS receiver system typically contains four other major components e A ProPak G2plus ProPak LBplus FlexPak or custom enclosure and wiring harness e A GPS antenna and optional LNA power supply e A power supply e Data communications equipment The overall system is represented in Figure 7 A brief description of each section follows the figure Details of installation and set up are provided in Chapter 3 Installation and Set Up on Page 27 Figure 7 GPS Receiver System Functional Diagram Reference Description Reference 1 Enclosure 13 2 GPSCard 14 3 RF Section 15 4 Digital Section 16 5 Controls 17 6 RF IF Sections 18 7 Signal Processor 19 8 Clock 20 9 22 Bit CPU 21 10 System I O 22 11 AGC 23 12 Clock 24 Description VCTCXO Optional LNA Power Power Supply GPS Antennaand LNA RF and Power Data and Signal Processing COM1 COM2 COM3 Input Timing Signal Output Timing Signal USB Communication OEM4 Family Installation and Operation User Manual Rev 16 Receiver System Overview Chapter 2 2 1 GPSCard NovAtel s GPSCards consist of a radio frequency RF and a digital electronics section 2 1 1 Radio Frequency RF Section The receiver obtains a filtered and amplified GPS signal from the antenna via the coaxial cable The RF section performs the translation from the incoming RF signal to an IF signal usabl
147. g Accuracy CEP 1 180 Static 0 1 45 to 25 cm 180 3000 Static 0 1 25 to 5 cm gt 3000 Static 0 1 5 cm or less 2 1 600 Kinematic 0 1 45 to 25 cm 600 3000 Kinematic 0 1 25 to 5 cm gt 3000 Kinematic 0 1 5 cm or less 2 Either 0 2 1 1 cm s Either 2 7 1 2 cm s Either 7 30 1 5 cm s Either gt 30 1 pseudorange or single point 3 Either 0 0 10 0 5 cm km Either 0 10 20 0 75 cm km Either 0 20 50 1 0 cm km 1 Mode Static or Kinematic during initial ambiguity resolution 2 The accuracy specifications refer to the BESTPOSA B logs which include about 3 cm extrapolation error MATCHEDPOSA B logs are more accurate but have increased latency associated with them 3 After 60 seconds reverts to pseudorange positioning single point or differential depending on messages previously received from the base station 84 OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 0 6 in CEP meters oa oo 0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 Seconds of Convergence Figure 23 Typical RT 20 Convergence Static Mode o D o in o t 0 3 CEP meters 0 2 0 300 600 900 1200 1500 1800 2100 2400 2700 3000 3300 Seconds of Convergence Figure 24 Typical RT 20 Convergence Kinematic Mode 6 5 1 3 Performance Considerations When referring to the performance of RTK software two factors are introduced 1 Baseline length the
148. gs WAAS32 WAAS35 and one slow corrections log WAAS45 for CDGPS The CDGPS PRN is 209 lt In addition to a NovAtel receiver with L Band capability a subscription to the OmniSTAR or use of the free CDGPS service is required Contact NovAtel for details see Customer Service on Page 12 Consult Volume 2 of this manual set for more details on individual L Band commands and logs Carrier Phase Differential Carrier phase algorithms monitor the actual carrier wave itself These algorithms are the ones used in real time kinematic RTK positioning solutions differential systems in which the rover station possibly in motion requires base station observation data in real time Compared to pseudorange algorithms much more accurate position solutions can be achieved carrier based algorithms can achieve accuracies of 1 2 cm CEP Kinematic GPS using carrier phase observations is usually applied to areas where the relation between physical elements and data collected in a moving vehicle is desired For example carrier phase kinematic GPS missions have been performed in aircraft to provide coordinates for aerial OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 photography and in road vehicles to tag and have coordinates for highway features This method can achieve similar accuracy to that of static carrier phase if the ambiguities can be fixed However satellite tracking is much more
149. h minimum 2 0 VDC and maximum 5 5 VDC 170 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D 2 4 6 8 10 12 1416 18 20 22 24 26 28 30 32 34 36 38 40 E ERE EEE EEE EE EE HE ME EE BE BM E ERE EEE EEE EE ME EE ME EE BB E 1 3 57 9 11 1315 17 19 21 23 25 27 29 31 33 35 37 39 Figure 64 Top view of 40 Pin Connector on the OEM4 Signal Descriptions Pin Vin Voltage In 6 to 18 VDC 1 PV Output indicates good solution or valid GPS position when high 2 Reserved 3 GND Digital Ground 4 X Reserved 5 GND Digital Ground 6 PPS Normally high active low output pulse is 1 ms wide 1 Hz Falling edge is used 7 as the reference GND Digital Ground 8 VARF Variable frequency out 9 GND Digital Ground 10 Eventi Normally high active low input pulse must exceed 55 ns in duration 11 The falling edge is the reference LVTTL contact closure compatible GND Digital Ground 12 STATUS RED Indicates the OEM4 card is not working properly when high or pulsing 13 CTS1 Clear to Send for COM 1 input 14 TXD1 Transmitted Data for COM 1 output 15 RTS1 Request to Send for COM 1 output 16 RXD1 Received Data for COM 1 input 17 CTS3 Clear to Send for COM 3 input 18 TXD3 Transmitted Data for COM 3 output 19 DCD2 Data Carrier Detected for COM 2 input 20 RXD3 Received Data for COM 3 input 21 RTS3 Request to Send for COM 3 output 22 DTR2 D
150. h of these models offer exceptional phase center stability as well as a significant measure of immunity against multipath interference Each one has an environmentally sealed radome Table 3 NovAtel GPS Antenna Models Models Frequencies Supported 701 L1 only 702 533 532 L1 and L2 600 LB L1 and L2 plus L Band 3 1 2 Choosing a Coaxial Cable An appropriate coaxial cable is one that is matched to the impedance of the antenna and receiver being OEM4 Family Installation and Operation User Manual Rev 16 27 Chapter 3 Installation and Set Up used 50 ohms and whose line loss does not exceed 10 0 dB If the limit is exceeded excessive signal degradation will occur and the receiver may not be able to meet its performance specifications NovAtel offers a variety of coaxial cables to meet your GPS antenna interconnection requirements including e 5 15 or 30 m antenna cables with TNC male connectors on both ends NovAtel part numbers C006 C016 and C032 respectively e 22 cm interconnect adapter cable with MMCX male and TNC female connectors NovAtel part number GPS C002 Note that a conversion is required between the female MMCX connector on the OEM4 G2L and OEM4 G2 GPSCards and the female TNC connector on Novatel s GPS antennas Your local NovAtel dealer can advise you about your specific configuration Should your application require the use of cable longer than 30 m you will find the application note RF Equipment S
151. he input file a Generate ascii output b Generate binary output t Generate rinex output batch Run in batch mode convert4 bina0750 r batch ox Figure 26 Convert Command Line Arguments The name of the output file is the same as the input file when converting to ASCII or binary formats The file extension however is altered to indicate the format of the data asc for ASCII bin for binary When converting to RINEX the output files are named according to the RINEX Version 2 10 naming convention see Section 7 3 1 Rinex Format on Page 92 The batch arguments suppress the window display and convert the specified file automatically XY When converting to RINEX in batch mode the navigation and observation file header information from the most recent interactive Convert session is used 94 OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 7 4 USB Drivers Installation The NovAtel USB PC Driver Kit contains the following ngpsser sys This driver provides a virtual serial port for each USB port of the receiver ngpsusb sys This driver connects the virtual serial ports to the USB stack novatelusb exe This utility allows you to control which Windows COM ports are assigned to each USB port of the receiver This utility can also be used to uninstall the drivers when newer versions are available During installation a shortcut is added to the Start Menu under Programs OEM4 PC
152. her via their COM1 ports such as in Figure 12 on Page 48 a rover station to base station scenario If the rover station were logging BESTPOSA data to the base station it would be possible to use the pass through logs to pass through the received BESTPOSA data to a disk file let s call it DISKFILE log at the base station host PC hard disk BESTPOSA data log gt FIX POSITION lat lon ht INTERFACEMODE COMI none none off log com1 BESTPOSA ontime 5 INTERFACEMODE com1 none none off log com1 PASSCOM1A onchanged 7 Reference Description Reference Description 1 To COM1 5 Data link 2 To COM2 6 Serial cables 3 Rover receiver 7 Pocket PC rover 4 Base receiver 8 Laptop PC base Figure 12 Pass Through Log Data 48 OEM4 Family Installation and Operation User Manual Rev 16 Operation Chapter 4 4 7 Under default conditions the two receivers will chatter back and forth with the Invalid Command Option message due to the command interpreter in each receiver not recognizing the command prompts of the other receiver This chattering will in turn cause the accepting receiver to transmit new pass through logs with the response data from the other receiver To avoid this chattering problem use the INTERFACEMODE command on the accepting port to disable error reporting from the receiving port command interpreter If the accepting port s error reporting is disabled by INTERFACEMODE the BESTPOSA
153. ily Installation and Operation User Manual Rev 16 105 Chapter 8 Built In Status Tests Each bit in the status word indicates the status of a specific condition or function of the receiver If the status word is 00000000 the receiver is operating normally The numbering of the bits is shown in Figure 35 below 0004002 8 i Wl 1 I l I 1 I 1 0000 0000 0000 0100 0000 0000 0010 1000 Bit 31 Bit 0 Figure 35 Reading the Bits in the Receiver Status Word The format of the log is described in Volume 2 of this manual set If the receiver status word indicates a problem please also see Section 9 1 Examining the RXSTATUS Log on Page 112 8 5 2 Error Word The error field contains a 32 bit word Each bit in the word is used to indicate an error condition Error conditions may result in damage to the hardware or erroneous data so the receiver is put into an error state If any bit in the error word is set the receiver will set the error strobe line flash the error code on the status LED broadcast the RXSTATUSEVENT log on all ports unless the user has unlogged it idle all channels turn off the antenna and disable the RF hardware The only way to get out of the error state is to reset the receiver It is also possible to have status conditions trigger event messages to be generated by the receiver Receiver Error words automatically generate event messages These event messages are output in RXSTATUSEVENT logs see also Section
154. in LEMO male connector 10 to 36 VDC Table 35 Default Serial Port Configurations Receiver COM1 COM2 COM3 OEM4 RS 232 RS 232 LVTTL Euro4 RS 232 RS 232 RS 232 ProPak G2 See Tables 39 and 40 on Page 159 for the DB 9 and LEMO versions respectively PowerPak 4 RS 232 RS 232 RS 232 PowerPak 4E RS 232 RS 232 Not available ProPak 4E RS 232 RS 232 Not available Table 36 PowerPak 4 Status Indicators Indicator Indicator Color Status VALID POSITION Red Hardware error Green Valid position computed STATUS Red Yellow or Both The GPSCard is not working properly Flashing Green The GPSCard is working properly PWR Red The receiver is powered Table 37 PowerPak 4E Status Indicators Indicator Indicator Color Status VALID POSITION Red Hardware error Green Valid position computed POWER Red The receiver is powered Table 38 ProPak G2 Status Indicators Indicator Indicator Color Status COMI Green Data is being transmitted from COM1 Red Data is being received on COM1 come Green Data is being transmitted from COM2 Red Data is being received on COM2 156 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 2 ProPak G2 DX There are two versions of the ProPak G2 One version has DB 9 connectors and the other uses LEMO brand connectors Unless otherwise indicated the information given in this section applies to both vers
155. ine receiver it checks to see if it has received a valid TIMESYNC log within 200 ms of the last 1PPS event If so it will set the Cold Clock receiver clock to the time of the Fine receiver See Figure 13 IPPS Alignment below To transfer FINE time from a Fine to a Warm Clock GPS receiver 1 Connect the 1PPS signal of the Fine to the mark input Event1 of the Warm Clock receiver Z Issue this command to the Warm Clock receiver adjustlpps mark The phase of the Warm Clock receiver clock is adjusted by the fractional measurement of the Fine receiver s PPS mark input event In other words it will synchronize the Warm Clock receiver s 1PPS to the incoming 1PPS of the Fine receiver It will NOT adjust the I second Time of Week TOW counter or the receiver s Week Number This procedure is used to make small corrections to the Warm Clock receiver s clock TIMESYNG Fine Receiver Connected to R9232 COM Input On Warm Clock Receiver 1PPS on Fine Receiver Connected ae to MK11 on Warm Clock Receiver p lt 200ms 1PPS IN Figure 13 1PPS Alignment 50 OEM4 Family Installation and Operation User Manual Rev 16 Chapter 5 Message Formats 5 1 The chapter discusses the various industry standard message formats that can be used with your NovAtel OEM4 family receiver including RTCA RTCM RTCMV3 CMR and NMEA See Section 4 3 Transmitting and Receiving Corrections on Page 44 for more information on using th
156. intended for use when operating in RT 20 or RT 2 mode 5 23 RTCM9 Partial Satellite Set Differential Corrections RTCM Type 9 messages follow the same format as Type I messages However unlike a Type I message Type 9 does not require a complete satellite set This allows for much faster differential correction data updates to the rover stations thus improving performance and reducing latency Type 9 messages should give better performance with slow or noisy data links OEM4 Family Installation and Operation User Manual Rev 16 55 Chapter 5 Message Formats lt The base station transmitting the Type 9 corrections must be operating with a high stability clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur between Type 9 messages For this reason only OEM4 G2 receivers with an external oscillator can generate Type 9 messages All OEM4 family receivers can accept Type 9 messages NovAtel recommends a high stability clock such as the PIEZO Model 2900082 whose 2 sample Allan variance meets the following stability requirements 3 24 x 1024 s s between 0 5 2 0 seconds and 1 69 x 102 T s s between 2 0 100 0 seconds An external clock such as an OCXO requires approximately 10 minutes to warm up and become fully stabilized after power is applied do not broadcast RTCM Type 9 corrections during this warm up period Structure Follows the RTCM Standard SC 104 for a Type 1 message
