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MiLLennium -GLONASS GPSCard

1. Hexadecimal Binary Hexadecimal Binary 0 0000 8 1000 1 0001 9 1001 2 0010 A 1010 3 0011 B 1011 4 0100 C 1100 5 0101 D 1101 6 0110 E 1110 7 0111 F 1111 C 6 GPS TIME OF WEEK TO WEEK AND TIME OF DAY EXAMPLE 511200 seconds Day 511200 86400 seconds per day 5 916666667 days Hour 0 916666667 x 86400 3600 seconds per hour 22 0000 hours Minute 0 000 x 3600 60 seconds per minute 0 000 minutes Second 0 000 x 60 0 000 seconds Day 5 Thursday 22 hours 0 minutes 0 seconds into Friday 54 GPS GLONASS Receiver User Manual Rev 1 r aes NovAtel C Common Unit Conversions C 6 1 CALENDAR DATE TO GPS TIME Example Days from January 6 1980 to January 28 2005 6 years x 365 days year 9125 days Add one day for each leap year a year is a leap year if it is divisible by 4 but not by 100 except for years that are divisible by 400 7 days Days into 2005 28th is not finished 27 days Total days 9159 days Deduct 5 days Jan 1 5 1980 9154 days GPS Week 9154 x 86400 seconds per day 790905600 seconds 604800 sec per week Every 1023 weeks the week rolls over to 0 283 weeks Seconds into week 6th day 13 5 hrs x 3600 sec hr 48600 seconds GPS time of week Week 283 48600 second C 7 ANGULAR CONVERSIONS p pi Z3 1415927 radians degrees x 180 7 degrees radians x 1 180 Magnetic bearing True bearing Magnetic variation True bearing Magnetic bearing Magnet
2. USE ANTI STATIC PRECAUTIONS NOVATEL COMMUNICATIONS LTD NovAtel Inc OM 20000040 rev 1 NovAtel MiLLenniume GLONASS GPSCard User Manual Publication Number OM 20000040 Revision Level 1 99 11 18 Firmware Version 6 48 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 license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement Itis 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 ProPak PowerPak MiLLennium GPSolution and Narrow Correlator are registered trademarks of NovAtel Inc GPSCard GPSAntenna RT 20 and RT 10 are trademarks of NovAtel Inc All other brand or product names are either trademarks or registered trademarks of their respective holders Copyright 1999 NovAtel Inc All rights reserved Unpublished rights reserved un
3. 98 GPS GLONASS Receiver User Manual Rev 1 r are NovAtel H NovAtel Format Logs Bit 23 Position Solution Invalid 0 Valid position computed 1 Position solution is not valid Bit 24 Position Fixed 0 Position has not been fixed 1 A fix position command has been accepted Bit 25 Clock Model Invalid 0 Clock model is valid 1 Clock model has not stabilized Bit 26 Clock Steering Disabled 0 Clockadjust is enabled 1 Clockadjust disable command has been accepted Bit 27 Do Not Have WAAS Almanac 0 Have WAAS almanac 1 Do not have WAAS almanac Bit 28 Do Not Have GLONASS Almanac 0 Have GLONASS almanac 1 Do not have GLONASS almanac Bit 29 TIMEOFFSET Proprietary use Note 1 As the amount of CPU power becomes limited the software will begin to slow down the position calculation rate If the CPU becomes further limited the software will begin to skip range measurement processing Priority processing goes to the tracking loops Note 2 Primary refers to GPS satellites and Secondary refers to GLONASS satellites Table H 3 Channel Tracking Status 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 4 Bit Description Range Values Hex Isb 0 1 1 T racking state 0 11 See below 2 4 8 10 0 n 0 first n last Channel number n depends on GPS Phase lockflag 1 Lock 0 Not locked Parity known flag 1 Known 0 Not known Code locked flag 1 Lock 0 Not locked Con
4. M INDEX Numerics 1 52 124 output 53 2D 116 122 124 3D 116 117 122 124 A A D 57 97 98 124 AC 63 68 69 76 79 AC DC 59 63 68 69 73 76 77 79 126 acquisition 52 100 114 115 119 124 age of differential corrections 111 alarm 114 almanac 52 114 data 11 30 31 114 123 tables 31 ambiguity 106 115 116 118 119 121 123 angle 100 110 119 121 antenna 6 8 22 23 53 56 57 59 60 62 73 74 76 95 97 98 115 118 122 active 21 23 57 84 cable 23 97 126 model 57 62 126 models 57 passive 23 56 position 97 power 21 22 57 84 primary 17 56 single frequency 18 23 57 anti static 18 47 ASCII 30 34 36 114 119 124 automatic gain control AGC 56 57 97 98 124 B battery 68 70 79 126 care 72 baud 25 rates 52 bearing 86 103 115 119 120 122 binary 34 37 95 98 log header 36 broadcast 11 buffer 98 overload 36 C A code 10 52 57 121 124 C No 61 75 106 cable loss 23 carrier phase 57 97 106 115 121 123 channe tracking 27 channel 52 57 63 95 99 100 101 106 116 120 121 tracking 95 100 101 channels 101 116 120 121 chatter 31 checksum 33 36 115 117 119 clock 11 13 17 51 53 56 97 99 106 116 117 120 offset 13 120 coaxial cable 15 17 18 23 57 59 62 73 76 com buffers 98 port 31 84 command defaults 29 communications port 19 57 protocol 22 configuration 17 18 21 22 23 28 35 46 57 61 62
5. Pin 1 DCD Brown Pin4 Pin2 RXD Black Pin3 Pin 3 TXD Red Pin2 Pin4 DTR Orange Pin 6 Pin 5 GND Yellow Pin 5 Pin 6 DSR Green Pin4 Pin 7 RTS Blue Pin 8 Pin 8 CTS Violet Pin 7 Pin9 NULL Gray Pin9 Pin 10 White not used Pin 1 jumpered to Pin 6 Reference Description 11 Red marker at top of connector 12 Male LEMO 10 pin plug 13 DEOS female connector 14 10 conductor wire GPS GLONASS Receiver User Manual Hev 1 67 E ProPak I Enclosure NavZtel E 3 3 3 Input Power Cables The following cables allow you to power the ProPak II enclosure from either an AC source an automotive DC source or a battery e 4 pin LEMO socket connector to cigarette lighter plug with built in 3 amp slow blow fuse NovAtel part number 01016331 e Optional 4 pin LEMO socket connector to auto ranging AC DC converter and AC power cord NovAtel part number GPS APRO e Optional 33 5 cm or 75 cm 4 pin LEMO plug to 4 pin LEMO plug connector NovAtel part numbers 01016724 and 01016725 respectively E 3 3 3 1 Input Power Cable NovAtel part number 01016331 5 10 2 3 1 1 1 4 7 I 3 1 2 1 I I 1 6 1 vd 1 4 80 oH 4 d 8 Reference Description Reference Description 1 Brown GND 5 Red marker at top of connector 2 Orange 10 to 36 V DC 6 Spring 3 Red 10 to 36 V DC 7 Universal tip 4 Black GND 8 3 amp slow blow fuse 68 GPS GLONASS Receiver Us
6. The following table describes the format types used in the description of binary logs Size Size S Type bytes bits Description char 1 8 The char type is used to store the integer value of a member of the representable character set That integer value is the ASCII code corresponding to the specified character int 4 32 The size of a signed or unsigned int item is the standard size of an integer on a particular machine On a 32 bit processor such as the NovAtel GPSCard the int type is 32 bits or 4 bytes The int types all represent signed values unless specified otherwise Signed integers are represented in two s complement form The most significant bit holds the sign 1 for negative 0 for positive and zero double 8 64 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision float 4 32 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision Each byte within an int has its own address and the smallest of the addresses is the address of the int The byte at this lowest address contains the eight least significant bits of the doubleword while the byte at the highest address contains the eight most significant bits The following illustration shows the arrangement of bytes within words and doublewords Similarly the bits of
7. Heading the direction in which a vessel points or heads at any instant expressed in degrees 000 clockwise through 360 and may be referenced to True North Magnetic North or Grid North The heading of a vessel is also called the ship s head Heading is a constantly changing value as the vessel oscillates or yaws across the course due to the effects of the air or sea cross currents and steering errors Integer Ambiguity Estimates carrier phase ambiguity estimates which are only allowed to take on integer values Iono free Carrier Phase Observation a linear combination of L1 and L2 carrier phase measurements which provides an estimate of the carrier phase observation on one frequency with the effects of the ionosphere removed It provides a different ambiguity value non integer than a simple measurement on that frequency Ionosphere The band of charged particles 80 to 120 miles above the earth s surface which represent a nonhomogeneous and dispersive medium for radio signals Ionospheric Delay A wave propagating through the ionosphere experiences delay Phase delay depends on electron content and affects carrier signals Group delay depends on dispersion in the ionosphere as well and affects signal modulation codes The phase and group delay are of the same magnitude but opposite sign Ionospheric Refraction The change in the propagation speed of a signal as it passes through the ionosphere Kinematic You
