RT3000 User Manual
Contents
1. If the GNSS card only supports 5 Hz data rates then use COM COMI 115200N 8 1 N OFF ON LOG COM1 BESTVELB ONTIME 0 2 LOG COMI BESTPOSB ONTIME 0 5 LOG COM1 RANGECMPB ONTIME 0 5 LOG COMI TIMEB ONTIME 1 0 LOG COMI PSRDOPB ONTIME 1 0 LOG COMI TERRASTARSTATB ONTIME 1 0 LOG COMI TERRASTARINFOB ONTIME 10 0 SAVECONFIG It is essential to only use the binary logs from the Novatel GNSS card Sending any ASCII logs will prevent the Inertial from working properly m Oxford Technical Solutions Inertialt Novatel OEM6 Integration Manual Note that the TERRASTARSTATB log and the TERRASTARINFOB log will not be accepted unless your receiver is capable of receiving Terrastar It may be necessary to configure other parts of the GNSS card for example SBAS differential corrections Terrastar etc These can be saved using the SAVECONFIG command Do not use faster data rates than the ones proposed above This does not result in higher accuracy but may overload the processor in the Inertial Revision 140501 EH SIN inw m a Fault diagnosis The Inertial gets different information from the different messages that the OEM6 card outputs Table 4 lists the information decoded in each message Table 4 OEM6 message information Message Data rate Description BESTPOSB 2 Hz Required for Latitude Longitude Altitude Number of Satellites BESTVEL 10 Hz Required for Nor2. Inertial Novatel OEM6 integration manual Confidently Accurately Legal Notice Information furnished is believed to be accurate and reliable However Oxford Technical Solutions Limited assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use No license is granted by implication or otherwise under any patent or patent rights of Oxford Technical Solutions Limited Specifications mentioned in this publication are subject to change without notice and do not represent a commitment on the part of Oxford Technical Solutions Limited This publication supersedes and replaces all information previously supplied Oxford Technical Solutions Limited products are not authorised for use as critical components in life support devices or systems without express written approval of Oxford Technical Solutions Limited All brand names are trademarks of their respective holders Copyright Notice Copyright 2014 Oxford Technical Solutions Revision Document Revision 140501 See Revision History for detailed information Contact Details Oxford Technical Solutions Limited 77 Heyford Park Upper Heyford Oxfordshire OX25 5HD United Kingdom Tel 44 1869 238 015 Fax 44 1869 238 016 Web http www oxts com Email support oxts com E Oxford Technical Solutions E OS S On Inertialt Novatel OEM6 Int
3. OEMV 2 form factor SBAS 0 6 m DGPS 0 4 m TerraStar 0 1 m RT 2 1 cm 1 ppm OEM638 Triple frequency L Band GNSS receiver with L1 1 5m OEMV 3 form factor SBAS 0 6 m DGPS 0 4 m TerraStar 0 1 m RT 2 1 cm 1 ppm Note Novatel products may change Consult Novatel for the latest information Enclosure The Novatel cards are available as OEM board sets or alternatively can be mounted in an enclosure Novatel s selection of enclosures are designed to protect your receiver from the elements and provide a ready to use interface for quick integration The enclosures offer a wide variety of features for maximum versatility including USB support and high speed serial ports Revision 140501 E S me Table 2 Novatel enclosures Enclosure Card type Description ProPak6 OEM638 IP67 housing 3x RS 232 one required for the Inertial 3x RS 422 Ethernet USB Bluetooth FlexPak6 OEM628 Compact housing 2x RS 232 one required for the Inertial Ethernet USB Note Novatel have other enclosures and they are all suitable The Inertial only requires one RS232 port and all Novatel cards enclosures provide this License Novatel supply a variety of licenses for their GNSS cards This enables or disables various hardware functions For example despite having the OEM638 you may not have a license to use the RT 2 capability of this card This has the advantage of using a common platform but paying a reduced price if the fu
4. latency 3 5 ms KA Oxford Technical Solutions Inertial Novatel OEM6 Integration Manual S Yn QN Revision history Table 7 Revision history Revision Comments 140501 Initial version Revision 140501 EJ
5. d from the OEM6 If corrupt data was being sent then the LED would be flashing red Check that the baud rate is correct Check that the binary not ASCII logs are being output This is normal As long as the number is not increasing then there is nothing to worry about The BESTPOSB log is not being sent by the OEM6 The BESTVELB log is not being sent by the OEM6 The BESTPOSB or PSRDOPB log is not being sent by the OEM6 Neither TERRASTARSTATB log nor the TERRASTARINFOB log are being output by the OEM6 If all the data is being received from the OEM6 then the Internal GNSS is not working correctly Check the antenna that is connected to the primary port of the Inertial The current implementation of the OEM6 binary interface does not support all of the information required for the GPGSA and GPGSV messages so many of the fields will be blank Revision 140501 Em E T Accuracy specification Table 6 Performance specification for Inertial using Novatel OEM638 card Parameter RT 2 PPP DGPS SPS Positioning L1 L2 Terrastar D Differential GPS SPS Position accuracy cm 10 0 1 m CEP 0 4 m CEP 1 5 m CEP L1 1 2 m CEP L1 L2 Velocity accuracy 0 05 km h RMS 0 08 km h RMS 0 1 km h RMS 0 1 km h RMS Roll pitch 0 03 lo 0 04 lo 0 05 lo 0 05 1o Heading 0 1 lo 0 1 lo 0 1 lo 0 1 lo Track at 50km h 0 07 RMS 0 1 RMS 0 15 RMS 0 15 RMS Update rate 100 Hz 250 Hz dependent on Inertial model Calculation