157. ion and Operation User Manual Rev 16 Table of Contents 3 3 4 External Oscillator OEM4 G2 G2L and ProPak G2plus Only 38 3 3 5 External Antenna LNA Power OEM4 G2 Only ecccceeseeeeeteeeeeneeeeees 39 3 3 6 Mounting Bracket ProPak G2plus and ProPak LBplus Onlly 05 39 4 Operation 40 4 1 Communications with the Receiver rurrvnvnnnvnnrorvvnnnnnvnnrnrrvnnnrrnnennrenrrrrnnrnnnnnren 41 4 1 1 Serial Port Default Settings runnnrnnnnrrrnnnnrnnnnrrrnnnnrnnnrnrrennnnnnnrnnrennnnrnnnennn 41 4 1 2 Communicating Using a Remote Terminal arerannnnnnonvrnnnnnrnnnnrrnnnnnrnnnennn 41 4 1 3 Communicating Using a Personal Computer aannrnnrnrrrnnnnnvnnrnrrrnnnnnnnnrnnn 41 4 2 Getting Started s apnea adanan easi eaa a iaaa aea aaa Aaaa eaaa anadenia 42 4 2 1 Starting the Receiver mumsvemmevvvvrvvvvrvrvrrrrrrrrrrrerernrnenenrersrnrnnnrnrresssrnnnennne 42 4 2 2 Remote Terminal PC and GPS Receiver mmmmrrrrvrnrssrsrsrsrrrsrrrrrrrrervererer 43 4 3 Transmitting and Receiving Corrections rannnvnnnnvrnnnnnvnnenvrnnnnnrnnnrnrnnrnnrrnnennenren 44 4 4 Enabling SBAS Positioning 0 cccceceecececeeeeeeee cece eeeeaeeseceeesaeeeeeeeeessaeeeeeeeeees 46 4 5 Enabling L Band Positioning ProPak LBplus Onlly 0 c cccceeeeeeseeeeeteeeeeneee 46 4 6 Pass Through Logging ceeeeteeeeeeeeenteeeeeeeaaeeeeeeeaaaeeeeeeeaaaeeeeeeeaaaeeeeeeenaaeeeeesenas 47 4 7 Transferring Time Betw
158. ions INPUT OUTPUT CONNECTORS Antenna Input TNC female jack 50 Q nominal impedance 4 25 to 5 25 VDC 90 mA max output from ProPak to antenna LNA PWR 4 pin LEMO connector 7 to 18 VDC at 2 8 W typical DB 9 Version COM1 DB9P connector COM2 DB9P connector AUX DB9P connector I O DB9S connector LEMO Version COM1 10 pin LEMO connector COM2 10 pin LEMO connector PHYSICAL Size 185 x 160 x 71 mm Weight 1 0 kg maximum including OEM4 G2 GPSCard ENVIRONMENTAL Operating Temperature 40 C to 75 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing OEM4 Family Installation and Operation User Manual Rev 16 157 Appendix D I S J i J ill g lt Li LL Specifications Archive a All dimension are in millimeters please use Unit Conversions section of the GPS Refer ence Manual for conversion to imperial measurements 158 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 2 1 Port Pin Outs Table 39 ProPak G2 DB 9 Version Serial Port Pin Out Descriptions COM1 C
159. ions INPUT OUTPUT DATA INTERFACE Electrical format COM1 User selectable Defaults to RS232 but can be configured for RS422 See Section 3 2 5 1 on Page 35 for more details Can also be factory configured for LVTTL operation Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 460800 921600 bps Lead input CTS for RS232 Lead output RTS for RS232 Signals supported Electrical format TX RX RTS CTS for RS232 TXD TXD RXD RXD for RS422 RS232 Can be factory configured for LVTTL operation Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 bps Lead input CTS and DCD Lead output RTS and DTR Signals supported TX RX RTS CTS DTR DCD Electrical format LVTTL Bit rates 300 1200 4800 9600 default 19200 38400 57600 115200 230400 bps Lead input CTS Lead output RTS Signals supported Signals supported USB Requires Firmware Version 2 100 or higher TX RX RTS CTS USB D USB D a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps 122 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A INPUT OUTPUT STROBES MSR Measure Output Normally high active low where the pulse width is 1 m
160. it board with integrated radio frequency RF and digital sections They are designed for flexibility of integration and configuration After installation with a power source mounting structure GPS antenna and data communications equipment NovAtel s GPSCards are ready for the most demanding surveying positioning and navigation applications Two different GPSCards described in the sections that follow are included in the OEM4 family OEM4 G2L OEM4 G2 1 2 1 OEM4 G2L GPSCard The OEM4 G2L provides the best features of the OEM4 family in a compact low power card In addition to the functionality given in Section 1 1 1 on Page 16 the OEM4 G2L offers 40 smaller than the OEM4 G2 15 less power consumption compared to the OEM4 G2 and 35 less than the original OEM4 Two serial ports USB support with firmware version 2 100 or higher An external oscillator input Two mark inputs for triggering the output of logs on external events Programmable PPS output with firmware version 2 100 or higher Auxiliary strobe signals for status and synchronization Software load compatibility with other OEM4 family products Included with the OEM4 G2L is a wrist grounding strap to prevent ESD damage when handling the card and a CD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the OEM4 G2L please see Section A 2 starting on Page 116 Top Bottom Figure 1 OEM4 G2L GPSCard OEM4 Family
161. iver that has its clock adjusted to better then 500 ms Refer to the TIME log in Volume 2 of this manual set to view the clock offset The sections that follow are procedures for transferring time from a Fine receiver to a Cold or Warm Clock receiver 4 7 1 Procedures To transfer COARSE time lt 10 ms from a Fine to a Cold Clock GPS receiver 1 Connect a COM port from the Fine to the Cold Clock for example COM2 on the Fine to COM3 on the Cold Clock Configure both ports to the same baud rate and handshaking configurations 2 Issue this command to the Fine receiver log com2 timesyncb ontime 1 3 Issue this command to the Cold Clock receiver adjustlpps time OEM4 Family Installation and Operation User Manual Rev 16 49 Chapter 4 Operation When the Cold Clock receiver receives the TIMESYNC log it sets its clock allowing for a 100 ms transfer delay To transfer FINE time lt 50 ns from a Fine GPS to a Cold Clock GPS receiver 1 Connect a COM port from the Fine to the Cold Clock receiver for example COM2 on the Fine to COM3 on the Cold Clock Configure both ports to the same baud rate and handshaking configurations 2 Issue this command to the Fine receiver log com2 timesyncb ontime 1 Connect the 1PPS signal of the Fine to the mark 1 input Event1 of the Cold Clock receiver 4 Issue this command to the Cold Clock receiver adjustlpps markwithtime When the Cold Clock receiver receives the 1PPS event from the F
162. l Rev 16 Technical Specifications Appendix A DIMENSIONS ab a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversion to imperial measurements b Page 143 provides the dimension information for the mounting bracket OEM4 Family Installation and Operation User Manual Rev 16 135 Appendix A Technical Specifications A 5 1 Port Pin Outs Table 24 ProPak G2plus Serial Port Pin Out Descriptions Set COM1 COM2 AUX pine RS232 RS422 RS232 Only RS232 RS422 1 N C N C N C GND GND 2 RXD1 RXD1 RXD2 RXD3 RXD3 3 TXD1 TXD1 TXD2 TXD3 TXD3 4 N C N C POUT POUT AUX 5 GND GND GND GND GND 6 D D N C N C N C 7 RTS1 TXD1 RTS2 RTS3 TXD3 8 CTS1 RXD1 CTS2 CTS3 RXD3 9 D D N C N C N C Table 25 ProPak G2plus I O Port Pin Out Descriptions Connector Pin No Signal Name Signal Descriptions 1 VARF Variable frequency out 2 PPS Pulse per second 3 MSR Mark 1 output 4 EVENT1 Mark 1 input 5 PV Valid position available 6 EVENT2 Mark 2 input which requires a pulse longer than 400 ns 10K ohm pull down resistor internal to the ProPak G2plus Refer also to the MARKCONTROL command in Volume 2 of this manual set
163. l impedance 4 25 to 5 25 VDC 90 mA max output from PowerPak to antenna LNA Power 2 1 mm plug with screw on retaining nut centre positive PowerPak 4 6 to 18 VDC at 2 8 W typical PowerPak 4E 10 to 36 VDC at 3 3 W typical COM1 DE9P connector COM2 DE9P connector COM3 PowerPak 4 only DE9P connector Strobes DE9S connector External Oscillator Input SMB straight vertical male jack PowerPak 4E only Frequency 5 MHz or 10 MHz Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 0 dBm minimum to 13 0 dBm maximum Frequency Stability 0 5 ppm maximum Wave Shape Sinusoidal PHYSICAL Size 208 x 111 x 47 mm Weight PowerPak 4 800 g maximum including OEM4 GPSCard PowerPak 4E 980 g maximum including Euro4 GPSCard ENVIRONMENTAL Operating Temperature 40 C to 75 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D PowerPak 4 PowerPak 4E a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversion to imperial measurements OEM4 Family Installation and Operation User Manual Rev 16 179 Appendix D Specifications Archive D 5 1 Port Pin Outs 180 Table 42 PowerPak Serial Port Pin Out Descriptions COM1 COM2 COMS3 PowerPak 4 only Connector pune RS232 RS422 RS232
164. le follow these steps a Select Run from the Start menu b Select the Browse button c Locate Setup exe on the CD drive and select Open d Select OK to run the setup utility 3 Advance through the steps provided by the setup utility When the installation is complete click on a program icon to launch the application GPSolution GPSolution is a 32 bit Windows application The application provides a graphical user interface to allow users to set up and monitor the operation of the NovAtel receiver by providing a series of windows whose functionality is explained in this section A help file is included with GPSolution To access the file select Contents from the Help menu OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 zei Device View Window Help e 8 26 Gu SNHar gt Active Config Spectra Commander File E3 ne Tracking Status Spectra Commander z hannel DA 3 Latitude N 51 11641781 StdDev 2 010m RN number 17 ba 55 3 EA I Longitude W114 03831955 StdDev 1 510m eg oe p ee ock re io 1005 165m MSL StdDev 3769m Doppler bey pet ETE Fpi BESTPOSA COMI 0 78 0 FINESTEERING 1267 1 Mon Apr 1909 59 48 2004 Local Resuual 08 los _ ni 9 qi BESTPOSACOMT 0 740FINESTEERING 1267 1 Solution Status Computed Solution Age 0 000 LockTime 264 7801 Poston Type Single R ide Good Good 5 GPS
165. le refer also to your SPAN User Manual OEM4 Family Installation and Operation User Manual Rev 16 19 Chapter 1 Introduction 1 3 1 FlexPak NovAtel s FlexPak is a rugged waterproof housing for the OEM4 G2L positioning engine As a result the FlexPak can deliver centimeter level positioning in a compact lightweight enclosure It provides dual frequency positioning with a USB interface and an API option for supporting custom applications The FlexPak offers the following features A shock and dust resistant enclosure Waterproof to IEC 60529 standard IPX7 Low power consumption Two serial ports COM1 is RS 232 and COM2 is RS 232 RS 422 USB support PPS output Configurable event inputs Indicators for position communication status and power The following accessories are included with the FlexPak 1 12V power adapter cable 1 null modem serial cable with DB 9 connector 1 straight through serial cable with DB 9 connector 1 USB serial cable A CD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the FlexPak please see Section A 4 starting on Page 126 Figure 3 FlexPak Enclosure 1 If Pin 1 on the Deutsch connector is grounded the COM2 communications mode is set to RS 422 20 OEM4 Family Installation and Operation User Manual Rev 16 Introduction Chapter 1 1 3 2 ProPak G2plus The ProPak G2plus provides a hardware interface between your equipment
166. le logs This feature is useful for screening particular logs out of large data files in either ASCII or Binary formats NovAtel OEM4 Convert JOE x Source File D inject OEM4P4 gps Open Destination File D inject OEM4P4 asc Save As Convert To ASCII C Binary C Rinex Selected Edit Time Edit RangeB Log Compression RangeCmpB Log Expansion Convert File Help Exit NovAtel OEM4 Convert Bile x Source File D inject 0 EM4P4_ gps Open Observation File D inject o EM4P4 010 Save s Ephemeris File D inject 0 EM4P4 01n Save As Convert To Selected Edit ASCII Time Edit l RangeB Log Compression NorAtel l RangeCmpB Log Expansion RINEX Headers Nav File File i gg Help Convert File Obs File Exit Figure 25 Convert Screen Examples OEM4 Family Installation and Operation User Manual Rev 16 91 Chapter 7 PC Software and Firmware 7 3 1 Rinex Format The Receiver Independent Exchange RINEX format is a broadly accepted receiver independent format for storing GPS data It features a non proprietary ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files lt Although RINEX is intended to be a receiver independent format there are many optional records
167. ling edge triggered Falling edge is synchronized with internal GPS measurements A pulse for which the trailing edge is synchronized with GPS time For the OEM4 G2 and OEM4 G2L the polarity and period is configurable using the PPSCONTROL command refer to Volume 2 of this manual set High when good GPS position and time solution High when a receiver hardware failure is detected Hardware failure when on or pulsing Programmable output range from 0 to 20 MHz refer to FREQUENCYOUT in Volume 2 of this manual set See Appendix A Technical Specifications starting on Page 115 for further information on the strobe signal characteristics Table 7 Available Strobe Signals on Receivers PV ERROR STATUS STATUS yape Signal EVENT1 EVENT2 MSR PPS RED _GREEN OEM4 G2L Pin 8 Pin 7 Not Pin 4 Pin 10 Pin 9 Not Not Pin3 available available available OEM4 G2 Pin 11 Pin 31 Pin 32 Pin 7 Pin2 Pin 38 Pin 13 Pin 28 Pin 9 FlexPak Pin 4 Pin 6 Not COM1 Not COM1 Not Not Not available COM2 available COM2 available available available port Pin port Pin 10 13 ProPak G2plus I O port I O port I O port 1 O port I O port 1 O port Not Not I O port pin 4 pin 6 pin 3 pin 2 pin 5 pin 8 available available pin 1 ProPak LBplus COM1 Not Not COM1 Not Not Not Not Not port pin 22 available available port pin available available available available available 42
168. lite The signal broadcast via the SBAS GEOs to the SBAS users is designed to minimize modifications to standard GPS receivers As such the GPS L1 frequency 1575 42 MHz is used together with GPS type modulation for example a Coarse Acquisition C A pseudorandom PRN code In addition the code phase timing is maintained close to GPS time to provide a ranging capability OEM4 Family Installation and Operation User Manual Rev 16 67 Chapter 6 Positioning Modes of Operation age CA 3 NE N ge 7 p J A AS E eT oa Figure 16 The SBAS Concept Reference Description Reference Description 1 Geostationary Satellite GEO 8 C Band 2 GPS Satellite Constellation 9 SBAS Reference Station 3 L1 10 SBAS Master Station 4 L1 and C Band 11 Ground Uplink Station 5 L1 and L2 6 GPS User 7 Integrity data differential corrections and ranging control 6 2 1 SBAS Receiver 68 Many models of the NovAtel receivers including 3151W L112W WAAS EGNOS are equipped with an SBAS option The ability to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position is available in these models These models can output the SBAS data in log format RAWWAASFRAMEA B WAASOA B WAAS27A B and can incorporate these corrections to generate differential quality position solutions Standard SBAS data messages are analyzed based on RTCA standard DO 229B Change 1 Minimum Operational Performance Stan