8. Rover Receiver the GPS receiver which does not know its position and needs to receive measurements from a reference station to calculate differential GPS positions The terms rover and remote are interchangeable RT 10 NovAtel s Double Differencing Technology for real time kinematic RTK carrier phase floating ambiguity resolution RTCA Radio Technical Commission for Aeronautics an organization which developed and defined a message format for differential positioning RTCM Radio Technical Commission for Maritime Services an organization which developed and defined the SC 104 message format for differential positioning RTK real time kinematic a type of differential positioning based on observations of carrier phase In this document it is also used with reference to RT 20 and RT 10 Satellite Constellation The arrangement in space of a set of satellites In the case of GPS the fully operational constellation is composed of six orbital planes each containing four satellites GLONASS has three orbital planes containing eight satellites each Satellite elevation the angle of the satellite above the horizon Selected waypoint the waypoint currently selected to be the point toward which the vessel is travelling Also called to waypoint destination or destination waypoint Selective Availability SA the method used by the United States Department of Defence to control access to the full accuracy
9. Table 1 2 Comparison of GLONASS and GPS Characteristics Parameter Detail GLONASS GPS Satellites Number of satellites 21 3 spares 21 3 spares Number of orbital planes 3 6 Orbital plane inclination degrees 64 8 55 Orbital radius kilometers 25 510 26 560 Signals Fundamental clock frequency MHz 5 0 10 23 Signal separation technique FDMA CDMA Carrier frequencies MHz L1 1602 0 1615 5 1575 42 Code clock rate MHz C A 0 511 1 023 P 5 11 10 23 Code length chips C A 511 1 023 P 5 11 x 10 6 187104 x 10 C A code Navigation duration minutes 2 5 12 5 Message Superframe capacity bits 7 500 37 500 Superframe reserve capacity bits 620 2 750 Word duration seconds 2 0 0 6 Word capacity bits 100 30 Number of words within a frame 15 50 Technique for specifying satellite ephemeris Geocentric Cartesian coordinates and their Keplarian orbital elements and derivatives perturbation factors Time reference UTC SU UTC USNO Position reference geodatic datum PZ 90 WGS 84 NOTES Bach satellite in the full 24 satellite GLONASS constellation is assigned an antipodal frequency Such a system of simultaneous multiple transmissions is known as frequency division multiple access FDMA and distinguishes GLONASS from GPS which is a code division multiple access CDMA system 2 GLONASS and GPS use different time systems GLONASS time is referenced to UTC SU the Russian National Etalo
10. in a double difference implementation measurements are differenced between different satellites on one receiver in order to cancel the clock bias effect Usually one satellite is chosen as the reference and all others are differenced with it Reference Station the GPS receiver which is acting as the stationary reference It has a known position and transmits messages for the remote receiver to use to calculate its position Relative bearing bearing relative to heading or to the vessel Remote Receiver the GPS receiver which does not know its position and needs to receive measurements from a reference station to calculate differential GPS positions The terms remote and rover are interchangeable 120 GPS GLONASS Receiver User Manual Rev 1 r eee NovAtel GPS GLONASS Glossary of Terms Residual in the context of measurement the residual is the misclosure between the calculated measurements using the position solution and actual measurements RMS root mean square a probability level of 68 This is true only for 1 D Gaussian distributions For 2 D or 3 D Gaussian Distribution the percentage of the values distributed inside a circle or sphere with a radius equal to the RMS value depends on distribution shape Roll to move by turning on an axis or to rotate about its axis lengthwise as an aircraft in flight Route a planned course of travel usually composed of more than one navigation leg
11. 1 If these bits are not all set to zero then the observation data pseudorange measurement carrier phase and Doppler measurements may jump as the clock adjusts itself Bit 11 Primary Jammer Detection 0 Normal operation is indicated when this bit is 0 1 If set to 1 the receiver has detected a high power signal causing interference When this happens the receiver goes into a special anti jamming mode where it re maps the A D decode values as well as special Primary AGC feedback control These adjustments help to minimize the loss that will occur in the presence of a jamming signal You should monitor this bit and if set to 1 do your best to remedy the cause of the jamming signal Nearby transmitters or other electronic equipment could be the cause of interference you may find it necessary to relocate your antenna position if the problem persists GPS GLONASS Receiver User Manual Rev 1 97 H NovAtel Format Logs NovAtel Bit State Description Bits 12 13 Buffer COM 1 COM 2 14 Normal operation is indicated by a 0 value 0 j m These bits are set to 1 to inform you when any of the 8 Kbyte output buffers have reached an over run condition COMI 1 or 2 Over run is caused by requesting more log data than can be taken off the GPSCard because of bit rate limitations or slow communications equipment If this happens the new data attempting to be loaded into the buffer will be discarded The receiver will not load a parti
12. Page 126 F 3 3 1 Input Power Cables The following cables allow you to power the PowerPak II enclosure from either an AC source an automotive DC source or a battery e Cigarette lighter power adapter with replaceable 3 amp slow blow fuse see section F 3 3 1 1 for a drawing of the cable NovAtel part number 01014989 e Optional auto ranging AC DC converter and AC power cord see section F 3 5 1 2 for more information NovAtel part number GPS APWR F 3 3 1 1 Cigarette Lighter Power Adapter NovAtel part number 01014989 The cigarette lighter power adapter included with the PowerPak II supplies 12 V DC while operating from an automotive source On the end of the cord which is inserted into the PowerPak II there is a retaining nut it threads onto the socket to keep the plug from accidentally being pulled out A replaceable 3 amp fuse is built into the assembly which is inserted into the cigarette lighter 2 is al 1 Reference Description 1 Cigarette lighter adapter 2 Retaining nut F 3 3 1 2 Optional AC to DC Power Converter NovAtel part number GPS APWR An optional AC to DC power converter is available for the PowerPak IL which allows you to operate the unit from an AC outlet The converter is autoranging to accommodate standard line voltages 110 to 220 V AC and frequencies 50 to 60 Hz It features a retaining nut on the connector that is inserted into the PowerPak II when threaded onto the socket it
13. 60 62 64 65 73 74 76 79 84 97 position accuracy 52 position update rate 52 power 18 23 51 56 power cable 59 68 73 79 power supply 17 18 19 53 56 PowerPak 74 76 77 processing 11 56 57 99 101 106 116 120 124 ProPak 8 15 19 47 60 62 63 64 126 pseudorange 97 104 106 116 118 119 120 measurement 97 128 GPS GLONASS Receiver User Manual Rev 1 L Index quick start 15 58 R radio frequency 56 57 124 RAM 97 124 range reject codes 95 100 raw data 52 reacquisition 52 104 real time 52 121 receiver 10 11 13 35 36 85 96 97 103 104 106 108 110 115 122 self test status 36 96 status 30 97 99 109 110 reference station 29 33 104 108 115 119 120 121 reject code 95 100 110 remote station 119 repair 47 48 reset 13 20 52 53 63 77 96 98 residual 121 RF downconverter 97 RF antenna cable 62 76 126 RF downconverter 97 98 RF signal 17 56 57 115 RMS 121 124 ROM 97 124 RS232 22 25 52 RTCA 34 121 124 RTCM 34 121 125 S satellite 23 30 56 57 97 100 104 106 110 114 115 117 118 119 120 121 122 segment control 10 11 segment space 10 11 segment user 10 11 self test 21 58 84 95 97 98 124 serial cable 65 66 67 126 software version 110 space segment 10 11 Space Vehicle Number 10 125 speed 36 57 111 116 120 strobe port cable 64 65 strobe signals 22 52 57 60 T tag 104 111 TDOP
14. 84 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel G GLONASS Commands G 2 4 COMn DTR This command enables versatile control of the DTR handshake line control high low or toggle active high or low lead time and tail time for use with output data logging in conjunction with external devices such as a radio transmitter The default state for the COMI or COM2 DTR line is always high Examples com1_dtr toggle high 300 150 com2 dtr toggle low 200 110 G 2 5 COMn RTS This command enables versatile control of the RTS handshake line control high low or toggle active high or low lead time and tail time for use with output data logging in conjunction with external devices such as a radio transmitter The default state for the COM1 or COM2 RTS line is always high COMn RTS will not influence the COMn command handshake control of incoming commands Example coml rts toggle high 200 100 com2 rts toggle low 250 125 G 2 6 DATUM This command permits you to select the geodetic datum for operation of the receiver If not set the value is defaulted to WGS84 Refer to Table G 2 in Appendix G of the MiLLennium Command Descriptions Manual 4 50 for a complete listing of all available predefined datums See the USERDATUM command in the MiLLennium Command Descriptions Manual 4 50 for user definable datums The datum you select will cause all position solutions to be based on that datum except PXY A B which is always based on WGS