6. egration Manual Table of contents Introduction 4 Products covered 5 Card type 5 Enclosure 5 License 6 Connection details 7 Configuration 8 Fault diagnosis 10 Accuracy specification 12 Revision history 13 Revision 140501 EX Introduction This manual explains how the Novatel OEM6 product family can be used with the Inertial The Novatel OEM6 products range in accuracy from single point L1 positioning 1 5 m to 1 cm 1 ppm RTK positioning Tight integration has been performed with the Novatel OEM6 receivers and the Inertial is optimised to give maximum performance using this product range The OEM638 receiver was used in our integration tests but the set up and configuration described in this manual should cover the full OEM6 range nm Oxford Technical Solutions Inertialt Novatel OEM6 Integration Manual Products covered When choosing a Novatel product there are three things to consider the card type the enclosure and the license Card type There are three types of GNSS card supplied by Novatel in the OEM6 range All cards have the same software interfaces and protocols All types of card are compatible with the Inertial Table 1 lists the different card types Table 1 Novatel card types Card type Description Accuracies OEM615 Dual frequency GPS and GLONASS receiver LI 1 5m with OEMV 1 form factor SBAS 0 6 m DGPS 0 4m RT 2 1 cm 1 ppm OEM628 Triple frequency L Band GNSS receiver with L1 1 5m
7. nctionality is not needed Below is a selection of licenses available for the OEMO cards A full list of licenses can be found on the Novatel website at http w ww novatel com assets Documents Papers Nov AtelModels pdf Table 3 Novatel licenses for OEM6 License type Description OEMO38 FAJ ROR TTR GPS GLONASS GALILEO BEIDOU L1 L2 L5 E1 E5a ESb AItBOC B 1 B2 SBAS L Band QZSS RT 2 positions and corrections 20 Hz measurements 20 Hz positions OEM638 G1J BOR TTR GPS L1 SBAS L Band QZSS RT 2 corrections OEM638 D2J BOR TTR GPS GLONASS L1 L2 SBAS L Band QZSS RT 2 corrections 20 Hz measurements 20 Hz positions L Band NTRIP OEM628 G1S BOG TTN GPS RT 20 corrections and raw data code positions and DGPS SBAS 20 Hz OEM628 D2L BOG TTR GPS GLONASS RT 2 corrections and raw data code positions and DGPS L Band NTRIP SBAS 20 Hz OEM615 G2S BOG TTO GPS RT 2 corrections and raw data code positions and DGPS SBAS 20 Hz Note Novatel have other software licenses this is just a selection The tracking performance of all the cards is the same fe Oxford Technical Solutions Inertialt Novatel OEM6 Integration Manual Connection details The Inertial should be connected to the Novatel GNSS receiver using RS232 serial ports On the Inertial the External GNSS connector is used On the Novatel GNSS receiver any of the serial ports can be used Note that the configuration description assumes that COMI is
8. th East and Down Velocity TIMEB 1 Hz Required for UTC offset PSRDOPB 1 Hz Required for DOP information and Number of Satellites TERRASTARSTATB 1 Hz Required for Terrastar tracking information TERRASTARINFOB 0 1 Hz Required for Terrastar serial number RANGECMPB 2 Hz Only required for post processing not required for real time operation in the current versions of firmware In addition the GNSS inside the Inertial must have found time and position so that it can accurately synchronise the IMU to the external GNSS An antenna must be fitted to the primary GNSS port in order to get the Inertial to work To trouble shoot the interface between the Inertial and the external GNSS receiver refer to Table 5 D Oxford Technical Solutions Inertialt Novatel OEM6 Integration Manual Table 5 Troubleshooting Problem Description The system appears to work even though the External GNSS is not connected The GNSS LED is off The External GPS Skipped Chars field is increasing The software shows that there are some skipped chars from the External GNSS The Position Mode is None The Velocity Mode is None The Number of Satellites is not being displayed Terrastar information is not being reported The Inertial does not initialise when driving forwards GPGSA and GPGSV messages have missing fields The Inertial is configured to use the internal GNSS receiver There is no data being receive
9. used Most Novatel GNSS enclosures come with a cable that has a 9 way female serial connector This can be connected directly to the External GNSS connector on the Inertial Power to the GNSS receiver and power to the Inertial are wired separately to each product A common ground should be used to avoid ground problems Revision 140501 E Configuration For best results you should return the Novatel card to the factory default settings before using it with the Inertial Any changes to the tracking loop or carrier phase smoothing may affect the timing and degrade the performance of the Inertial Consult the Novatel documentation to find out how to communicate and configure the GNSS cards To return the card to factory defaults enter the command freset This will reboot the GNSS card The serial ports will return to their default states and it may be necessary to reconfigure the terminal if applicable before being able to communicate with the card again Configure the card with the following commands COM COMI 115200 N 8 1 N OFF ON LOG COM1 BESTVELB ONTIME 0 1 LOG COMI BESTPOSB ONTIME 0 5 LOG COM1 RANGECMPB ONTIME 0 5 LOG COMI TIMEB ONTIME 1 0 LOG COMI PSRDOPB ONTIME 1 0 LOG COMI TERRASTARSTATUSB ONTIME 1 0 LOG COMI TERRASTARINFOB ONTIME 10 0 SAVECONFIG If the Inertial is connected to a different serial port then change COMI to the other serial port COM2 or COM3
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