169. lways report 00000100 Message length 8 Type 1 header Modified z count 0 2 s 13 2 Acceleration error bound 3 In the receiver this field will report 000 Type 1 data Satellite ID 6 6 obs Pseudorange correction 0 02 m 16 Issue of data 8 Range rate correction 0 002 m s 12 UDRE 0 2 m 6 CRC Cyclic redundancy check 3 a The pseudorange correction and range rate correction fields have a range of 655 34 meters and 4 049 m s respectively Any satellite which exceeds these limits will not be included 5 1 2 RTCAEPHEM Type7 An RTCAEPHEM RTCA Satellite Ephemeris Information message contains raw satellite ephemeris information It can be used to provide a rover receiver with a set of GPS ephemerides Each message contains a complete ephemeris for one satellite and the GPS time of transmission from the base The message is 102 bytes 816 bits long This message should be sent once every 5 10 seconds The faster this message is sent the quicker the rover station will receive a complete set of ephemerides Also the rover receiver will automatically set an approximate system time from this message if time is still unknown Therefore this message can be used in conjunction with an approximate position to improve time to first fix TTFF Refer also to the GPS Reference Manual 5 1 3 RTCAOBS Type7 An RTCAOBS RTCA Base Station Satellite Observations message contains base station satellite obse
170. m ProPak G2plus Warning This product is capable of providing power output on pin 4 of its COM2 and AUX ports COM1 pins 6 and 9 provide universal serial bus USB signals Cross connecting a ProPak G2plus using a null modem cable to COM1 from any serial port other than COM1 may damage the unit and void your warranty To prevent this damage cross connect the receivers using COM2 or COM3 14 OEM4 Family Installation and Operation User Manual Rev 16 Foreword Congratulations Thank you for purchasing a NovAtel receiver Whether you have bought a stand alone GPSCard or a packaged receiver you will have also received companion documents for the product Volume 1 will help you get the hardware operational and provide further general information Afterwards Volume 2 will be your primary OEM4 family command and logging reference source Scope The OEM4 Family of Receivers User Manual Volume 1 contains sufficient information on the installation and operation of the OEM4 G2L and OEM4 G2 GPSCards to allow you to effectively integrate and fully operate them There is also information on the FlexPak ProPak G2plus and ProPak LBplus enclosures After the addition of accessories user supplied data communications equipment and a power supply the receivers are ready to go The OEM4 family receivers utilize a comprehensive user interface command structure which requires communications through its communications COM ports This manual is volume on
171. me preamble for synchronization 8 Frame message type ID 6 Base station ID 10 Parity 6 Word 2 Modified z count time tag 13 Sequence number Length of message frame Base health Di wl ny w Parity The remainder of this section will provide further information concerning receiver commands and logs that utilize the RTCM data formats 5 2 1 RTCM1 54 This is the primary RTCM log used for pseudorange differential corrections This log follows the RTCM Standard Format for a Type 1 message It contains the pseudorange differential correction data computed by the base station generating this Type I log The log is of variable length depending on the number of satellites visible and pseudoranges corrected by the base station Satellite specific data begins at word 3 of the message Structure Follows the RTCM Standard for a Type 1 message Type I messages contain the following information for each satellite in view at the base station Satellite ID Pseudorange correction Range rate correction Issue of Data IOD When operating as a base station the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged see Transmitting and Receiving Corrections on Page 44 OEM4 Family Installation and Operation User Manual Rev 16 Message Formats Chapter 5 When operating as a rover station the receiver COM port r
172. n It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility Reference 1 oOo N DOO A OU PD 40 Figure 11 Typical Operational Configuration Description Reference GPSCard 9 OEM Enclosure 10 Antenna Model 701 702 532 533 11 GPS Signal 12 COM1 Signal 13 COM2 Signal 14 USB Signal 15 COM3 Signal 16 Description External Oscillator Signal Power Radio Data Logger or Rover Stn External DC Power Source USB Device External Oscillator PC or Base Station OEM4 Family Installation and Operation User Manual Rev 16 Operation Chapter 4 4 1 Communications with the Receiver Communication with the receiver is straightforward and consists of issuing commands through the communication ports from an external serial communications device This could be either a terminal or an IBM compatible PC that is directly connected to the receiver serial port using a null modem cable If you are using an RTK radio it connects to the receiver s COM port by means of the radio serial cable supplied with the receiver For information about commands and logs that are useful for basic operation of the receiver refer to Volume 2 Command and Log Reference of this manual set 4 1 1 Serial Port Default Settings The receiver communicates with your PC or terminal via a serial port For communication to occur both the receiver and the operator interface have to be configured prop
173. nabled OEM4 80 OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 The RTK system in the receiver provides two kinds of position solutions The Matched RTK position is computed with buffered observations so there is no error due to the extrapolation of base station measurements This provides the highest accuracy solution possible at the expense of some latency which is affected primarily by the speed of the differential data link The MATCHEDPOS log contains the matched RTK solution and can be generated for each processed set of base station observations The RTKDATA log provides additional information about the matched RTK solution The Low Latency RTK position and velocity are computed from the latest local observations and extrapolated base station observations This supplies a valid RTK position with the lowest latency possible at the expense of some accuracy The degradation in accuracy is reflected in the standard deviation and is summarized in Section 6 3 2 Position Solutions on Page 69 The amount of time that the base station observations are extrapolated is provided in the differential lag field of the position log The Low Latency RTK system will extrapolate for 60 seconds The RTKPOS log contains the Low Latency RTK position when valid and an invalid status when a low latency RTK solution could not be computed The BESTPOS log contains the low latency RTK position when
174. nal Description Reserved Reserved GPIO_SR Reserved RXD3 RS232 receive to COM3 on the receiver TXD3 RS232 transmit from COM3 on the receiver AIN General purpose analog input refer to the RXHWLEVELS log in Volume 2 of this manual set GPIO SL Reserved GND Digital ground GPIO GPI Reserved OEM4 Family Installation and Operation User Manual Rev 16 145 Appendix A Technical Specifications A 6 2 Cables A 6 2 1 12V Power Adapter Cable NovAtel part number 60723064 The power adapter cable supplied with the ProPak LBplus provides a convenient means for supplying 12 VDC while operating in the field The output of the power adapter uses a 2 pin Switchcraft socket Switchcraft part number EN3C2F This cable plugs directly into the power port on the rear end cap of the ProPak LBplus AN r pr a gt y HE A ey p 6 7 8 1 2 Va i 4 3 5 1 9 2 10 Reference Description 3 2 pin Switchcraft EN3C2F connector 4 Connector key 5 12V power outlet plug 6 Spring 7 3A slow blow fuse 8 Universal tip 9 Red Orange ve 10 Black Brown ve Figure 53 ProPak LBplus Power Cable 146 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A A 6 2 2 6 Pin Switchcraft to DB9 Serial Cable NovAtel part number 60723061 The serial cable shown below provides a means of interfacing between the COM1 port on the ProP
175. nnnrnnnrrrrvnnnnnnnrrrrrnnnnnnnnnr 164 61 ProPak G2 LEMO Version Null Modem Cable ccceceseeeeeseteeeeeeeeeeteeeeeeneeees 165 62 ProPak G2 LEMO Version Straight Serial Cable rrrrnnnnrnnnonrrnnnnrrnnrnnrnnrnrrnnnnnnnnnr 166 63 OEM4 Board Dimensions arrrrnnnnnvnnnrnrvnnnnvnnnrnvennrnnrnnnnnrennnnrnnnsnnnnensrnnesnnneerrrrreesnnnenennn 167 64 Top view of 40 Pin Connector on the OEMG4 mmsnvrennnnvnnnnrrvrnnnrrnnrnrennrrrrnnenrerersrnttennn 171 65 Eurot Board Dimensions oriee irai nra aa AREA AN EE AR A S 173 66 Front view of 64 Pin Connector on the Euro4 mmrsrrnvnnnrvnrerrrvnnnnvnrrrrrnnnnnnnernrrrennnnnnnnn 176 67 PowerPak Power Adapter cceceeeseecceeeeeseeceeeeeeseeeeeeeeeaeeaeeeeeeaaeeeeeeegaeeeeeeesenneeeeee 181 68 PowerPak Y Type Null Modem Cable rrnrrnnnnnvnnnnrrrnnnnrvnnnnrrvnnnnnnnrrrrnnnnnnnnrrnrnenennnnernn 182 69 ProPak 4E Power Cable rrrnnnnnrrnnnnnvnnrnrrnnnnnrnnnrnrrnnnnnnnnnnrrennnnrnnnrnnenennnnnnennresrnnnnnnnnnennn 186 70 ProPak 4E Straight Through Serial Cable cccccecsceeeeeeeeeeeeeseeeeeesaeeeseeeeesaeesennees 187 71 ProPak 4E Null Modem Cable cccccccececeeceeeeeeeeeaeeeeeeeeeeseaeeseneeeesaaeeeeeeeeessaaeeseneees 188 72 ProPak 4E Strobe Cable uden argeste have AEN EEE ENAKE 189 OEM4 Family Installation and Operation User Manual Rev 16 7 Tables 1 Enclosure Features COMpariSOn cccccccceceeeececeeeeeeeeeeeeceeesaaeeseeneeseaeeeeeeeeesaae
176. nnrnnnnnnrnnnrrrnnnnnnnnnn 145 29 ProPak LBplus COM3 Port Pin Out Descriptions rnnnrrnnnnnrnnnrnvnnnnnrrnnnnnrennnrrnnnnnennnn 145 30 Static Accumulating Materials reronrrnnnnnrnnnnnrrnnnnrrnnnnnnnnrnrnnnnnnnnnnnrnvnnnnnnnrerrresnnnnnnennn 151 31 Voltage Input Ranges for GPSCardS mmrnrnnannnvnnnnnvnnnnnnvnnrnrrennnnnnnnnrrressnnnnersrrrensnnnnsennn 155 32 GPSCard RF Input Connectors urrnvrrannnvnnnnvvennrnrrnnnnnvnnrnnrnrnnnnnnerrrrnnsnnnnersrrressnnnnsennn 155 33 GPSGard Power INputs ccccic cdecepelenncsedetevbads Dass bann ssteneeeagadageed ndndapedenne feen paadaeadu kata 155 34 Enclosure Power INputsi nnxsuiatn adle cee a ele ee dd dr 156 35 Default Serial Port Configurations rrrvnannnvnnrnr renn nnrnnnnnrennnnrnnnrnrnnennnnnnrnnrensrrnnnnnnenenn 156 36 PowerPak 4 Status Indicators rrnrnnrorrrnrnnrnnnrnrvnnnnrrnnrnnrennnnrnnnnnrnnennrnenrnnnernrrrnnennnnnnn 156 37 PowerPak 4E Status Indicators srrraonrrnnnnvrnnnnnrvnnnnrrnnnnrrnrnnrrnnnnnvnnnrrrenannnnnrrrrnnsnnnnennn 156 38 ProPak G2 Status Indicators rarrnnonvrrrnnnrnnnrnrrnnnnnrnnrnvrrnrnrrnnnrnrenrnnrnnsnnnenernrnnssnnnnennn 156 39 ProPak G2 DB 9 Version Serial Port Pin Out Descriptions rrarnnvnnonrrvnnnrrnnnnnnnnrr 159 40 ProPak G2 LEMO Version Serial Port Pin Out Descriptions arrrrannvrnnvvrrrnnnnnnnrnnr 159 41 ProPak G2 DB 9 Version I O Port Pin Out Descriptions rrrrvrrrrrnnvvvrrerrnnvvvrrerrnnnn 160 42 Powe
177. nual Rev 16 150 Electrostatic Discharge Control ESD Practices Appendix B Where protective measures have not been installed a suitable alternative would be the use of a Portable Field Service Grounding Kit for example 3M Kit 8501 or 8507 This consists of a portable mat and wrist strap which must be attached to a suitable ground A circuit board in a static shielding bag or clamshell may be shipped or stored in a cardboard carton but the carton must not enter a static controlled area such as a grounded or dissipative bench top or repair zone Do not place anything else inside the bag for example repair tags Treat all PCBs and components as ESD sensitive Assume that you will damage the PCB or component if you are not ESD conscious Do not use torn or punctured static shielding bags A wire tag protruding through the bag could act as a lightning rod funneling the entire charge into the components inside the bag Do not allow chargeable plastics such as binders within 0 6 m of unshielded PCBs Do not allow a PCB to come within 0 3 m of a computer monitor B 3 Prime Static Accumulators Table 30 provides some background information on static accumulating materials Table 30 Static Accumulating Materials Work Surfaces formica waxed or highly resistive finished wood synthetic mats writing materials note pads and so on Floors wax finished vinyl Clothes common cleanroom smocks personal garments
178. o 13 0 dBm maximum Frequency Stability 0 5 ppm maximum Wave Shape Sinusoidal 174 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D INPUT OUTPUT DATA INTERFACE Electrical format COM1 COM2 AND COM3 RS232 Can be factory configured for LVTTL or RS422 operation Bit rate 300 1200 4800 9600 default 19200 57600 115200 230400 bps Lead input CTS and DCD on COM2 Lead output RTS and DTR on COM2 Signals supported TX RX RTS CTS DTR DCD DTR and DCD are on COM2 only a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hard ware is required for higher rates including 230 400 bps MSR Measure Output INPUT OUTPUT STROBES Normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe Event1 Mark1 Input An input mark negative pulse gt 55 ns time tags output log data to the time of the falling edge of the mark input pulse PV Position Valid Output indicates a good solution or a valid GPS solution when high ERROR Output that Indicates fatal error warning when high STATUS RED Status output which is high or pulses to indicate that the OEM4 card is not working properly STATUS GREEN Status output which pulses to indicate that the OEM4 card is working properly PPS Pulse Per Se
179. o be promoted to be treated just like error bits using the STATUSCONFIG PRIORITY command Receiver Status Word The receiver status word indicates the current status of the receiver This word is found in the header of all logs In addition the receiver status word is configurable The receiver gives the user the ability to determine the importance of the status bits This is done using the priority masks In the case of the Receiver Status setting a bit in the priority mask will cause the condition to trigger an error This will cause the receiver to idle all channels turn off the antenna and disable the RF hardware the same as if a bit in the Receiver Error word is set Setting a bit in an Auxiliary Status priority mask will cause that condition to set the bit in the Receiver Status word corresponding to that Auxiliary Status The STATUS CONFIG command is used to configure the various status mask fields in the OEM4 Family Installation and Operation User Manual Rev 16 Built In Status Tests Chapter 8 RXSTATUS event log These masks allow you to modify whether various status fields generate errors or event messages when they are set or cleared This is meant to allow you to customize the operation of your OEM4 family receiver for your specific needs Refer to the RXSTATUS log and the STATUSCONFIG command in Volume 2 of this manual set for more detailed descriptions of these messages 8 3 Error Strobe Signal The error strobe signal is