15. NOTE Theunimplemented commands are disabled for GLONASS satellites only These commands can still be used with GPS satellites If by mistake you issue an unimplemented command to the MiLLennium GLONASS GPSCard for a GLONASS satellite the MiLLennium GLONASS GPSCard will simply inform you that the PRN is invalid The MiLLennium GLONASS GPSCard is unable to accept a GLONASS PRN as an argument For further information on these commands please consult the MiLLennium Command Descriptions Manual GPS GLONASS Receiver User Manual Rev 1 87 H NovAtel Format Logs NovAtel NOVATEL FORMAT LOGS H 1 GLONASS SPECIFIC LOGS GLONASS specific logs provide data by using information obtained from the GLONASS satellite system Following are the descriptions of MiLLennium GLONASS GPSCard s CALA B GALA B GCLA B and GEPA B logs The syntax and fields are as described below H 1 1 CALA B CALIBRATION INFORMATION GPS satellites all broadcast on the same frequency but broadcast different codes GLONASS satellites broadcast on different frequencies but use the same code The former technique is known as Code Division Multiple Access CDMA while the latter is known as Frequency Division Multiple Access FDMA Frequency dependent characteristics of the hardware result in small biases in the GLONASS pseudoranges You can enter calibration numbers for the various frequencies which will be subtracted from each pseudorange with the CALA B input The
16. Please see Appendix A Page 47 for details GPS GLONASS Receiver User Manual Hev 1 7 Foreword NavZtel FOREWORD CONGRATULATIONS Congratulations on purchasing your MiLLennium GLONASS positioning system The MiLLennium GLONASS GPSCard is the latest example of NovAtel s line of state of the art technology in an easy to integrate single card format Your new MiLLennium GLONASS GPSCard receiver accepts both GPS and GLONASS input signals from a GPS GLONASS LI antenna This system also provides real time kinematic RTK capability with NovAtel RT 10 The MiLLennium GLONASS is a tightly integrated system that provides a positioning system that meets the accuracy requirements of many applications on a single hardware platform SCOPE This manual addresses in detail the MiLLennium GLONASS GPSCard hardware attributes and installation information This MiLLennium GLONASS GPSCard User Manual also describes each of the special commands and logs that the MiLLennium GLONASS GPSCard is capable of accepting or outputting Please consult the MiLLennium Command Descriptions Manual NovAtel part number OM 20000041 for other commands and logs available with your MiLLennium GLONASS GPSCard The MiLLennium GLONASS GPSCard is also available as part of two stand alone packaged configurations the ProPak II enclosure or the PowerPak II enclosure A guide to using the ProPak II enclosure may be found on Page 59 and a guide to using the PowerPak II encl
17. RTK mode this log will reflect the latest low latency solution for up to 30 seconds after reception of the last reference station observations After this 30 second period the position reverts to the best solution available the degradation in accuracy is reflected in the standard deviation fields and is summarized in Chapter 4 Table 4 2 Page 41 If the system is not operating in an RTK mode pseudorange differential solutions continue for 60 seconds after loss of the data link though a different value can be set for GPS using the DGPSTIMEOUT command refer to the MiLLennium Command Descriptions Manual and for GLONASS using the DGLOTIMEOUT command see Page 82 PRTKA Structure PRTKA week sec lag fisv thigh L1L2 high lat lon hgt undulation datum ID lat 6 lon hgt o soln status rtk status posn type idle stn ID Xxx CR LF NOTES See Table H 8 Page 111 See Table H 10 Page 112 Table H 9 Page 112 Example PRTKA 993 597206 00 0 000 12 0 0 51 11633600370 114 03830984516 1072 4348 16 2712 61 14 3281 8 8081 24 7753 0 8 1 45 0 6F CR LF H 2 5 PVAA BXYZ POSITION VELOCITY AND ACCELERATION The PVAA B log contains the MiLLennium GLONASS GPSCard receiver s latest computed best available position velocity and acceleration in ECEF coordinates Compare this to the VLHA B log where the velocity latency is an average velocity based on the time diffe
18. in seconds second 7 2759576141834267E 012 22 Tk Time of frame start since start of GLONASS day in seconds 73800 23 Age Age of data in days 0 24 Flags Information flags see Table H 1 Page 94 13 25 XX Checksum 49 26 CR LF Sentence Terminator CR LF NOTE Time offset 3 hours GPS UTC offset See Section 1 5 Page 13 for more information on GLONASS and GPS time GPS GLONASS Receiver User Manual Rev 1 93 H NovAtel Format Logs NavZtel Example GEPA 991 496487 00 991 495913 00 10787 4 12 83 0 2 102581933593754E4007 1 216645166015627 007 7 7982763671875110 006 9 655075073242192 002 5 014476776123048 002 3 387468338012698 003 1 862645149230957 006 9 3132257461547851 007 9 313225746154785 007 3 913920372724533 004 7 2759576141834267E 012 73800 0 13 49 CR LF GEPB Format Message ID 77 Message byte count 156 Field Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Message byte count 4 integer bytes 8 2 GPS week of log output 4 integer weeks 12 3 GPS time of log output 8 double seconds 16 4 Reference week of ephemeris in GPS time 4 integer weeks 24 5 Reference time of ephemeris in GPS time 8 double seconds 28 6 GLONASS time GPS time 4 integer seconds 36 7 Slot number 4 integer ordinal 40 8 Frequency 4 integer ordinal 44 9 Issue 15 min reference
19. to change the 10 MHz default setting After the EXTERNALCLOCK FREQUENCY command is issued the VCTCXO attempts to lock onto this low phase noise reference frequency The synthesizer s lock is software configurable provided that the frequency of the external clock is either 5 or 10 MHz The EXTERNALCLOCK DISABLE command will return internal VCTCXO operation to normal The EXTERNALCLOCK command can also be used to optimize the MiLLennium s clock model Refer to the MiLLennium Command Descriptions Manual for further details on these commands GPS GLONASS Receiver User Manual Rev 1 81 G GLONASS Commands NovAtel GLONASS COMMANDS G 1 GLONASS SPECIFIC COMMANDS This chapter describes MiLLennium GLONASS GPSCard commands important to GLONASS GLONASS specific commands are generated by using information obtained from the GLONASS satellite system Please see the following sections for definitions of these commands G 1 1 DGLOTIMEOUT The differential GLONASS time out DGLOTIMEOUT command s function is to set the maximum age of differential data that will be accepted when operating as a remote station Differential data received that is older than the specified time will be ignored The ephemeris delay of the reference station is the same as for GPS and can be set using the DGPSTIMEOUT command refer to the MiLLennium Command Descriptions Manual for information on this command Since there is no Selective Availability SA on the GLONA
20. 16 4 Leap seconds plus three hour Moscow time offset 4 integer seconds 24 5 Fractional offset calculated by filter 8 double meters 28 6 Variance of fractional offset 8 double metres 2 36 7 Calendar day number within four year period beginning since the leap 4 integer day 44 year 8 From GLONASS almanac GLONASS time scale correction to 8 double seconds 48 UTC SU given at beginning of day N 9 Number of GPS satellites 4 integer 56 10 Number of GLONASS satellites 4 integer 60 11 Status flags 4 integer 64 92 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H NovAtel Format Logs H 1 4 GEPA B EPHEMERIS INFORMATION GLONASS ephemerides are referenced to the Parametry Zemli 1990 PZ 90 geodetic datum and GLONASS ephemeris information is available through the GEPA B log GLONASS coordinates are reconciled internally through a position filter and output to WGS84 Refer to the SVDA B log in the MiLLennium Command Descriptions Manual for information on WGS84 GEPA Structure GEPA week seconds ephweek ephtime time offset svid freq issue health posX posY posZ velX velY velZ LSAccX LSAccY LSAccZ tau gamma tk age flags XX CR LF Field Field Description Example 1 GEPA Log Header GEPA 2 Week GPS Week of log output 991 3 Seconds GPS Time of log output 496487
21. 1H 22 13 24 Chan Stabe Lock Lock Lock Lock Lock Doppler MGI 2245 506 34358 2191 CiNo db Hz 44 58 11 52 86 86 57 46 14 81 7 Residual 22 18 3252 2 35 25 28 12 14 LAT TIEGEC LORD oi m Lock 8329 2872 pira 1393 T3973 mj Reject Cade ood Good Good Good Good Syse Carm GPSEN SPEM GPSEN GPS H GPE M Measurement a Comis cm glo prz 3n n Farana 3 m ZI EMIT Ta Habs eni TT TT GPSolution is provided to facilitate your interaction with the MiLLennium GLONASS GPSCard However it certainly is possible to communicate with it through DOS or a Windows based communications program this is discussed in greater detail later in this section 4 3 1 POWER ON The GPSCard 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 will change this self test status word can be viewed in the RGEA B D and RVSA B data output logs please refer to the MiLLennium Command Descriptions Manual 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 Page 7 When the GPSCard is first turned on no activity information is transmitted from the COM ports except for th