180. o redirect any ASCII or binary data that is input at a specified COM port or if available USB port to any specified receiver COM or USB port This capability in conjunction with the SEND command can allow the receiver to perform bi directional communications with other devices such as a modem terminal or another receiver There are several pass through logs PASSCOM1 PASSCOM2 PASSCOM3 PASSXCOM1 PASSXCOM2 and PASSAUX available on OEM4 family receivers for logging through serial ports The AUX port is available on OEM4 G2 based products hardware Rev 3 and higher and DL 4 products For the OEM4 G2 and OEM4 G2L there are an additional three PASSUSB1 PASSUSB2 and PASSUSB3 offered Refer to Volume 2 of this manual set for individual logs and commands A pass through log is initiated the same as any other log that is LOG to port data type trigger However pass through can be more clearly specified as LOG to port from port AB onchanged Now the from port AB field designates the port which accepts data that is COM1 COM2 COM3 AUX USB1 USB2 or USB3 as well as the format in which the data will be logged by the to port A for ASCII or B for Binary When the from port AB field is suffixed with an A all data received by that port will be redirected to the to port in ASCII format and will log according to standard NovAtel ASCII format Therefore all incoming ASCII data will be redirected and output as ASCII data
181. ocation see Figure 14 Single Point Averaging Typical Results below Figure 15 Single Point Averaging Typical Results with WAAS on Page 65 shows the results from the same dual frequency receiver but with WAAS corrections available Standard D eviation met Time hours Latitude Longitude Height Figure 14 Single Point Averaging Typical Results OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 Standard D eviation meters Time hours Latitude Longitude Height Figure 15 Single Point Averaging Typical Results with WAAS The position averaging function is useful for obtaining the WGS84 position of a point to a reasonable accuracy without having to implement differential GPS It is interesting to note that even a six hour occupation can improve single point GPS accuracy from over 1 5 meters to better than a meter This improved accuracy is primarily due to the reductions of the multipath errors in the GPS signal Again it is necessary to keep in mind that the resulting standard deviations of the position averaging can vary quite a bit but improve over longer averaging times To illustrate the position averaging function was run for a period of 40 hours The resulting standard deviation in latitude varied from 0 152 to 1 5589 meters Similarly the variation in longitude and height were 0 117 to 0 819 meters and 0 275 to 2 71 mete
182. of time to ambiguity resolution under only 4 satellite coverage will be increased significantly ROVER TRACKING LOSS If less than 4 satellites are maintained then the RTK filter can not produce a position When this occurs the BESTPOS and PSRPOS logs will be generated with differential if pseudorange differential messages are transmitted with RTK messages or single point pseudorange solutions if possible OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 DIFFERENTIAL LINK BREAKDOWN 1 Provided the system is in steady state and the loss of observation data is for less than 30 seconds the Low Latency RTK positions will degrade according to the divergence of the base observation extrapolation filters This causes a decrease in accuracy of about an order of magnitude per 10 seconds without a base station observation and this degradation is reflected in the standard deviations of the low latency logs Once the data link has been re established the accuracy will return to normal after several samples have been received 2 If the loss of differential corrections lasts longer than 30 seconds the RTK filter is reset and all ambiguity and base model information is lost The timeout threshold for RTK differential corrections is 60 seconds but for Type pseudorange corrections the default timeout is 300 seconds Therefore when the RTK can no longer function because of this timeout the
183. omer service 81 98 D DC antenna 126 134 142 path 25 power 117 134 142 dealer 12 98 default bit rates 117 122 port settings 41 differential corrections 55 64 71 72 87 positioning 16 70 digital 25 136 dilution of precision DOP 63 69 Index directional communication 41 distance 79 Doppler 58 dynamics 16 E earth centered earth fixed ECEF 55 ECEF see earth centered earth fixed electrostatic discharge ESD 31 150 152 elevation 79 81 84 ellipsoid 55 e mail 12 ephemeris 52 change in 55 delay settings 52 errors 66 70 81 86 errors card status 105 107 due to atmosphere 16 ephemeris 66 81 86 ionospheric 80 81 86 message 42 multipath 81 trigger 104 tropospheric 81 86 ESD see electrostatic discharge event messages 105 106 extended cable lengths 28 external oscillator 38 56 117 121 F features 15 42 98 99 firmware updates or upgrades 12 98 100 fixed ambiguities 79 formats 62 frequency L1 L2 79 measurements 80 RTCA format messages 51 G GEO SBAS 67 GPS overview 65 69 70 72 78 79 OEM4 Family Installation and Operation User Manual Rev 16 191 Index time 49 66 GPSAntenna 11 154 GPSolution software 88 154 graphical user interface 88 ground plane 86 H handshaking 41 44 hardware interface 21 header 107 health 87 height base station 86 difference 86 phase center 72 rover station 86 hexadecim
184. omplete the FIX POSITION command will automatically be invoked If the maximum time is set to I hour or larger positions will be averaged every 10 minutes and the standard deviations reported in the AVEPOS log should be correct If the maximum time is set to less than 1 hour positions will be averaged once per minute and the standard deviations reported in the log will likely not be accurate also the optional horizontal and vertical standard deviation limits cannot be used If the maximum time that positions are to be measured is set to 24 for example you can then log AVEPOS with the trigger onchanged to see the averaging status posave 24 log coml avepos onchanged If desired you could initiate differential logging then issue the POSAVE command followed by the SAVECONFIG command This will cause the receiver to average positions after every power on or reset then invoke the FIX POSITION command to enable it to send differential corrections The position accuracy that may be achieved by these methods will be dependent on many factors average Satellite geometry sky visibility at antenna location satellite health time of day and so on The following graph summarizes the results of several examples of position averaging over different time periods The intent is to provide an idea of the relationship between averaging time and position accuracy All experiments were performed using a dual frequency receiver with an ideal antenna l
185. one of the I O strobes and is driven low when the receiver is operating normally When the receiver is in the error state and tracking is disabled the error strobe is driven high This can be caused by a fatal error or by an unusual receiver status indication that the user has promoted to be treated like a fatal error Once on the error status will remain high until the cause of the error is corrected and the receiver is reset See Table 7 on Page 36 for the pin number descriptions 8 4 RXSTATUSEVENT Log The RXSTATUSEVENT log is used to output event messages as indicated in the RXSTATUS log On startup the OEM4 family receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports You can remove this message by using the UNLOG command Refer to the RXSTATUSEVENT log in Volume 2 of this manual set for a more detailed description of this log 8 5 Receiver Status Log 8 5 1 Overview The Receiver Status log RXSTATUS provides information on the current system status and configuration in a series of hexadecimal words The status word is the third field after the header as shown in the example below lt RXSTATUS COM2 0 71 0 FINE 1209 239039 799 00000022 b8d0 754 lt 00000022 4 lt 00040028 00000000 00000000 00000000 lt 00400005 00000008 00000000 00000000 lt 00000000 00000000 00000000 00000000 lt 00000000 00000000 00000000 00000000 Receiver Status Word Figure 34 Location of Receiver Status Word OEM4 Fam
186. oot up command files relating to specific functions This will save time when you want to duplicate test situations and minimize set up time Any convenient text editor can be used to create command text files 1 Open a text editor on the PC and type in the command strings to be sent to the receiver upon start up For example log com2 bestposa ontime 1 log com2 rangea ontime 1 log com2 rxstatusa onchanged log com2 psrdopa onchanged log com2 gpsephema onchanged log com2 almanaca onchanged log com2 rxconfiga once DX 1 Ensure you have used a carriage return hit the enter key after typing the last line 2 If you wish these to become part of the permanent configuration of the card rather than just using them on boot up enter the SAVECONFIG command as the last line 2 Save this with a convenient file name for example C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOT1 TXT file to the PC s COM1 port C GPS gt copy bootl txt coml 1 file s copied C GPS gt 4 The receiver is now initialized with the contents of the BOOT1 TXT command file and logging is directed from the receiver s COM2 port to the remote terminal OEM4 Family Installation and Operation User Manual Rev 16 43 Chapter 4 Operation 4 2 2 2 Microsoft Windows 4 3 44 As any text editor or communications program can be used for these purposes the use of Windows 95 is described only as an ill
187. or 12 9 conductor cable 11 DB9S female connector Figure 49 ProPak G2plus Straight Through Serial Cable OEM4 Family Installation and Operation User Manual Rev 16 139 Appendix A Technical Specifications A 5 2 4 I O Strobe Port Cable NovAtel part number 60723065 The strobe lines on the ProPak G2plus can be accessed by inserting the male DB9 connector of the I O strobe port cable into the J O port The other end of this cable is provided without a connector to provide flexibility The jacket insulation is cut away slightly from the end but the insulation on each wire is intact The cable is approximately 2 m in length See Figure 50 d 2 3 4 5 6 r 8 9 Wiring Table I O Port I O Port I O Port Cable I O Port I O Port I O Port Cable Pin Signal Wire Color Pin Signal Wire Color VARF Black 6 Reserved Green 2 PPS Brown 7 Reserved Blue 3 Reserved Red 8 GND Violet 4 Eventi Orange 9 GND White Grey 5 PV Yellow Reference Description Reference Description 10 DB9P male connector 11 9 conductor cable Figure 50 ProPak G2plus I O Strobe Port Cable 140 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A A 5 2 5 USB Serial Cable NovAtel part number 01017408 The USB cable shown below provides a means of interfacing between the COM port on the ProPak G2plus and another serial communications device such as a PC At the ProPak G2plus en
188. or mechanical drawings OEM4 Family Installation and Operation User Manual Rev 16 31 Chapter 3 Installation and Set Up 3 2 1 3 Preparing the Data Signal amp Power Harness The wiring harness serves the following interconnect functions e provide access to the serial communications ports e provide access to input and output timing strobes e provide power input s e provide access to control signals For all GPSCards the power status and data inputs and outputs are accessed from a single connector Therefore the harness must be designed to mate with this connector Figure 9 shows that the OEM4 G2L uses a 24 pin dual row male connector with 0 5 mm square pins and 2 mm spacing for the data power and status signals The pin out for this connector is specified in Section A 2 starting on Page 116 The RF connector on the OEM4 G2L is an MMCX female As shown in Figure 10 the OEM4 G2 uses a 40 pin dual row male connector with 0 25 square pins and 0 1 spacing for the data power and status signals The pin out for this connector is specified in Section A 3 starting on Page 120 The RF connector is an MMCX female Reference 1 2 3 4 32 Figure 9 OEM4 G2L Connector and Indicator Locations Description Power data and signal connector 24 pin dual row male connector with 0 5 mm square pins and 2 mm spacing LED status indicator RF signal input and LNA power output MMCX female connector External oscillator
189. ormation concerning the installation requirements and considerations for the GPSCards and their enclosures Conventions The terms OEM4 G2 and OEM4 G2L will not be used in this manual unless a specific detail refers to it alone The term receiver will infer that the text is applicable to an OEM4 G2L or OEM4 G2 either stand alone or in an enclosure unless otherwise stated OEM4 Family Installation and Operation User Manual Rev 16 15 Chapter 1 Introduction 1 1 Overview of the OEM4 Family The OEM4 family is a group of high performance GPS receivers capable of receiving and tracking the L1 C A Code L1 and L2 carrier phase and L2 P Code or encrypted Y Code of up to 12 GPS satellites The ProPak LBplus also includes a second card which receives L Band signals for differential corrections With patented Pulse Aperture Correlator PAC technology and a powerful 32 bit processor the OEM4 family receivers offer multipath resistant processing at high data update rates Excellent acquisition and re acquisition times allow the receivers to operate in environments where very high dynamics and frequent interruption of signals can be expected In addition the OEM4 family offers system integrators unparalleled flexibility in areas such as configuration and specification of output data and control signals Multiple software models are available allowing you to better fit the receiver to the application while maintaining the option for a compatible
190. ot a significant problem e Multipath Signal Reception Multipath signal reception can potentially cause large pseudorange and carrier phase measurement biases Multipath conditions are very much a function of specific antenna site location versus local geography and man made structural influences Severe multipath conditions could skew range measurements by as much as 100 meters or more Refer to the Multipath section of the GPS Reference Manual for more information 6 2 Satellite Based Augmentation System SBAS 66 A Satellite Based Augmentation System SBAS is a type of geo stationary satellite system that improves the accuracy integrity and availability of the basic GPS signals Accuracy is enhanced through the use of wide area corrections for GPS satellite orbits and ionospheric errors Integrity is enhanced by the SBAS network quickly detecting satellite signal errors and sending alerts to receivers to not use the failed satellite Availability is improved by providing an additional ranging signal to each SBAS geostationary satellite SBAS includes the Wide Area Augmentation System WAAS the European Geo Stationary Navigation System EGNOS and the MTSAT Satellite Based Augmentation System MSAS At the time of publication there are two WAAS satellites over the western Atlantic Ocean and the Pacific PRN 122 and PRN 134 respectively and one EGNOS satellite over the eastern Atlantic Ocean PRN 120 SBAS data is available from an
191. ower source the enclosure and associated GPSCard together form a fully functioning GPS receiver The enclosures offer protection against environmental conditions and RF interference In addition they provide an easy to use interface to the GPSCard s data power and status signals The enclosures offer GPS integrators an effective self contained system for indoor applications while also providing a rugged water shock and vibration resistant housing for outdoor applications The table below provides a comparison between the features available on the various enclosures The sections that follow give details on each of them Table 1 Enclosure Features Comparison Feature ProPak G2plus ProPak LBplus FlexPak GPSCard OEM4 G2 OEM4 G2 OEM4 G2L Supported Serial Ports 3 DB 9P 3 Switchcraft 2 Deutsch connectors connectors connectors USB Yes Not available Yes Strobe Port DB 9S Switchcraft 2 Deutsch connector connector connector Input Voltage 7 to 18 V 7 to 15 V 6 to 18 V L Band Diff tial an p 2 Not available Yes Not available Corrections IMU Support 4 Yes Yes Not available a For the ProPak LBplus the strobes are available at the COM1 connector which also provides RS 232 signals for one of the serial ports b If Pin 1 on the Deutsch connector is grounded the COM2 communications mode is set to RS 422 c A subscription to the OmniSTAR or CDGPS service is required d If applicab
192. pseudorange filter can produce differential positions for an additional 240 seconds by default provided pseudorange differential messages were transmitted along with the RTK messages before the system reverts to single point positioning Furthermore once the link is re established the pseudorange filter produces an immediate differential position while the RTK filter takes several additional seconds to generate its positions The base model must be healthy before solutions are logged to the low latency logs so there is a delay in the use of real time carrier positioning to the user once the link has been re established The RTK logs MATCHEDPOSA B use matched observations only no extrapolated observations and these will be available after three base observations are received but will have about 1 5 seconds latency associated with them The RTK system is based on a time matched double difference observation filter This means that observations at the rover site have to be buffered while the base station observation is encoded transmitted and decoded Only 8 seconds of rover observations are saved so the base station observation transmission process has to take less than 8 seconds if any time matches are to be made In addition only rover observations on even second boundaries are retained so base station observations must also be sent on even seconds if time matches are to be made OEM4 Family Installation and Operation User Manual Rev 16
193. r COM 2 output 26 Continued on Page 125 124 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A RXD2 Received Data for COM 2 input 27 STATUS GREEN Indicates the OEM4 G2 card is working properly when pulsing at 1 Hz 28 GPIO USERO Reserved 10 kQ pull down resistor internal to OEM4 G2 29 USERIO1 COM1 port configuration selector 10 KQ pull down resistor internal to OEM4 G2 30 At startup tie high to set COM1 to RS 422 or leave open for RS 232 See Section 3 2 5 1 on Page 35 for more details Event2 Mark 2 input which requires a pulse longer than 400 ns Polarity can be 31 GPIO_USER2 configured or processing can be disabled using MARKCONTROL detailed in Volume 2 of this manual set The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered MSR Normally high active low pulse is 1 ms 50 ns wide Falling edge is used as the 32 reference RESETIN Reset LVTTL signal input 2 4 to 3 3 VDC maximum from external system 33 active low GPAI General purpose analog input refer to the RXHWLEVELS log in Volume 2of this 34 manual set The voltage range is 0 0 min to 2 75 max VDC RESETOUT Reset TTL signal output to external system active low 35 GND Digital Ground 36 GPIO_FR Reserved 10 kQ pull up resistor internal to OEM4 G2 37 ERROR Indicates fatal error when high 38 Reserved 39 LNA_PWR Option
194. r daanan nra Eaa a rA CAA Ka T rA AA pan Aaii AE EEEa KAA NAAA ARR ASR 104 8 3 Error Strobe Signal acu etal iia eae i a eae 105 8 4 RXSTATUSEVENT LOQ ecccceceeeceeeeeeceeeeeeeeeeeecaeeeeeaaeseceeeeseeaeeeeaeeeseaeeeeaeeeeaas 105 8 5 Receiver Status LOQ ccecescceceeeeeeeeeeeeceeeeeeeaeeeeeeeeeeeaeeseeeeeesaeeseeaaeeeecaeeeeaaeeee 105 PEREA T R L AARETE A E ENET EE AE EE TEEN dratt PEENE A 105 8 5 2 Error Wordiin aiaia ai OI ee a i ee 106 8 5 3 Status Code Arrays mnrnnrnnnnnvnnnnnvvnnnnvrnnnnnrnnrrrrrennnnnnrnrrnenannnnnrrnrresnnrnnsennennn 107 8 5 4 Receiver Status Code rmmnnnnnnnnnvnnnnnnvnnnnvnnnnnnrnnrnrrnnnnnnnernnrnesnnnnnrnnrresnnnnnnn 107 8 5 5 Auxiliary Status Codes 0 ccccceceeeeceeceeeeeeeeeeaeeeeeeeeesaaeeeeeeeeseeaeeeseeeeeeaees 107 8 5 6 Set and Clear Mask for all Status Code Arrays mmrrrrnannnvnnrnrrvnnnnrnnnrnnnnnn 108 8 6 Status LED Lunnan unde ere en Brende 108 9 Troubleshooting 110 9 1 Examining the RXSTATUS Log memnnvvnavnvrvnnnnvnenenvennnnrennnnnrennsrrnnsnnvnnnrrrressnnnenennr 112 APPENDICES A Technical Specifications 115 B Electrostatic Discharge Control ESD Practices 150 C Replacement Parts 153 D Specifications Archive 155 OEM4 Family Installation and Operation User Manual Rev 16 5 Figures 1 OEM4 GAL GRSCar ea eee aadnk 17 2 OEM4 G2 GPSGCard EE ES E E A A 18 3 FlexPak Enclosure amaa a a i a el 20 4 ProPak G2plus EncloSure Ciiis aieeaa aega a a ee ia aaee a aa a 21 5
195. r status word indicates the condition of all masked bits in the auxiliary I status word Likewise bit 32 of the receiver status word corresponds to the auxiliary 2 status word Refer also to the RXSTATUS log in Volume 2 of this manual set for a more detailed descriptions of this log OEM4 Family Installation and Operation User Manual Rev 16 107 Chapter 8 Built In Status Tests 8 5 6 Set and Clear Mask for all Status Code Arrays 8 6 108 The other two mask words in the status code arrays operate on the associated status word in the same way These mask words are used to configure which bits in the status word will result in the broadcast of the RXSTATUSEVENT log The set mask is used to turn logging on temporarily while the bit changes from the 0 to I state The clear mask is used to turn logging on temporarily while the bit changes from a I to a 0 state Note the error word does not have any associated mask words Any bit set in the error word will result in the broadcast of the RXSTATUSEVENT log unless unlogged Refer also to the RXSTATUSEVENT log in Volume 2 of this manual set for a more detailed description Status LED The diagnostic LED provided on the OEM4 family receivers blinks green on and off at approximately 1 Hz to indicate normal operation Error bits and status bits that have been priority masked as errors will cause the LED to flash a code in a binary sequence The binary sequence will be a 6 flash 0 5 second on and
196. rPak Serial Port Pin Out Descriptions ceccceeeseeeeeeeeeeceeeeeeeeeeeeeeeeeaeeesaees 180 43 PowerPak I O Port Pin Out Descriptions c cccceceeeeeeeeeeeceeeeeeeeeeseaeeeseaeeesecaeeeeeneees 180 44 ProPak 4E Serial Port Pin Out Descriptions ccccceeceeeeeeeeeeeeeceeeeeeseeeeeeeteeesnaeees 185 45 ProPak 4E I O Port Pin Out Descriptions rurrnrvnnannvnnonrrrnnnnvnnrnrrvnnnnrnnnrnrennnnrnnnrnnnnnr 185 8 OEM4 Family Installation and Operation User Manual Rev 16 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER ON A CD OR AVAILABLE ON THE COMPANY WEB SITE HEREINAFTER REFERRED TO AS SOFTWARE 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Sof
197. racy 80 differential 46 70 health 87 height 86 overview 72 parameters 55 position 53 64 80 baseline 16 42 baud rate 41 bidirectional communication 41 binary 47 51 108 broadcast corrections 56 69 79 ephemeris 66 error word 108 observation data 58 buffer 41 81 87 C cables 141 antenna 154 coaxial 25 27 39 extended cable lengths 28 null modem 41 serial 41 warranty 11 carrier phase ambiguities 16 differential positioning 69 multipath errors 81 overview 16 RT 20 mode 58 cautions 31 39 41 CDGPS 46 73 78 channels 104 106 chatter 49 choke ring 86 circuit board 17 152 clock bias 79 external 56 synchronization 69 CMR 60 coaxial 25 27 39 cold start 115 commands antenna power 39 default port settings 41 OEM4 Family Installation and Operation User Manual Rev 16 190 in GPSolution 90 98 input 42 L Band 78 OEM4 communication 41 position averaging 64 positioning 118 123 pre configuring 44 Volume 2 154 communication bidirectional 41 cable 131 138 141 147 149 port 32 configuration additional equipment 27 antenna 28 differential 71 overview 16 port 41 43 RXCONFIG log 57 status 104 105 typical hardware 40 connector 32 33 antenna 117 121 126 134 142 COM 126 142 input output 117 126 134 power 117 121 130 137 constellation 86 control signals 16 Convert software 88 91 copyright 2 cross connecting 14 cust
198. rd party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action Restrictions You may not 1 copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software 2 modify or prepare derivative works of the Software 3 use the Software in connection with computer based services business or publicly display visual output of the Software 4 transmit the Software over a network by telephone or electronically using any means or 5 reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use 4 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at an
199. re used to indicate field types within this standard A a o hh hhmmss ss ILI x yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing numbers zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh___ Fixed length HEX numbers only MSB on the left Information Fields Variable text C C Variable length valid character field Fixed alpha aa Fixed length field of uppercase or lowercase alpha characters Fixednumber xx Fixed length field of numeric characters Fixed text CC Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters OEM4 Family Installation and Operation User Manual Rev 16 Chapter 6 Positioning Modes of Operation 6 1 63 NovAtel s dual frequency GPS receivers have several important performance advantages depending on your positioning requirements Dual frequency allows direct measu
200. receiver is through a remote terminal The receiver has been pre wired to allow proper RS232 interface with your data terminal To communicate with the terminal the receiver only requires the RX TX and GND lines to be used Handshaking is not required although it can optionally be used Ensure the terminal s communications set up matches the receiver s RS232 protocol 4 13 Communicating Using a Personal Computer An IBM compatible PC can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver No particular terminal type is assured All data is sent as raw OEM4 Family Installation and Operation User Manual Rev 16 41 Chapter 4 Operation 4 2 characters You can create command batch files using any text editor these can then be directed to the serial port that is connected to the receiver using a communications software package This is discussed later in this chapter Getting Started Included with your receiver are NovAtel s GPSolution and Convert programs GPSolution is a Microsoft Windows based graphical user interface which allows you to access the receiver s many features without struggling with communications protocol or writing special software The Convert utility is a Windows based utilit
201. receiver when Searching for card appears in the main display see Figure 31 Searching for card timeout in 13 secs Figure 31 Searching for Card 102 OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 6 When the Authorization Code dialog opens see Figure 32 enter the auth code and select OK Authorization Code x cet Figure 32 Authorization Code Dialog 7 The receiver should finish downloading and reset The process is complete when Done is dis played in the main display area see Figure 33 Download Complete Resetting Card Resetting Done HERE ERR ROR REPEL COM 1 Connect 9600 Download 115200 Figure 33 Update Process Complete 8 Close WinLoad This completes the procedure required to update an OEM4 family receiver OEM4 Family Installation and Operation User Manual Rev 16 103 Chapter 8 Built In Status Tests 8 1 8 2 104 Overview The built in test monitors system performance and status to ensure the receiver is operating within its specifications If an exceptional condition is detected the user is informed through one or more indicators The receiver status system is used to configure and monitor these indicators Receiver status word included in the header of every message ERROR strobe signal see Table 7 on Page 36 RXSTATUSEVENT log RXSTATUS log 5 Status LED FwWNE In normal operation the error strobe is driv
202. rement of the signal delay through the ionosphere and is critical to fast and reliable integer ambiguity resolution when positioning using carrier measurements Dual frequency can improve the performance of DGPS SBAS and RTK positioning Using RTCM type 15 messages will allow the DGPS user to apply a local ionospheric correction to their dual frequency receiver to improve code positioning performance on larger baselines hundreds of km SBAS positioning is improved by applying a local correction instead of using the SBAS ionospheric grid and RTK solutions are improved on long baselines by using an ionosphere free solution By default the models with L Band software only support the standard Canada Wide Differential Global Positioning System CDGPS or OmniSTAR Virtual Base Station VBS services The OmniSTAR VBS service is upgradeable to the High Performance HP decimeter L1 L2 service via a coded message from an OmniSTAR satellite The OEM4 family of receivers operate in the most accurate positioning mode possible with the signals available and immediately drop to the next positioning mode if the current signal times out The following single and dual frequency modes of operation are described further in this chapter Single Point Satellite Based Augmentation System SBAS e Pseudorange Differential e L Band e Carrier Phase Differential Refer to the GPS Overview section of the GPS Reference Manual for an overview of GPS positioning