22. 3 CALIBRATION DATA NovAtel MiLLennium GLONASS GPSCards can utilize the special data input command CALA B This special data input command is utilized by a MiLLennium GLONASS GPSCard and provides a method of calibrating pseudorange biases for a MiLLennium GLONASS GPSCard receiver The CALA log is specific to a single receiver This log has the same format as the output CALA B log see Page 88 This information will be stored in non volatile memory when the SAVECONFIG command is issued CALA B CALA 992 453075 2 FFFFFF00 0 491 0 050 0 640 0 055 0 687 0 050 0 977 0 050 1 066 0 049 1 334 0 047 1 291 0 049 1 661 0 054 1 504 0 055 1 967 0 054 1 927 0 052 2 308 0 053 2 428 0 050 2 534 0 051 2 621 0 054 3 027 0 054 2 740 0 049 3 039 0 051 2 865 0 055 3 310 0 049 3 903 0 060 3 970 0 070 4 359 0 055 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 03 GPS GLONASS Receiver User Manual Rev 1 33 4 Operation NovAtel 4 6 LOGS COMMON TO ALL GPSCARDS The MiLLennium GLONASS GPSCard receiver is capable of generating many NovAtel format output logs in either ASCII or binary format Please refer to the MiLLennium Command Descriptions Manual s Logs Chapter for a complete list of logs categorized by function 4 6 1 LOGS SPECIFIC TO MILLENNIUM GLONASS GPSCARD The MiLLennium GLONASS GPSCard generates four GLONASS specific logs e see Page 88 GALA see Page
23. 4 EphWeek Reference week of ephemeris in GPS time 991 5 EphTime Reference time of ephemeris in GPS time 495913 6 Time offset Integer seconds between GPS and GLONASS Time implies 10787 GLONASS ahead of GPS y SVID Slot number for satellite 4 8 Freq Frequency number for satellite 12 Issue 15 minute interval number corresponding to ephemeris reference 83 time 10 Health Ephemeris Health 0 GOOD 1 BAD 0 11 PosX X coordinate for satellite at reference time PZ90 in meters 2 102581933593754E 007 12 PosY Y coordinate for satellite at reference time PZ90 in meters 1 216645 166015627E 007 13 PosZ Z coordinate for satellite at reference time PZ90 in meters 7 7982763671875110E 006 14 X coordinate for satellite velocity at reference time PZ90 in 9 655075073242192E4002 meters s 15 VelY Y coordinate for satellite velocity at reference time PZ90 in 5 014476776123048E 002 meters s 16 VelZ Z coordinate for satellite velocity at reference time PZ90 in 3 387468338012698E 003 meters s 17 LSAccX X coordinate for lunisolar acceleration at reference time PZ90 in 1 862645149230957E 006 meters s s 18 LSAccY Y coordinate for lunisolar acceleration at reference time PZ90 in 9 3132257461547851E 007 meters s s 19 LSAccZ Z coordinate for lunisolar acceleration at reference time PZ90 in 9 313225746154785E 007 meters s s 20 Tau Clock offset from GLONASS time in seconds 3 913920372724533E 004 21 Gamma Frequency Correction
24. 75 76 87 105 configure 21 46 58 84 connector 51 constellation 10 118 control segment 10 11 115 converter 59 62 68 69 73 76 79 A D 57 AC DC 62 63 68 69 76 77 79 DC DC 63 77 coordinates 87 116 119 course over ground 115 CPU 36 56 98 99 124 overload 36 98 power 99 cross track 116 D data 26 data injection 30 datum 29 85 87 102 103 104 117 DC 15 17 20 56 57 63 68 77 79 DC DC 63 77 default 21 27 46 52 57 85 87 delay lock loop 124 differential corrections 30 33 35 64 104 111 120 positioning 58 121 digital electronics 15 56 57 direction 57 86 114 115 117 118 119 122 over ground 111 distance 54 87 102 103 114 115 118 119 122 124 Doppler 97 116 124 double differencing 121 DSP 57 97 124 E ECEF 104 116 117 123 124 electrostatic discharge ESD 6 18 47 48 124 elevation 110 119 121 ellipsoid 87 104 117 118 121 123 GPS GLONASS Receiver User Manual Rev 1 127 L Index PAN NovAtel ephemerides 10 11 ephemeris 11 100 117 121 124 equipment configuration 18 errors 98 106 116 118 121 extended cable lengths 22 23 57 external oscillator 56 F factory 20 21 44 53 63 default 29 filter 57 frequency 35 G GDOP 52 116 117 120 122 124 geodetic datum 85 117 geographic coordinates 103 geoid 117 121 geoidal separation 122 Global Positioning System 6 118 124 GLONASS 10 GPS time 13 g
25. 89 GCLAJB see Page 91 see Page 93 For a listing of logs common to all GPSCards with the exception of the GLONASS specific logs refer to the MiLLennium Command Descriptions Manual For details on GLONASS specific logs see Page 58 4 6 2 OUTPUT LOGGING The MiLLennium GLONASS GPSCard provides versatility in your logging requirements You can direct your logs to either COMI or COM2 or both ports as well as combine data types The MiLLennium GLONASS GPSCard has four major logging formats e NovAtel Format Data Logs ASCII Binary e NMEA Standard Format Data Logs ASCII e RTCM Standard Format Data Logs Binary e RTCA Standard Format Data Logs Binary NOTE RTCM and RTCA are used for differential position operation which is described in Section 4 7 Page 39 All data types can be logged using several methods of triggering each log event Each log is initiated using the LOG command The LOG command and syntax are listed on the following page 34 GPS GLONASS Receiver User Manual Rev 1 r eee Nolte 4 Operation Syntax log port datatype trigger period offset hold Syntax Description Example LOG port COMI or COM2 COMI datatype Enter one of the valid ASCII or Binary Data Logs see later in this chapter and Appendix H Page 88 POSA trigger Enter one of the following triggers ONTIME ONCE Immediately logs the selected data to the selected port once Default if trigger field is left bla
26. C030 5 15 or 30 m lengths coaxial cable to connect the GPS GLONASS antenna to the PowerPak II enclosure Cigarette lighter adaptor Optional AC DC power converter and power cables e Y type null modem data cable External oscillator cable user supplied Figure F 1 PowerPak Il Enclosure After the addition of these accessories together with user supplied data communications equipment and a power supply the PowerPak II enclosure will be a fully functioning combined GPS GLONASS receiver This is only one possible application of the PowerPak IL it can also be used by a system integrator to test and evaluate MiLLennium GLONASS GPSCards F 1 1 FEATURES The PowerPak II enclosure comes with the following amounting enclosure complete with a power converter and PCB interconnect back plane two serial data communication ports e an I O port for strobe signals an input RF port input power port e an input port capable of interfacing with an external oscillator GPS GLONASS Receiver User Manual Rev 1 73 PowerPak II Enclosure NavZtel e an electrostatic discharge ESD wrist grounding strap anexternal automotive cigarette lighter power adapter e aRS232C Y type null modem cable to facilitate communications with a PC Optional an autoranging AC to DC power converter anelectrostatic discharge ESD wrist grounding strap The enclosure measures 210 mm x 111 mm x 47mm weighs 980 g wit
27. Deltal Correction to nominal inclination in radians 3 02841363E 002 12 Ecc Eccentricity 1 49440765E 003 13 ArgPerig Argument of perigee PZ90 in radians 1 04694189E 001 14 DeltaT Offset to nominal orbital period in seconds 2 6561113E 003 15 DeltaTD Rate of orbital period in seconds per orbital period 3 662 10937E 004 16 Tau Clock offset in seconds 2 0217896E 004 38 Example GALA 991 496470 59 99 1 374232 88 16 22 1 3 94199E 004 9 2257260E 001 3 02841363 002 1 49440765 003 1 04694189 001 2 6561113 003 3 66210937E 004 2 0217896E 004 38 GPS GLONASS Receiver User Manual Rev 1 89 ay H NovAtel Format Logs Note GALB Format Message ID 78 Message byte count 112 Field Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Message byte count 4 integer bytes 8 2 Week number 4 integer weeks 12 3 Seconds of week 8 double seconds 16 4 Reference week GLONASS time in GPS format 4 integer weeks 24 5 Reference time GLONASS time in GPS format 8 double seconds 28 6 Slot number 4 integer ordinal 36 7 Frequency 4 integer ordinal 40 8 Health 4 integer 44 9 Ascending node time 8 double seconds 48 10 Ascending node longitude 8 double rad 56 11 Inclination correction 8 double rad 64 12 Eccentricity 8 double 72 13 Argument of perigree 8 double rad 80 14 Orbital period correction 8 double seconds 88 15 Orbi
28. Figure E 3 ProPak II Enclosure Rear End Cap Page 60 using interconnecting coaxial cable A typical Figure 2 1 NovAtel Coaxial and Serial Cables For more information see Antenna Cable Considerations Page 23 and RF Section Page 57 Connect COMI on the receiver to a serial port on your PC with a null modem serial data cable NovAtel part number 01016329 A typical serial cable is shown in Figure 2 1 on the right See also Chapter 4 Operation Page 24 Digital Electronics Section Page 57 and ProPak II Enclosure Installation Page Connect a power supply to the MiLLennium GLONASS The ProPak II enclosure is supplied with a LEMO to cigarette lighter power adapter cable If an alternative power source is preferred the cigarette lighter power cable adapter can be removed When the adapter is cut off and the cable stripped it will be observed that two leads are provided for each positive and negative connection This allows for parallel power sources such as dual batteries The DC power must be in the range from 10 to 36 V DC and the use of a 3 amp slow blow fuse is recommended perhaps the one from the cigarette lighter power adapter if you do not intend to use it See Preparing the Data Signal amp Power Harness Page 19 Principal Power Supply Page 57 and ProPak II Enclosure Installation Page 59 1 operation 2 Page 56 and RF Section Page 57 3 coaxial cable is shown in Figure 2 1 on the l
29. II Enclosure Installation Configuration see 76 F 4 Opening PowerPak Enclosure eese enne enne 78 G 1 Illustration of Magnetic Variation amp Correction 2 0 0 eee eeceseessceeeeeeceseeeeecneeesecseeaeenees 86 HA Navigation Parameters cette eet ete t Heri OG IRE dps 103 GPS GLONASS Receiver User Manual Rev 1 5 Warranty Policy NovAtel WARRANTY POLICY NovAtel 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 MiLLennium GLONASS GPSCard receiver One 1 Year GPS GLONASS Antenna Series One 1 Year Battery 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 limited solely to product replacement or product repair at an authorized NovAtel location only 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 ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NovAtel s SPECIFICATIONS OR FAILU
30. ON THE MILLENNIUM GLONASS GPSCARD Connector 64 pin 0 1 DIN 41612 Type B male right angle EXTERNAL CLOCK INPUT ON THE MILLENNIUM GLONASS GPSCARD Connector SMB male jack External Clock Input Frequency 5 MHz or 10 MHz CW Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 4 0 dBm minimum to 10 0 dBm maximum Freq stability 0 5 ppm maximum RF INPUT LNA POWER OUTPUT Connectors SMB male jack RF Input GPS 1575 42 MHz GLONASS 1602 1615 5 MHz LNA Power Output LNA power output is determined by the LNA jumper plug P301 position internal external Internal 4 25 5 25 V DC 0 180 mA current limit 200 20 mA External 30 V DC 100 mA max user supplied GPS GLONASS Receiver User Manual Rev 1 51 B Technical Specifications Nov Zlel Table B 1 MiLLennium GLONASS GPSCard Specifications continued PERFORMANCE Subject To GPS and GLONASS System Characteristics Frequency L1 GPS 1575 42 MHz 0 5 GLONASS 1602 1615 5 MHz Codes tracked C A codes Channels 10 GPS 6 GLONASS 10 GPS 8 GLONASS channel configuration is an option Re acquisition 1 5 5 s typical Computed Position Update Rate Up to 4 solutions per second Measured Data Update Rate 4 data records per second Height Limit Up to 18 288 m 60 000 feet in accordance with export licensing Velocity Limit Up to 515 m s 1000 Nmi hr in accordance with export licensing
31. PRN fields for GLONASS satellites use the convention of the RGEA B logs RTKOA Structure SRTKOA week sec status sat high L1L2 high fisv dyn 2 search comb Oxx Oxy Oxz Oy Oyy Oyz Ozx Oxy Ay AZ Oax Caz ISIV ISIV ref id fires sat id amb 4 res sat id amb res XX CR LF NOTES See Table H 13 Page 113 2 O static 1 3 See Table H 12 Page 113 4 See Table H 11 Page 112 Example RTKOA 929 237639 00 1 8 8 8 8 0 4 1 0 000006136 0 000003797 0 000006287 0 000003797 0 000013211 0 000007043 0 000006287 0 000007043 0 000018575 3 2209 3 0537 1 2024 0 0183 0 0138 0 0124 0 0 0000 1 7 21 6 0 001199 23 6 0 005461 31 6 0 009608 9 6 0 001963 15 6 0 000208 29 6 0 005643 25 6 0 004366 60 CR LF H 2 10 RVSA B RECEIVER STATUS This log conveys various status parameters of the receiver system The RVSA example was produced using the MiLLennium GLONASS GPSCard If the system is a multiple GPSCard unit with a master card certain parameters are repeated for each individual GPSCard If the system is composed of only one GPSCard then only the parameters for that unit are listed Together the RVSA B and VERA B logs supersede older receiver status logs RVSA Structure RVSA week seconds of sat_chan of sig_chan of cards rese
32. RTK status and 17 position type The data in the logs will change only when a reference observation changes If the log is being output at a fixed rate and the differential data is interrupted then the RTKA B logs will continue to be output at the same rate but the position and time will not change A good message trigger for this log is ONCHANGED Then only positions related to unique reference station messages will be produced and the existence of this log will indicate a successful link to the reference station RTKA Structure RTKA week seconds sv high L1L2 high lat Ton hgt undulation datum ID lat o Iono hgto soln status l rtk status posn type dyn mode stn ID TXX CR LF NOTES See Table H 8 Page 111 See Table H 10 Page 112 See Table H 9 Page 112 0 static 1 kinematic Example RTKA 872 174962 00 8 7 7 51 11358039754 114 04358003 164 1059 4105 16 2617 61 0 0036 0 0039 0 0066 0 0 4 0 119 33 CR LF 108 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H NovAtel Format Logs H 2 9 RTKOA B RTK SOLUTION PARAMETERS This is the RTK output log and it contains miscellaneous information regarding the RTK solution It is based on the matched update Note that the length of the log messages will vary depending on the number of matched satellites in the solution a quantity represented by sv in the field numbers The
33. Receiver User Manual Rev 1 P are NovAtel F PowerPak II Enclosure The EXTERNALCLOCK FREQUENCY command sets the GPSCard to accept either 5 MHz or 1OMHz external oscillator frequency Command External Oscillator Frequency EXTERNALCLOCK FREQUENCY 5 5 MHz EXTERNALCLOCK FREQUENCY 10 10 MHz For more information on the EXTERNALCLOCK command refer to the MiLLennium Command Descriptions Manual F 4 1 1 Connection to an External Oscillator To connect the external oscillator to the MiLLennium GLONASS GPSCard simply connect the cable from the external oscillator to connector P301 see Figure 3 1 Page 17 on the MiLLennium GLONASS GPSCard The MiLLennium GLONASS GPSCard does not have to be powered down during this procedure If handling the MiLLennium GLONASS GPSCard directly anti static practices must be observed please see Appendix A Page 47 for details To connect an external oscillator to a PowerPak II connect the coaxial cable from the external oscillator output port to the Ext Osc input port SMB male jack on the front panel of the PowerPak II NOTE Foroptimal results power down the PowerPak II before connecting or disconnecting the external oscillator Once the external oscillator has been installed you must issue the EXTERNALCLOCK command to define the clock frequency e g cesium rubidium or ovenized crystal NOTE Iftheinputclock rate is 5 MHz the EXTERNALCLOCK FREQUENCY command must also be issued
34. a double type are stored least significant byte first This is the same data format used by IBM PC computers char int double float 7 address n 31 23 15 7 0 two s complement n3 n 2 n l address n 62 55 51 47 39 31 23 15 7 0 Biased i hi S Exponent 52 bits mantissa 63 52 0 n 7 n 6 n 5 n 4 3 2 1 address n 30 22 15 7 0 S 23 bits mantissa 31 n 3 23 n2 n l address n GPS GLONASS Receiver User Manual Rev 1 37 4 Operation NovAtel 4 6 4 NMEA FORMAT DATA LOGS 4 6 4 1 General The NMEA log structures follow format standards as adopted by the National Marine Electronics Association NMEA The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 2 20 For further information refer to the MiLLennium Command Descriptions Manual Appendix F Standards and References The following table contains excerpts from the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description Field Type Symbol Definition Special Format Fields Status Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degreeslminutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decima
35. a single input voltage between the range of 10 to 36 V DC and converts it to the 5 V DC which the GPSCard requires The power input is reverse polarity protected and is protected by a replaceable 2 amp fuse The power card is held in place by card guides located inside the mounting enclosure It fits into the second slot from the bottom of the enclosure It couples to the back plane by means of a special power connector 74 GPS GLONASS Receiver User Manual Rev 1 P gZ NovAtel F PowerPak II Enclosure F 2 SPECIFICATIONS Only those specifications which differ from the MiLLennium GLONASS GPSCard see Table B 1 Page 49 will be shown in Table F 1 Table F 1 PowerPak Il Enclosure Specifications INPUT OUTPUT CONNECTORS Power 2 1 mm plug centre positive 10 to 36 V DC with screw on retaining nut External Oscillator Input SMB male jack Frequency 5MBz or 10 MHz CW Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 0 0 dBm minimum 13 0 dBm maximum Freq stability 0 5 ppm maximum COM1 COM2 DE9P connector Strobes DE9S connector Size 210 mm x 111 mm x 47mm Weight 980 g Including MiLLennium GLONASS GPSCard Operating Temperature 40 C to 60 C Storage Temperature 40 C to 85 C Altitude Not to exceed 5000 meters above sea level Humidity Not to exceed 90 non condensing Connector TNC connector RF Input GPS 1575 42 MHz GLONASS 1602 1615 5 MHz Power Output to LNA