203. rmware version 2 100 or higher 3 GND Digital Ground 4 USB D USB interface data Requires firmware version 2 100 or higher 5 GND Digital Ground 6 PPS Output pulse 1 ms wide for which the leading edge acts as the reference Polarity 7 and period can be configured using the PPSCONTROL command described in Volume 2 of this manual set GND Digital Ground 8 VARF Variable frequency out 9 GND Digital Ground 10 Eventi Mark 1 input which requires a pulse longer than 65 ns Polarity can be 11 configured using the MARKCONTROL command detailed in Volume 2 of this manual set The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered GND Digital Ground 12 STATUS_RED Indicates the OEM4 G2 card is not working properly when high or pulsing 13 CTS1 RXD1 COM1 input Clear to Send for RS 232 Received Data for RS 422 14 TXD1 TXD1 COM1 output Transmitted Data for RS 232 Transmitted Data for RS 422 15 RTS1 TXD1 COM1 output Request to Send for RS 232 Transmitted Data for RS 422 16 RXD1 RXD1 COM1 input Received Data for RS 232 Received Data for RS 422 17 CTS3 Clear to Send for COM 3 input 18 TXD3 Transmitted Data for COM 3 output 19 DCD2 Data Carrier Detected for COM 2 input 20 RXD3 Received Data for COM 3 input 21 RTS3 Request to Send for COM 3 output 22 DTR2 Data Terminal Ready for COM 2 output 23 CTS2 Clear to Send for COM 2 input 24 TXD2 Transmitted Data for COM 2 output 25 RTS2 Request to Send fo
204. rrnnnrrrnnsrnnrnnnnsssnnnnnnnssssrnnnnernnn 78 6 5 1 Real Time Kinematic RTK ce cececceeeeeeeeeeeeseeeeeeeeeseeeeeeeeeeeeneeeeeeeeeeeaeees 80 7 PC Software and Firmware 88 7 1 GPSolution Convert Installation cecceeeeeeececeeeeeeeeeceaeeeeeeeeeesaeeeseeeeessaeeeseneees 88 Lie OP SONO a3 see reaiss gne a Ea a aged att davansdte e a dec destcdheeers 88 7 3 GOnveruusts idles evade Geert eat UT ete tid 91 TAN RNeL Format uarade unaeup dement Sagano cad aust eaeceacRevveta danas 92 7 3 2 Convert Command Line Switches murnrrnnnnnvvnnnrrannnnnnnrnnrrrnnnnnnnrrrrnnnennnnrenn 93 7 4 USB Drivers Installation orrnnnrrrerronnrvererrrnnrvrrerrnnnrrvrrrrnnnnvererrnnnnseerrrnnnnneernnnnn 95 7 4 1 Windows XP Installation eereroonoronnonnnrnrrrrrnnnnnnnnnnrnnnrnnrnrrrnnnnnnenrennnrnnnnnn 95 7 4 2 Windows 2000 Installation eesornnnnononnnnnrrrrrrrrnnnnnnnrnnrnnrnnnnnnrnnrnnnnenennnrnn 96 7 4 3 Windows Driver Signing rerrrnnnnvnnnenvvnnnnrrnnrnrrennnnrnnnnnrennnnrnenennenrnrrnensnnnneenn 96 7 5 Firmware Upgrades amp Updates rmmnaannnvvrvnnvnnnvrnnnnrnnrrrnnnrrnnrrrnnnernnrrnnnnensrrrnnnennn 98 7 5 1 Upgrading Using the AUTH Command ueannvenorrravnnnvnnrnnrrvnnnnvnnrrrrrnnnnnnnren 99 7 5 2 Updating Using the WinLoad Utility eoronnrrnnnronnnrrrnnnrnnnrrnnnnnnnnrnnnnnnrnnnnn 100 8 Built In Status Tests 104 ST Overview nat ne ad aaa ee aes 104 8 2 Receiver Status Word oea
205. rs respectively This degree of variation becomes larger for averaging periods of less than 12 hours due to changes in the satellite constellation The graph provides some indication of the accuracy one may expect from single point position averaging The next section deals with the type of GPS system errors that can affect accuracy in single point operation 6 1 1 GPS System Errors In general GPS SPS C A code single point pseudorange positioning systems are capable of absolute position accuracies of about 1 8 meters or less This level of accuracy is really only an estimation and may vary widely depending on numerous GPS system biases environmental conditions as well as the GPS receiver design and engineering quality There are numerous factors which influence the single point position accuracies of any GPS C A code receiving system As the following list will show a receiver s performance can vary widely when under the influences of these combined system and environmental biases OEM4 Family Installation and Operation User Manual Rev 16 65 Chapter 6 Positioning Modes of Operation e Tonospheric Group Delays The earth s ionospheric layers cause varying degrees of GPS signal propagation delay Ionization levels tend to be highest during daylight hours causing propagation delay errors of up to 30 meters whereas night time levels are much lower and may be as low as 6 meters e Tropospheric Refraction Delays The earth
206. rt contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 Fax 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 Disclaimer of Warranty and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta OEM4 Family Installation and Operation User Manual Rev 16 Warranty Policy NovA
207. rvation information It is used to provide range observations to the rover receiver and should be sent every I or 2 seconds This log is made up of variable length messages up to 255 bytes long The maximum number of bits in this message is 140 92 x N where N is the maximum number of satellite record entries transmitted Using the RTKSVENTRIES command you can define N to be anywhere from 4 to 12 the default value is 12 52 OEM4 Family Installation and Operation User Manual Rev 16 Message Formats Chapter 5 5 1 4 RTCAREF Type7 An RTCAREF RTCA Base Station Position Information message contains base station position information and should be sent once every 10 seconds Each message is 24 bytes 192 bits long If RTCA format messaging is being used the optional station id field that is entered using the DGPSTXID command can be any 4 character string combining numbers and upper case letters and enclosed in double quotation marks for example RW34 The station ID will be reported at the rover receiver in its position log Also the rover receiver will automatically set an approximate position from this message if it does not already have a position Therefore this message can be used in conjunction with an approximate time to improve TTFF refer to the Time to First Fix and Satellite Acquisition section of the GPS Reference Manual 5 2 RTCM Format Messages The Radio Technical Commission for Maritime Services RTCM was est
208. s The falling edge is the receiver measurement strobe Event1 Mark 1 Input An input mark for which a pulse greater than 65 ns triggers certain logs to be generated Refer to the MARKPOS and MARKTIME logs and ONMARK trigger in Volume 2 of this manual set Polarity is configurable using the MARKCONTROL command discussed in Volume 2 The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered Event2 Mark 2 Input An input mark for which a pulse greater than 400 ns triggers certain logs to be generated Refer to the MARK2POS and MARK2TIME logs in Volume 2 of this manual set Polarity is configurable using the MARKCONTROL command discussed in Volume 2 The mark inputs have 10K pull up resistors to 3 3 V and are falling edge triggered PV Position Valid Indicates a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command has been set refer to the FIX POSITION command in Volume 2 of this manual set ERROR High level indicates an error STATUS_RED Status output which is high or pulses to indicate that the OEM4 G2 card is not working properly STATUS_GREEN PPS Pulse Per Second VARF Variable Frequency Status output which pulses to indicate that the OEM4 G2 card is working properly A time synchronization output This is a pulse 1 ms 50 ns where the leading edge is synchronized to receiver calculated GPS time
209. s antenna and power inputs and data and status signals 2 3 GPS Antenna The purpose of the GPS antenna is to convert the electromagnetic waves transmitted by the GPS satellites into RF signals An active GPS antenna is required for the receiver to function properly NovAtel s active antennas are recommended 2 3 1 Optional LNA Power Supply Power for the antenna LNA is normally supplied by the receiver However if a different type of antenna is required that is incompatible with this supply then you could connect an external power source to the receiver External LNA power is not possible with a ProPak G2plus ProPak LBplus or FlexPak receiver OEM4 Family Installation and Operation User Manual Rev 16 25 Chapter 2 Receiver System Overview 2 4 Principal Power Supply A single external power supply capable of delivering 5 W is necessary to operate the receiver See Appendix A Technical Specifications starting on Page 115 for details A WARNING Ifthe voltage supplied is below the minimum specification the receiver will suspend operation If the voltage supplied is above the maximum specification the receiver may be permanently damaged voiding your warranty 2 5 Data Communications Equipment A PC or other data communications equipment is necessary to communicate with the receiver and if desired to store data generated by the receiver 26 OEM4 Family Installation and Operation User Manual Rev 16 Chapter 3 Installation and
210. s are numbered sequentially following the existing ports in the PC and are ready to use with any existing application that communicates with the receiver s COM ports OEM4 Family Installation and Operation User Manual Rev 16 95 Chapter 7 PC Software and Firmware lt The assignment of COM port numbers is tied to the USB port on the PC This allows you to switch receivers without Windows assigning new COM ports However if you connect the receiver to a different USB port Windows detects the receiver s presence on that USB port and assigns three new COM port numbers 7 4 2 Windows 2000 Installation If upgrading drivers uninstall older version using NovAtel USB Configuration tool located in the Start Menu under Program Files OEM4 PC Software After connecting the NovAtel GPS receiver to a USB port on the PC the Found New Hardware wizard appears Click on Next 1 Select the Search for a suitable driver for my device field and click on Next 2 Select the Specify a location field and click on Next 3 Specify the location using the browse button for example on the supplied OEM4 family CD USB Drivers Install 4 Click on OK 5 Confirm that the driver found is for example USB Drivers Install ngpsusb inf 6 Click on Next 7 Click on Finish to complete the driver installation After installing the drivers Windows detects the NovAtel receiver s new virtual COM ports and begins to initialize them Installation is comple
211. s coaxial cables For the GPSCards an interconnect adapter cable is required to convert the TNC male end of the coaxial cable to the card s MMCX female RF input connector The location of the RF connector for each of the GPSCards is shown in Figure 9 and Figure 10 OEM4 Family Installation and Operation User Manual Rev 16 33 Chapter 3 Installation and Set Up 3 2 4 Applying Power to the Receiver Connect the power supply set to the voltage given in Section 3 1 3 on Page 28 to the wiring harness created previously For a ProPak G2plus ProPak LBplus or FlexPak enclosure connect the power supply to the port described in Table 5 Power Requirements for Enclosures on Page 29 3 2 5 Connecting Data Communications Equipment In order to communicate with the receiver by sending commands and obtaining logs a connection to some form of data communications equipment is required The default configuration available for each of the receiver types is given in the table below However if desired on some of the receivers the serial ports can be factory configured for either RS232 RS422 or LVTTL operation Consult NovAtel Customer Service for more details on factory configuration See Appendix A Technical Specifications starting on Page 115 for data connection details Table 6 Default Serial Port Configurations Receiver COM1 COM2 COM3 OEM4 G2L RS 232 LVTTL Not available OEMAG2 fon 3 2 5 1 on Page for more information R
212. send for RS422 not connected for RS232 and LVTTL 19 Reserved for future use 20 VARF Variable frequency out 21 PPS Normally high active low pulse is 1 ms wide 1 Hz Falling edge is used as the 22 reference MSR Normally high active low pulse is 1 ms 50 ns wide Falling edge is used as the 23 reference Eventi Normally high active low pulse must exceed 55 ns in duration The falling edge is the 24 reference LVTTL contact closure compatible PV Output indicates a good solution or a valid GPS solution when high 25 GPIO_USER2 Reserved 10 KQ pull down resistor 26 Reserved for future use 27 RESETIN Reset TTL signal input from external system active low 28 RESETOUT Reset TTL signal output to external system active high 29 GPIO_USER3 Reserved 10 kQ pull down resistor 30 Reserved for future use 31 GPIO_USER4 Reserved 10 kQ pull down resistor 32 1 For pins that can be configured as RS422 RS232 or LVTTL the signals are shown as RS422 RS232 LVTTL RS422 is balanced there are two connections per signal indicated as and 2 CTS DCD and DSR are inputs while RTS and DTR are outputs 3 To create a common ground tie together all digital grounds GND with the ground of the power supply OEM4 Family Installation and Operation User Manual Rev 16 177 Appendix D Specifications Archive D 5 PowerPak 4 PowerPak 4E 178 INPUT OUTPUT CONNECTORS Antenna Input TNC female jack 50 Q nomina
213. spectively WARNING Ensure all other windows are closed in GPSolution when entering the SAVECONFIG command in the Console window If you find that GPSolution is unable to locate your OEM4 family receiver it may be that you have previously used the SAVECONFIG command In this case try using a different COM port to communicate to the receiver Once communication has been established issue a FRESET STANDARD command You should now be able to use your original communication port again e Logging Control Window This window provides a graphical interface for configuring data logging that includes initiating data logging to a file initiating logging to the receiver s serial ports specifying a time window for data logging stopping logging and editing log settings WARNING Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session Refer to GPSolution s online Help for more information e ASCII Messages Window This window displays ASCII formatted NovAtel logs 90 OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 7 3 Convert Convert is a 32 bit Windows application and is shown in Figure 25 Convert will accept GPS file formats and convert them to ASCH Binary or Rinex format The application also allows the user to screen out particular logs by selecting the desired logs from the list of availab