36. assuming there are no problems with satellite visibility or the antenna system It is noted that Ionospheric Correction Data and UTC data are also collected at the same time as almanac data and will also be available following the 12 5 minutes collection period The GLONASS almanac takes at least 5 minutes to download GPSCards with the SAVECONFIG option will automatically save almanacs in their non volatile memory They will also automatically load the last saved almanac following a cold start or a reset The card will save an almanac and ionospheric and UTC data received from a satellite if there is no current data in non volatile memory NVM or if the GPS week number of the received data 1s newer than the week number of the data in NVM The save will occur for GPS almanacs from 12 5 25 minutes since the last reset while for GLONASS satellites the save will occur between 5 and 7 5 minutes afterwards To check if almanac data is saved in the NVM of the GPSCard check Bit 16 for GPS and Bit 28 for GLONASS in the receiver status word See Table H 2 Page 96 for more information There are no specific NovAtel log option commands to independently specify output of ionospheric or UTC parameters These parameters will always output following the GPS almanac ALMA log and will be identified by a SIONA and SUTCA header respectively See Chapter 4 Page 31 for more information on the ALMA output log command option The GLONASS almanac is output as a GALA lo
37. bit value is an exclusive OR XOR of all bytes in the log excluding the identifier and the asterisk preceding the two checksum digits Structure xxxx data field data field data field XX CR LF 4 6 3 3 Binary Log Structure Log types ending with the letter B or b will be output in Binary format e g CALB The structures of all Binary logs follow the general conventions as noted here 1 Basic format of Sync 3 bytes Checksum 1 byte Message ID 4 bytes unsigned integer Message byte count 4 bytes unsigned integer Data X 2 The Sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 11 17 3 The Checksum is an XOR of all the bytes including the 12 header bytes and is initially set to 00 4 The Message ID identifies the type of log to follow 5 The Message byte count equals the total length of the data block including the header NOTE Maximum flexibility for logging data is provided to you by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance CPU overload can be monitored using the idle time and buffer overload bits from the RCSA B log See Table H 2 Page 96 GPSCard receiver Self test Status Codes 36 GPS GLONASS Receiver User Manual Rev 1 P gZ NorAtei 4 Operation
38. broadcast signals contain the ephemeris data of the satellites the ranging signals the clock data and the almanac data These signals are passed to the master control station where the ephemerides are re computed The resulting ephemerides corrections and timing corrections are transmitted back to the satellites via the data up loading stations 1 3 3 THE USER SEGMENT The user segment such as the NovAtel GPSCard receiver consists of equipment which tracks and receives the satellite signals The user equipment must be capable of simultaneously processing the signals from a minimum of four satellites to obtain accurate position velocity and timing measurements 1 4 GLONASS SYSTEM DESIGN As with GPS the GLONASS system uses a satellite constellation to ideally provide a GLONASS receiver with six to twelve satellites at most times A minimum of four satellites in view allows a GLONASS receiver to compute its position in three dimensions as well as become synchronized to the system time The GLONASS system design consists of three parts e The Space segment The Control segment e The User segment All these parts operate together to provide accurate three dimensional positioning timing and velocity data to users worldwide 1 4 1 THE SPACE SEGMENT The Space Segment is the portion of the GLONASS system that is located in space that is the GLONASS satellites and any ancillary spacecraft that provide GLONASS augmentation information i e
39. for the ASSIGN command Example Entering the command assign 14 120043 is the same as entering the command assign 14 120000 where 14 is the channel 12 is the frequency and 6 is the slot number Assigning two GLONASS satellites with the same frequency but different slot numbers may not give the desired result assign 3 60046 assign 4 60052 G 2 2 ANTENNAPOWER On MiLLennium GLONASS GPSCards this command enables or disables the supply of electrical power from the internal power source of the card to the low noise amplifier LNA of an active antenna Jumper P301 allows you to power the LNA either by an internal power source plug connects pins 1 amp 2 or an optional external power source plug connects pins 2 amp 3 or you can cut off all power to the antenna plug removed The ANTENNAPOWER command which is only relevant when Jumper P301 is set to connect pins 1 amp 2 determines whether or not internal power is applied to pin 1 of Jumper P301 Table 3 1 Page 22 summarized the combinations The setting of this command on off will affect the way the MiLLennium GLONASS GPSCard s self test diagnostics see Table H 2 Page 96 report the antenna s status Example antennapower off G 2 3 COMn This command permits you to configure bps parity data bits stop bits handshake echo and FIFO the MiLLennium GLONASS GPSCard COM port s asynchronous drivers Examples com2 19200 e 7 1 n on off com 1200 e 8 1 n on off
40. includes the message format and the sequence in which the messages are to be transferred Also includes the signalling requirements such as bit rate stop bits parity and bits per character Control segment the Master Control Station and the globally dispersed reference Stations used to manage the satellites determine their precise orbital parameters and synchronize their clocks GLONASS and GPS have their own control segments and use their own time for determining clock offset Course the horizontal direction in which a vessel is to be steered or is being steered the direction of travel through the air or water Expressed as angular distance from reference North either true magnetic compass or grid usually 000 north clockwise through 360 Strictly the term applies to direction through the air or water not the direction intended to be made good over the ground see track Page 122 Differs from heading Course Made Good CMG the single resultant direction from a given point of departure to a subsequent position the direction of the net movement from one point to the other This often varies from the track caused by inaccuracies in steering currents cross winds etc This term is often considered to be synonymous with Track Made Good however track made good is the more correct term Course Over Ground COG the actual path of a vessel with respect to the Earth a misnomer in that courses are directions steered
41. indicates the solution rate provided by the receiver when operating normally User Segment The part of the whole combined GPS GLONASS system that includes the receivers of combined GPS GLONASS signals VDOP Vertical Dilution of Precision This is related to GDOP It describes the effects of geometry on vertical positioning accuracy It is defined to be the square root of the diagonal of a normalized assume measurement noise 1 covariance matrix which corresponds to vertical position error Variable field by NMEA standards a data field which may or may not contain a decimal point and which may vary in precision following the decimal point depending on the requirements and the accuracy of the measuring device 122 GPS GLONASS Receiver User Manual Rev 1 P gZ NovAtel GPS GLONASS Glossary of Terms WGS84 World Geodetic System 1984 is an ellipsoid designed to fit the shape of the entire Earth as well as possible with a single ellipsoid It is often used as a reference on a worldwide basis while other ellipsoids are used locally to provide a better fit to the Earth in a local region GPS uses the center of the WGS84 ellipsoid as the center of the GPS ECEF reference frame Waypoint a reference point on a track Wide Lane a particular integer ambiguity value on one carrier phase range measurement or double difference carrier phase observation when the difference of the L1 and L2 measurements is used It is a c
42. mark input pulse refer to the LOG command syntax ONMARK in the MiLLennium Command Descriptions Manual Status Output 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 the MiLLennium Command Descriptions Manual RESETOUT Polarity positive pulse 140 ms lt pulse duration lt 280 ms RESETIN A high to low transition causes a system reset The electrical specifications of the strobe signals are as follows Output Voltage Standard TTL levels Sink Current 64 mA Source Current 15 mA Input Voltage Standard TTL levels Current lt 5 52 GPS GLONASS Receiver User Manual Rev 1 are Nolte B Technical Specifications Table B 2 64 Pin I O Connector Description Row B Descriptions Pin RowA Descriptions GND Digital Ground 1 GND Digital Ground 5V Input power supply 2 5V Input power supply Reserved for future use 3 N C LNA PWR Optional external power to antenna other than a standard 4 GND Digital Ground NovAtel GPS GLONASS antenna jumper plug P301 must be correctly set N C 5 For factory use only N C 6 For factory use only N C 7 GND Digital Ground N C 8 DTRI Data Terminal Ready for COM 1 CTS1 Clear to Send for COM 1 9 TXDI Transmitted Data for COM 1 RTS1 Request t
43. more information Example datum PZ90 Sets the default PZ90 values for the output position parameters GPS GLONASS Receiver User Manual Rev 1 85 G GLONASS Commands NovAtel G 2 7 MAGVAR Two field options are included a standard deviation field and an auto field The MiLLennium GLONASS GPSCard computes directions referenced to True North Use this command magnetic variation correction see Figure G 1 Page 86 if you intend to navigate in agreement with magnetic compass bearings The correction value entered here will cause the bearing field of the NAVA B log see Page 102 to report bearing in degrees Magnetic The magnetic variation correction is also reported in the GPRMC and GPV TG logs The MiLLennium GLONASS GPSCard will compute the magnetic variation correction if you use the auto option Example 1 magvar 15 0 Example 2 magvar auto Figure G 1 Illustration of Magnetic Variation amp Correction Reference Description a True bearing b Local magnetic variation c Local magnetic variation correction negative of magnetic variation d Heading 50x True 65x Magnetic e True North f Local Magnetic North c Magnetic bearing 86 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel G GLONASS Commands G 2 8 SAVECONFIG This command saves your present configuration in non volatile memory Example SAVECONFIG G 2 9 SETNAV This command permits entry of one set of n
44. numbers can also be output as a log CALA B CALA Structure CALA week sec reserved reserved bias 1 std dev bias 1 bias 32 std dev bias 32 CR LF XX Field Field Description Example 1 CALA Log Header CALA 2 Week GPS week number 992 3 Sec GPS time into week in seconds 453075 4 Reserved for future use 5 Reserved for future use 6 7 Bias 1 Std Dev Bias 1 Pseudorange bias for frequency Std Dev of bias in meters 0 491 0 050 8 9 Bias 2 Std Dev Bias 2 1 070 0 041 10 11 Bias 3 Std Dev Bias 3 1 029 0 041 50 51 Bias 23 Std Dev Bias 23 1 999 0 500 52 53 Bias 24 Std Dev Bias 24 2 813 0 500 54 55 Bias 25 Std Dev Bias 25 0 000 5 000 68 69 Bias 32 Std Dev Bias 32 0 000 5 000 70 XX Checksum 03 71 CR LF Sentence terminator CR LF Example CALA 4 480377 2 FFFFFF00 1 070 0 041 1 029 0 041 1 054 0 043 0 646 0 041 0 735 0 041 0 526 0 040 0 456 0 039 0 520 0 040 0 148 0 040 0 469 0 039 0 156 0 040 0 000 0 000 0 115 0 039 0 281 0 040 0 269 0 039 0 246 0 039 0 685 0 039 0 391 0 039 0 661 0 039 0 967 0 040 1 121 0 500 1 471 0 500 1 999 0 500 2 813 0 500 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 0 000 5 000 2A CR LF 88 GPS GLONASS Receiver User Manual Rev 1 r are NovAtel H NovAtel Format Log
45. numeric field Optional leading and trailing 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 field hh Fixed length HEX numbers only MSB on the left Information Fields Variable text C C Variable length valid character field Fixed alpha field aa Fixed length field of uppercase or lowercase alpha characters Fixed number field XX Fixed length field of numeric characters Fixed text field cc Fixed length field of valid characters CA cere ao mon A negative sign NOTES Spaces may only be used in variable text fields HEX 2D is the first character in a Field if the value is negative The sign is omitted if value is positive All data fields are delimited by a comma Null fields are indicated by no data between two commas Null fields indicate invalid or no data available The NMEA Standard requires that message lengths be limited to 82 characters 38 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation 4 6 4 2 NMEA Logs From The MiLLennium GLONASS GPSCard NMEA messages start with a sign followed by five letters The first two letters represent the type of receiver broadcasting the message i e GP for a GPS only receiver GL for GLONASS and GN for a combined receiver and the last three letters represent the message
46. port COMI is connected to the GPSCard s COMI port and that a remote terminal is connected to the GPSCard s 2 port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log com1 posa ontime 15 log com1 spha ontime 15 log nava ontime 15 log com2 gprmb ontime 15 5 log com2 gpvtg ontime 15 5 log com2 rcca ontime 60 2 Save this with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the MiLLennium GLONASS GPSCard communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 From the Transfer menu use the Send text file selection to locate this file to be sent to the MiLLennium GLONASS GPSCard Once you double click on the file or select Open HyperTerminal will send the file to the MiLLennium GLONASS GPSCard The above example initializes the GPS Card with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The POSA SPHA and NAVA logs have been set to output from the GPSCard COMI port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA see NMEA Page 38 logs have been set to be logged out of the GPSCard COM2 port at intervals of 15 seconds and offset by five seconds
47. power supply the ProPak II enclosure will be ready for the most demanding applications E 1 1 FEATURES The ProPak II enclosure comes with the following rugged shock water EMC EMI and dust resistant enclosure two serial communication ports e an I O strobe port one RF port aninput power port amounting plate one straight and one null modem serial data cable one I O strobe cable e one 4 LEMO socket connector to cigarette lighter plug with built in 3 amp slow blow fuse The enclosure measures 251 mm x 130 mm x 62 mm weighs 1 3 kg and is constructed of extruded aluminum The enclosure is sealed by two end caps and the entire unit is closed with five mounting screws NOTE The unit is sealed to provide protection against adverse environmental conditions therefore any attempt to open the case will impair the water resistant qualities of the enclosure and void the warranty GPS GLONASS Receiver User Manual Rev 1 59 E ProPak I Enclosure NovAtel E 1 2 CONNECTIONS AND INDICATORS The ProPak II enclosure features front and rear end caps Figure E 2 and Figure E 3 each with appropriate indicator lights and connectors The front end cap indicator glows red when power is on and green when a valid position is computed Figure E 2 ProPak Il Enclosure Front End Cap 1 Indicator Status Red Power on Green Valid position computed On the rear end cap there are co
48. section of Table B 1 Page 52 contains descriptions of each of the T O strobes along with their electrical specifications For field replacement of the LEMO connector please consult Appendix K Page 126 for a list of the manufacturers part numbers Note that the STATUS line is used to toggle the valid position LED on the front end cap between red power on and green valid position Please see Section E 3 3 1 1 for a drawing of the cable Two serial data cables are supplied with the ProPak II enclosure to connect the receiver to a PC or modem radio They both look identical but their uses and part numbers differ The straight cable see Section E 3 3 2 1 10 pin LEMO plug to 9 pin D connector DE9P plug is used to connect the receiver to a modem or radio transmitter to propagate differential corrections Its NovAtel part number is 01016383 The null modem cable see Section E 3 3 2 2 10 pin LEMO plug to 9 pin D connector DE9S socket is used to connect the receiver to a serial RS232C communication port on a terminal or computer Its NovAtel part number is 01016329 64 GPS GLONASS Receiver User Manual Rev 1 P eee NovAtel ProPak Il Enclosure E 3 3 1 1 I O Strobe Port Cable NovAtel part number 01016330 11 LEMO Pin Number Pin Description Wire Color Code Pin 1 VARF variable frequency Brown Pin 2 1 PPS one pulse per second Black Pin 3 MSR meas
49. source or by the optional auto ranging AC DC converter NovAtel part number GPS APRO which operates over a range of 110 220 V AC and 50 60 Hz The power input is reverse polarity protected Refer to Table F 1 Page 75 for further information WARNING The MiLLennium GLONASS GPSCard will suspend operation if voltage supplied falls outside input range 10 to 36 V DC F 3 2 ACCESSING THE POWER BOARD FUSE The power board incorporates a 2 amp normal blow fuse located near the rear of the power board Follow these instructions to check or replace this fuse CAUTION Be sure that the power plug is disconnected from the PowerPak II before you attempt to remove the front panel Use the wrist strap to properly discharge static build up before handling the printed circuit boards Use anti static precautions whenever the PowerPak II is opened To access the power fuse follow these steps 1 Remove the four corner screws from each of the front and back panels of the PowerPak II enclosure 2 Remove the rear panel to create an opening into the enclosure 3 Through this opening push both the GPSCard and power card forward as far as you can This will expose the back plane GPSCard and the power board 4 Now from the other end grasp the exposed edges of the GPSCard and the power card and gently pull until approximately 3 4 of both cards are extended beyond the front panel opening 3 The fuse will now be fully exposed for checking or repl