214. st strap e A relative humidity level must be maintained between 20 and 80 non condensing e No ESD sensitive board or component should be removed from its protective package except in a static controlled location e A sStatic controlled environment and correct static control procedures are required at both repair stations and maintenance areas e _ESD sensitive devices must be handled only after personnel have grounded themselves via wrist straps and mats e Boards or components should never come in contact with clothing because normal grounding cannot dissipate static charges on fabrics e A circuit board must be placed into an anti static plastic clamshell before being removed from the work location and must remain in the clamshell until it arrives at a static controlled repair test center e Circuit boards must not be changed or moved needlessly Handles may be provided on circuit boards for use in their removal and replacement care should be taken to avoid contact with the connectors and components e On site repair of ESD sensitive equipment should not be undertaken except to restore service in an emergency where spare boards are not available Under these circumstances repair station techniques must be observed Under normal circumstances a faulty or suspect circuit board must be sent to a repair center having complete facilities or to the manufacturer for exchange or repair OEM4 Family Installation and Operation User Ma
215. t OmniSTAR or CDGPS base station communication parameters It should include relevant frequencies for example assignlband omnistar 1551489 1200 or assignlband cdgps 1547547 4800 The PSRDIFFSOURCE command lets you identify from which base station to accept RTCA1 RTCM1 CDGPS or OmniSTAR VBS differential corrections For example in the PSRDIFFSOURCE command OMNISTAR enables OmniSTAR VBS and disables other DGPS types OmniSTAR VBS produces RTCM type corrections CDGPS produces WAAS type corrections AUTO means the first received RTCM or RTCA message has preference over an OmniSTAR VBS or CDGPS message The RTKSOURCE command lets you identify from which base station to accept RTK RTCM RTCA CMR and OmniSTAR HP differential corrections For example in the RTKSOURCE command OMNISTAR enables OmniSTAR HP if allowed and disables other RTK types OmniSTAR HP computes corrections in RTK float mode or within about 10 cm accuracy For RTK models AUTO means the NovAtel RTK filter is enabled and the first received RTCM RTCA or CMR message is selected For non RTK models AUTO means the OmniSTAR HP message if allowed is enabled The PSRDIFFSOURCE and RTKSOURCE commands are useful when the receiver is receiving corrections from multiple base stations Several L Band specific logs also exist and are prefixed by the letters RAWLBAND LBAND or OMNI CDGPS corrections are output similarly to SBAS corrections There are four SBAS fast corrections lo
216. t number 01016330 The ProPak 4E I O strobe lines see Figure 72 are available on the ProPak 4E rear panel from the 8 pin LEMO connector LEMO part number FGL 1K 308 CLLC45Z For field replacement of the LEMO connector please see Appendix C Page 153 for a list of the manufacturers part numbers See also Input Output Strobes on Page 170 for a list of the pinouts and descriptions for each of the I O strobes along with electrical specifications 10 11 12 13 14 15 16 Reference Description Reference Description 1 Brown 11 MSR 2 Black 12 Event1 3 Red 13 STATUS 4 Orange 14 GND 5 Yellow 15 GND 6 Green 16 GND 7 Blue 17 8 conductor wire 8 White 18 LEMO 8 pin socket 9 VARF 19 Red marker at top of connector 10 1PPS Figure 72 ProPak 4E Strobe Cable OEM4 Family Installation and Operation User Manual Rev 16 189 A accumulated Doppler 58 accuracy base station 72 decrease in 87 navigation 56 positioning 64 65 71 72 79 115 RT 2 and RT 20 80 82 84 115 acquisition 16 aerial photograph 79 ambiguity carrier phase 16 fixed 79 floating 82 resolution 80 86 antenna active 25 27 39 cables 27 28 154 card status 104 106 considerations 33 dual frequency 27 input 126 134 models 27 154 power 25 39 125 single frequency 27 33 site 66 anti static 31 150 152 ascii 47 57 91 atmosphere 16 72 81 AUTH command 99 authorization 99 auxiliary status 107 B base station accu
217. tallation If this equipment does cause harmful interference to radio or television reception which can be determined turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures Re orient or relocate the receiving antenna Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintain compliance with the limits of a Class B digital device it is required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port A WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of the FCC rules CE NOTICE The enclosures carry the CE mark A WARNING This is a Class B product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Hereby NovAtel Inc declares that this ProPak G2plus ProPak LBplus and FlexPak G2L are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC OEM4 Family Installation and Operation User Manual Rev
218. te when no more dialogs appear The new COM ports corresponding to the receiver s USB1 USB2 and USB3 ports are numbered sequentially following the existing ports in the PC and are ready to use with any existing application that communicates with the receiver s COM ports lt The assignment of COM port numbers is tied to the USB port on the PC This allows you to switch receivers without Windows assigning new COM ports However if you connect the receiver to a different USB port Windows detects the receiver s presence on that USB port and assign three new COM port numbers 7 4 3 Windows Driver Signing Depending on how your administrator has configured your computer Windows 2000 and Windows 96 OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 XP either ignore device drivers that are not digitally signed display a warning when they detect device drivers that are not digitally signed the default or prevent you from installing device drivers without digital signatures Since the current version of NovAtel USB drivers are not digitally signed the computer s policy must be either Ignore or Warn to enable the drivers to be installed To change the Driver Signing Policy on your computer 1 Double click on System in the Control Panel Select the Hardware tab Click on the Driver Signing button Select either Ignore or Warn in the File signature verification box Click on OK to accept
219. ted Data for COM 2 output 16 RTS1 Request to Send for COM 1 output 17 RXD1 Received Data for COM 1 input 18 GPIO USERO Reserved 10 kQ pull up resistor internal to OEM4 G2L 19 TXD1 Transmitted Data for COM 1 output 20 USB D USB interface data Requires firmware version 2 100 or higher 21 USB D USB interface data Requires firmware version 2 100 or higher 22 GND Digital Ground 23 GND Digital Ground 24 To create a common ground tie together all digital grounds GND with the ground of the power supply OEM4 Family Installation and Operation User Manual Rev 16 119 Appendix A Technical Specifications A 3 OEM4 G2 GPSCard Size 85mm x 125mm x 12 8mm with connectors Weight 85 grams MECHANICAL DRAWINGS 1 9 13 07 va 0 381 6 14 pm 011 30 US ra rah p I I iteryrEeEREEEeeREs g Chi 0 HOR T O L jo O Vs DE yt no a 1 61 30 EN 68 8 rat 8 8 FA 2 71 Q 2 71 f 6 a 84 ohh 104 4 l 3 31 Oc 14 11 iE 113 6 g 110 A 4 47 H 04 4 4 33 O mea pr 8 7 LA 118 0 25 Ay 1 651 14 9 rr r Al fi Oo no i a 19 8 a
220. tel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time OEM4 G2L or OEM4 G2 GPSCard Receivers One 1 Year FlexPak ProPak G2plus or ProPak LBplus One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Support One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVI RONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAIL URE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES I DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL III NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE O
221. tely home in on the correct lane when dual frequency measurements are available Changes in the geometry of the satellites aids in ambiguity resolution this is especially noticeable in L1 only solutions In summary NovAtel s RTK system permits L1 L2 receivers to choose integer lanes while forcing L1 only receivers to rely exclusively on the floating ambiguity solution Once the ambiguities are known it is possible to solve for the vector from the base station to the rover station This baseline vector when added to the position of the base station yields the position of the rover station In the NovAtel RTK system the floating ambiguity and the integer position solutions when both are available are continuously compared for integrity purposes The better one is chosen and output in OEM4 Family Installation and Operation User Manual Rev 16 79 Chapter 6 Positioning Modes of Operation the receiver s matched position logs The best ambiguities determined are used with the rover station s local observations and a base station observation model to generate the rover station s low latency observations 6 5 1 Real Time Kinematic RTK RT 2 and RT 20 are real time kinematic software products developed by NovAtel They can only be used in conjunction with NovAtel GPS receivers A quick comparison of RT 2 and RT 20 is shown in the following table Table 12 Comparison of RT 2 and RT 20 GPS Frequencies Utilized L1 amp L2
222. ter has an LED on its side panel to indicate that power is connected 1 2 3 4 Reference Description Reference Description 1 Black 5 Ground 2 Orange 6 10 to 36 VDC 3 Red 7 10 to 36 VDC 4 Brown 8 Ground 9 Red marker at top 12 Universal tip 10 12V adapter 13 3 amp slow blow fuse 11 Spring Figure 69 ProPak 4E Power Cable 186 OEM4 Family Installation and Operation User Manual Rev 16 Specifications Archive Appendix D D 6 2 2 Straight Through Serial Port Cable NovAtel part number 01016383 The straight through serial cable see Figure 70 is used to connect the ProPak 4E to a modem or radio transmitter to propagate differential corrections The end connectors are a 10 pin LEMO plug LEMO part number FGG 1K 310 CLAC55Z to a 9 pin D connector DE9P plug This cable looks identical to the null modem serial cable see Page 188 but its use and part number differs For field replacement of the LEMO connector please see Appendix C Page 153 for a list of the manufacturers part numbers The 10 pin plug on each cable can be plugged into either the COM1 or COM2 port on the ProPak 4E p 10 26 3G 40 50 60 7 80 90 100 Reference Description Brown Black Red Orange Yellow Green Blue NOOR WD 14 Reference 6 9 13 o1 o2 Oo 4 5 o 6 o7 8 9 Description Violet Gray White Red marker at
223. terminal s lt Enter gt key An example of a response to an input command is the FIX POSITION command It can be entered COM2 FIX POSITION 51 11635 114 0383 1048 2 Carriage Return lt OK The above example illustrates command input to the receiver s COM2 port which sets the position of the base station receiver in differential operation Confirmation that the command was actually accepted is the appearance of lt OK If a command is incorrectly entered the receiver will respond with lt Invalid Message ID or a more detailed error message OEM4 Family Installation and Operation User Manual Rev 16 Operation Chapter 4 For more information on the various commands and logs please refer to the user manual entitled Volume 2 Command and Log Reference of this manual set WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 42 2 Remote Terminal PC and GPS Receiver In addition to GPSolution you can use a a terminal program Examples of how to use a DOS or Microsoft terminal window follows For this example consider a situation where a PC s appropriately configured COM 1 port is connected to the receiver s COM1 port and where a remote terminal is connected to the receiver s COM2 port 4 2 2 1 DOS One way to initiate multiple commands and logging from the receiver is to create DOS b
224. the one with the highest elevation In this way if there are n satellites in view by both receivers then there will be n satellite pairs The difference between receivers and B removes the correlated noise effects and the difference between the different satellites removes each receiver s clock bias from the solution In the RTK system a floating or continuous valued ambiguity solution is continuously generated from a Kalman filter When possible fixed integer ambiguity solutions are also computed because they are more accurate and produce more robust standard deviation estimates Each possible discrete ambiguity value for an observation defines one lane That is each lane corresponds to a possible pseudorange value There are a large number of possible lane combinations and a receiver has to analyze each possibility in order to select the correct one For single frequency receivers there is no alternative to this brute force approach However one advantage of being able to make both L1 and L2 measurements is that linear combinations of the measurements made at both frequencies lead to additional values with either wider or narrower lanes Fewer and wider lanes make it easier for the software to choose the correct lane having used the floating solution for initialization Once the correct wide lane has been selected the software searches for the correct narrow lane Thus the searching process can more rapidly and accura
225. the same revision level as your current model for example upgrading from an OEM4 3151R to an OEM4 RT2 This command only functions in conjunction with a valid auth code assigned by Customer Service The upgrade can be performed directly from GPSolution s Command Line Screen or from any other communications program The procedure is as follows 1 Power up the OEM4 family receiver and establish communications over a serial port see Chapter 4 Operation on Page 40 2 Issue the LOG VERSION command to verify the current firmware model number revision level and serial number 3 Issue the AUTH command followed by the auth code and model type The syntax is as follows Syntax auth auth code where auth is a special command which allows program model upgrades auth code is the upgrade authorization code expressed as hhhh hhhh hhhh hhhh hhhh model where the h characters are an ASCII hexadecimal code and the model would be ASCII text Example auth 17cb 29af 3d74 0 lec fd34 0em4rt2 Once the AUTH command has been executed the OEM4 family receiver will reboot itself Issuing the LOG VERSION command will confirm the new upgrade model type and version number If communicating using GPSolution the communication path needs to be closed and re opened using the Device menu OEM4 Family Installation and Operation User Manual Rev 16 99 Chapter 7 PC Software and Firmware 7 5 2 Updating Using the WinLoad Utility 100 WinLoad is req
226. to the receiver Transmitting and Receiving Corrections Corrections are transmitted from a base station to a rover station to reduce or eliminate errors introduced by system biases as described in Section 6 1 1 GPS System Errors on Page 65 In most cases you will need to provide a data link between the base station and rover station two NovAtel receivers in order to receive corrections Exceptions are the SBAS and L Band capable receivers However if you wish to use other types of corrections for these receivers a data link must be provided Generally a link capable of data throughput at a rate of 2400 bits per second or higher is sufficient for the examples shown below Next you need to pre configure the base and rover site receivers before the units are used in your application At the base station enter the following commands interfacemode port rx_type tx_type fix position latitude longitude height log port message trigger period OEM4 Family Installation and Operation User Manual Rev 16 Operation Chapter 4 For example RTCA interfacemode com2 none rtca fix position 51 11358042 114 04358013 1059 4105 log com2 rtcaobs ontime 2 log com2 rtcaref ontime 10 log com2 rtcal ontime 10 3 log com2 rtcaephem ontime 10 7 RTCM interfacemode com2 none rtcm fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 log com2 rteml819 ontime 2 log com2 rtcml ontime 10 5 RTCMV3 int
227. tware is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copyrighted material except that you may make one copy of the Software solely for backup or archival purposes one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any thi
228. uide provided with the receiver for details In addition to support for L Band positioning the ProPak LBplus provides the following e A rugged environmentally sealed enclosure e 3 serial ports with Switchcraft brand connectors e GPS antenna and power ports e Auxiliary strobe signals for status and synchronization e Indicator to provide status information The following accessories are included with the ProPak LBplus e 112 V power adapter cable e 3 straight through serial port cables e ACD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the ProPak LBplus please see Section A 6 starting on Page 142 Figure 6 ProPak LBplus and Its Rear Panel Figure 6 to the right shows the six ports on the rear panel of the ProPak LBplus that are labeled with icons Table 2 on Page 23 provides information on these ports including the name used to reference each of them throughout this manual 22 OEM4 Family Installation and Operation User Manual Rev 16 Introduction Table 2 ProPak LBplus Interface Icon Name Description f PWR DC power input aad RES Reserved A COM1 sae signals and auxiliary strobe gt Come sai signals with optional flow F COM3 RS232 and general I O signals ANT Antenna connection OEM4 Family Installation and Operation User Manual Rev 16 Chapter 1 23 Chapter 2 Receiver System Overview 24 In addition to a NovAtel OEM4
229. uired instead of the AUTH command when updating previously released firmware with a newer version of program and model firmware for example updating an OEM4 Standard rev 1 000 to OEM4 Standard rev 1 010 WinLoad is a Windows utility program designed to facilitate program and model updates Once WinLoad is installed and running it will allow you to select a host PC serial port bit rate directory path and file name of the new program firmware to be transferred to the OEM4 family receiver via its COM1 COM2 or COM3 port The port chosen must have an RS232 interface to the PC 7 5 2 1 Transferring Firmware Files To proceed with your program update you must first acquire the latest firmware revision You will need a file with a name such as OEMXXXX EXE where XXXxX is the firmware revision level This file is available from NovAtel s FTP site http www novatel com or via e mail support novatel ca If transferring is not possible the file can be mailed to you on floppy disk For more information on how to contact NovAtel Customer Service please see Page 12 at the beginning of this manual You will need at least 1 MB of available space on your hard drive For convenience you may wish to copy this file to a GPS sub directory for example C GPS LOADER The file is available in a compressed format with password protection Customer Service will provide you with the required password After copying the file to your computer it must
230. umber you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage OEM4 Family Installation and Operation User Manual Rev 16 11 Customer Service Firmware UPDATES and UPGRADES Firmware updates are firmware revisions to an existing model which improve basic functionality of the GPS receiver During the one year warranty coverage following initial purchase firmware updates are supplied free of charge After the warranty has expired firmware updates and updated manuals may be subject to a nominal charge Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge Firmware updates and upgrades are accomplished through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL U S amp Canada or 403 295 4900 international Fax 403 295 4901 E mail support novatel ca Website http www novatel com Write NovAtel
231. unications with a PC The cable is equipped with a 9 pin connector at the receiver end which can be plugged into the COM1 COM2 or AUX port At the PC end a 9 pin connector is provided to accommodate a PC serial RS232 communication port gui jm HU Wiring Table Connector Pin Number To DB9S 10 2 3 7 4 5 1 amp 6 To DB9S 11 3 2 7 8 1 amp 6 5 4 Reference Description 10 DB9S Female 11 DB9S Female Figure 48 ProPak G2p us Null Modem Cable 138 OEM4 Family Installation and Operation User Manual Rev 16 Technical Specifications Appendix A A 5 2 3 Straight Through Serial Cable NovAtel part number 60723066 This cable can be used to connect the ProPak G2plus to a modem or radio transmitter to propagate differential corrections The cable is equipped with a female DB9 connector at the receiver end The male DB9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information on its connectors The cable is approximately 2 m in length See Figure 49 E L w il J pum er Pa S 9 a a ONDINA OWN OGNIDASKVN Reference Description Reference Description 10 DB9P male connect
232. ustration The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can be used to create a boot file on a PC and send it to the OEM4 It is assumed that the PC s serial port COM I is connected to the receiver s COM1 port and that a remote terminal is connected to the receiver s COM2 port 1 Open Notepad and type in the command strings to be sent to the receiver upon start up For example log com2 bestposa ontime 1 log com2 rangea ontime 1 log com2 rxstatusa onchanged log com2 psrdopa onchanged log com2 gpsephema onchanged log com2 almanaca onchanged log com2 rxconfiga once Dx 1 Ensure you have used a carriage return hit the enter key after typing the last line 2 If you wish these to become part of the permanent configuration of the card rather than just using them on boot up enter the SAVECONFIG command as the last line 2 Save this with a convenient file name for example C GPS BOOT TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to match the settings with the receiver s communications protocol These settings can be saved for example C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to help prevent loss of data 4 From the Transfer menu use the Send text file selection to locate this file to be sent to the receiver Once you double click on the file or select Open HyperTerminal will send the file
233. w 16 OEM4 Family Installation and Operation User Manual Rev 16 193 Index 194 records number of 41 52 tracking 84 transmit 25 SBAS 66 68 69 self test 42 serial cable 41 141 number 98 port 45 signals 16 speed 69 static 150 152 station ID 54 status mask fields 104 strobe signals 32 118 123 support 11 12 surveying 17 72 T tag external events 49 TCXO see oscillators technical specifications 115 149 tests built in 104 105 107 108 time GPS 49 strobes 32 tag 48 tracking loops 79 loss 86 satellites 84 trigger 104 tropospheric 66 70 81 86 troubleshooting 110 U update or upgrade firmware 12 98 100 USB connector 141 Vv version 99 voltage 117 118 121 123 Volume 2 15 41 43 105 106 154 W warnings 13 14 26 28 warranty 1 1 12 26 31 39 waypoint 56 website 12 WGS 84 55 windows in GPSolution 89 90 WinLoad 100 Y Y code 16 OEM4 Family Installation and Operation User Manual Rev 16 NorAtel Recyclable gt O Printed in Canada on recycled paper OM 20000046 Rev 16 2005 06 22
234. will be issued an authorization code auth code The auth code is required to unlock the new features according to your authorized upgrade update model type There are two procedures to choose from depending on the type of upgrade update you require 1 If you are upgrading to a higher performance model at the same firmware revision level for example upgrading from an OEM4 3151R rev 1 000 to an OEM4 RT 2 rev 1 000 you can use the AUTH command with the issued auth code 2 If you are updating to a higher firmware revision level for example updating an OEM4 RT 2 rev 1 000 to OEM4 RT 2 rev 1 010 you will need to transfer new program firmware to the OEM4 family receiver using the WinLoad utility program As WinLoad and the update file are generally provided in a compressed file format you will also be given a decompression password WinLoad and the update files can be found on NovAtel s FTP site at http www novatel com or can be sent to you on disk or by e mail Your local NovAtel dealer will provide you with all the information that you require to update or upgrade your receiver OEM4 Family Installation and Operation User Manual Rev 16 PC Software and Firmware Chapter 7 7 5 1 Upgrading Using the AUTH Command The AUTH command is a special input command which authorizes the enabling or unlocking of the various model features Use this command when upgrading to a higher performance OEM4 family model available within
235. y of these satellites and more satellites will be available in the OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 future The primary functions of SBAS include edata collection edetermining ionospheric corrections edetermining satellite orbits edetermining satellite clock corrections edetermining satellite integrity independent data verification SBAS message broadcast and ranging system operations amp maintenance As shown in Figure 16 The SBAS Concept on Page 68 the SBAS is made up of a series of Reference Stations Master Stations Ground Uplink Stations and Geostationary Satellites GEOs The Reference Stations which are geographically distributed pick up GPS satellite data and route it to the Master Stations where wide area corrections are generated These corrections are sent to the Ground Uplink Stations which up link them to the GEOs for re transmission on the GPS L1 frequency These GEO s transmit signals which carry accuracy and integrity messages and which also provide additional ranging signals for added availability continuity and accuracy These GEO signals are available over a wide area and can be received and processed by OEM4 family GPS receivers with appropriate firmware GPS user receivers are thus able to receive SBAS data in band and use not only differential corrections but also integrity residual errors and ionospheric information for each monitored satel
236. y that allows you to convert between file formats and strips unwanted records for data file compilation See Chapter 7 PC Software and Firmware on Page 88 for more information on the GPSolution and Convert programs 4 2 1 Starting the Receiver 42 The receiver s software resides in read only memory As such the unit self boots when turned on and undergoes a complete self test If an error condition is detected during a self test the self test status word would change this self test status word can be viewed in the header of any data output log Refer to the chapter on Messages in Volume 2 of this manual set for header information If a persistent error develops please contact your local NovAtel dealer first If the problem is still unresolved please contact NovAtel directly through any of the methods in the Customer Service section at the beginning of this manual on Page 12 When the receiver is first turned on no activity information is transmitted from the COM ports except for the port prompt The external data communications equipment screen will display one of these three messages COM1 if connected to COMI port COM2 if connected to COM2 port or COM3 if connected to COM3 port Any of these prompts indicate that the receiver is ready and waiting for command input Commands are typed at the interfacing terminal s keyboard and executed after issuing a carriage return command which is usually the same as pressing the
237. y time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy or ii be or become bankrupt or insolvent or make any composition with its creditors or have a receiver or manager appointed of the whole or any part of its OEM4 Family Installation and Operation User Manual Rev 16 9 Software License 10 undertaking or assets or otherwise as a solvent company for the purpose of and followed by an amalgamation or reconstruction hereunder its successor shall be bound by its obligations hereunder commence to be wound up or iii be acquired or otherwise come under the direct or indirect control of a person or persons other than those controlling it then and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing 30 days prior written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments
238. y utilizing single point positioning measurements for its position solutions thus is subject to the various GPS system biases However when the rover GPS receiver is receiving a pseudorange correction from the base station this correction is applied to the local receiver s measured pseudorange effectively cancelling the effects of orbital and atmospheric errors assuming baselines lt 50 km as well as eliminating satellite clock error The rover station must be tracking the same satellites as the base station in order for the corrections to take effect Thus only common satellite pseudoranges will utilize the differential corrections When the rover is able to compute its positions based on pseudorange corrections from the base station its position accuracies will approach that of the base station Remember the computed position solutions are always that of the GPS receiving antenna phase centre 72 OEM4 Family Installation and Operation User Manual Rev 16 Positioning Modes of Operation Chapter 6 6 4 L Band Positioning The transmission of OmniSTAR or CDGPS corrections are from geostationary satellites The L Band frequency of geostationary satellites is sufficiently close to that of GPS that a common single antenna like the NovAtel GPS 600 LB may be used Both systems are portable and capable of sub meter accuracy over their coverage areas The OmniSTAR system is designed for worldwide coverage A subscription charge by geographic

Download Pdf Manuals

Related Search

Related Contents

Harbor Freight Tools 95504 User's Manual  L - TOTO  France Soir - Equilibres  Controller Manual  AP フォークシールプッシャー 取扱説明書  

Copyright © All rights reserved. Failed to retrieve file