50. teen eu taeu irestore 48 B 1 MiLLennium GLONASS GPSCard Specifications sse 49 B 2 64 Pin I O Connector Description ssesesseeeeeeeeene eene nene 53 GPS GLONASS Receiver User Manual Hev 1 EN r are Note Table of Contents E 1 ProPak II Enclosure Specifications 61 F 1 PowerPak Enclosure Specifications seseeeeeeeeeeeeeeeeenennee eere 75 H 1 GLONASS Ephemeris Flags Coding eese enne 94 H2 Receiver Self Test Status Codes seen ttu en 96 H3 Channel Tracking Status 1 esee deep tette eer retire reas 99 H 4 GPSCard Range Reject Codes sitet rettet reed 100 H5 Navigation Stat s intime trie ue POR Reb cios eb BEI tes e Ere ree bee tdeo 102 Range Record Format RGED only 107 H7 Velocity Status eaten eee UO EHE E eH E 111 H 8 GPSCard Solution Status 2 pn etre p repe URP n EEEE ES 111 H 9 Position edu eerie it ARR EE esa e e Oe ese eee 112 H 10 RTK Status for Position Type 3 and 8 sse 112 Hell Ambiguity Types aere ee OR REIR E EUER HR RECEN ences EIE EYE res 112 H 12 Searcher Status nee RE pbi e urbe ER 113 ee eR menie qe enini 113 FIGURES 1 1 View of GPS and GLONASS Combined Satellite Orbit Arrangement 10 1 2 View of GPS Satellite Orb
51. the Secondary ARG circuits are operating within a normal range of control Bit 18 Secondary Jammer Detection 0 Normal operation is indicated when this bit is 0 1 If set to 1 the receiver has detected a high power signal causing interference When this happens the receiver goes into a special anti jamming mode where it re maps the A D decode values as well as special Secondary AGC feedback control These adjustments help to minimize the loss that will occur in the presence of a jamming signal You should monitor this bit and if set to 1 do your best to remedy the cause of the jamming signal Nearby transmitters or other electronic equipment could be the cause of interference you may find it necessary to relocate your antenna position if the problem persists Bit 19 Secondary PLL 0 If a fault is detected in the Secondary RF downconverter this bit is set to 0 1 When the Secondary RF downconverter passes self test the bit will be set to 1 Bit 20 OCXOPLL 0 If a fault is detected in the OCXOPLL bit this bit is set to 0 1 When the OCXOPLL bit passes self test the bit will be set to 1 Bit 21 Saved Almanac Needs Update 0 This bit will be set to 0 if an almanac has not been received that is newer than the one stored in memory 1 When the almanac received is newer than the one currently stored in NVM non volatile memory the bit will be set to 1 Bit 22 Almanac Invalid 0 Valid almanac in use 1 No almanac in use
52. the observation records reference station information must also be sent in the form of an RTCAREF message which follows RTCA Type 7 subtype N protocol as well It is recommended that the observation information be sent at 2 second intervals while the reference station information be sent at 10 second intervals The following commands for the reference and remote stations will initialize RTK operation GPS GLONASS Receiver User Manual Rev 1 41 4 Operation NovAtel 1 Reference Station initialization fix position lat lon height station ID log comn rtcaref ontime interval log comn rtcaobs2 ontime interval example fix position 51 11358042 114 04358013 1059 4105 RW34 log rtcaref ontime 10 log rtcaobs2 ontime 2 2 Remote Station initialization accept rtca example accept 2 rtca Once initialized the RTK system is ready to go NOTE The form of the station ID for RTCA messaging can contain alphanumeric characters unlike the RTCM format 4 7 3 MONITORING YOUR RTK OUTPUT DATA The accuracy that can be achieved using RTK positioning is dependent on many external factors including satellite visibility satellite geometry data latency and distance between the remote and reference receiver All of this information is available as output from the MiLLennium GLONASS GPSCard receiver Estimates of the remote receiver position are also accompanied by estimates of possible receiver error and care sho
53. the same model you will need to transfer new program firmware to the MiLLennium GLONASS GPSCard using the Loader utility program As the Loader and update programs are generally provided in a compressed file format you will also be given a file decompression password The Loader and update files can be found on NovAtel s FTP site at http www novatel ca or can be sent to you on floppy disk or by e mail These procedures are described more completely in this chapter Your local NovAtel dealer will provide you with the information you require to update or upgrade your receiver 5 1 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 MiLLennium GLONASS GPSCard model available within the same revision level as your current model e g upgrading from a MiLLennium GLONASS Standard rev 7 46 to a MiLLennium GLONASS RT 10 rev 7 46 This command only functions in conjunction with a valid auth code The upgrade can be performed directly from Loader s built in terminal emulator or any other communications software The procedure is as follows Turn on the GPSCard and establish communications over a serial port Issue the VERSION command to verify the current firmware model number revision level and serial number Issue the AUTH command followed by the auth code and model t
54. type To log a supported NMEA message on the MiLLennium GLONASS GPSCard the log type is given by the prefix NM followed by the NMEA message type For example to log the NMEA geographic position GLL message every 10 seconds the command would be the following Example Log com NMGLL ontime 10 The receiver will choose the receiver type for the output message If GPS and GLONASS satellites are being used in the position calculation the above command would output a GNGLL log every ten seconds In all cases the output will conform to the NMEA version 2 2 specification For reference information see the MiLLennium Commands Description Manual Appendix F For a listing of NMEA messages that are supported by the MiLLennium GLONASS GPSCard please see Table 4 1 NOTE The GP log types i e GPGLL will still be accepted to support backwards compatibility but the output will always conform to the NMEA specification with respect to the output prefix Table 4 1 NMEA Messages Supported By The MiLLennium GLONASS GPSCard NovAtel Log Type NMEA Message Identifier Description NMGLL GLL Geographic position Latitude Longitude NMGNS GNS GNSS position fix NMGST GST GNSS Pseudorange error statistics NMGSV GSV GNSS Satellites in view NMRMB RMB Recommended minimum navigation information NMRMC RMC Recommended minimum specific GNSS data NMVTG VTG Course over ground and ground speed NMZDA ZDA UTC time and date NMZTG ZIG UTC t
55. u 161 0 6 58 0 0 a T 164 3 E 0 L 3 8 6 47 met d 88 0 15 EE Sem HO 63 1 54 9 2 49 2 16 tf T 5 A I t 1 3 6 le 88 9 OO 140 004 0 14 3 50 5 6 l4 PLACES 0 22 All dimensions in millimeters followed by inches GPS GLONASS Receiver User Manual Hev 1 49 B Technical Specifications Nortel Table B 1 MiLLennium GLONASS GPSCard Specifications Figure B 2 L1 L1 Series Side amp End Views 3 0 94 0 0 12 3 70 i i i 1 T muti oue ee 1 11 8 0 58 mE 0 47 1 84 L T 0 27 00 0 3 94 0 06 E 34 dimensions in millimeters followed by inches 0 22 50 GPS GLONASS Receiver User Manual Rev 1 B Technical Specifications Table B 1 MiLLennium GLONASS GPSCard Specifications continued ENVIRONMENTAL Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity 95 non condensing max Altitude Acceleration Voltage Sea level to 5000 m may operate above 5000 m in a controlled environment however is not certified as such ACCELERATION 6g maximum sustained tracking POWER REQUIREMENTS 4 875 5 250 V DC Allowable voltage ripple 75 mV p p max Power 7 5 typ 9 2 W max POWER amp DATA CONNECTOR
56. 0 Notes on Table H 2 1 Bit 3 On OEM GPSCards ROM includes all forms of non volatile memory 2 Bits 12 15 Flag is reset to 0 five minutes after the last overrun overload condition has occurred 3 Bits 1 5 11 Refer to the primary L1 RF digital path For GPS 4 Bits 17 19 Refer to the secondary L1 RF digital path For GLONASS 5 Bit 29 Is used by the NovAtel GPS Time Simulator firmware 96 GPS GLONASS Receiver User Manual Rev 1 H NovAtel Format Logs Receiver Status Detailed Bit Descriptions of Self Test Table H 2 Bit State Description Bit 0 Antenna 0 If the antenna connection is shorted together then this bit will be clear 0 indicating a possible antenna port problem 1 This bit will be set good if the antenna is drawing the appropriate amount of current from the GPSCard antenna jack Overcurrent is tested not undercurrent Bit 1 Primary PLL 0 If a fault is detected in the Primary RF downconverter this bit is set to 0 1 When the Primary RF downconverter passes self test the bit will be set to 1 Bit 2 RAM 0 If the bit has been set to 0 then RAM test has failed please contact NovAtel Customer Service 1 When this bit is set to 1 the receiver RAM has passed the self test requirements Bit 3 ROM Note ROM includes all forms of non volatile memory NVM 0 A zero bit indicates the receiver has failed the ROM test 1 When this bit i
57. 0 S 0 1 10 to 5 over 3000 S 0 1 5 or less 1 to 600 K 0 1 100 to 12 600 to 3000 K 0 1 12 to 5 over 3000 K 0 1 5 or less S K 0102 1 1 S K 2007 1 2 per sec S K 7 to 30 1 5 per sec S K 30 to 60 1 7 per sec S K 60 or more 1 Single Point S K 0 0 to 10 0 5 per km S K 0 10 to 20 40 75 per km S K 0 20 to 50 1 0 per km a For 12 or more satellites above the mask where the RTK mask angle ranges from 11 to 14 as the baseline goes from 0 to 15 km Above 15 km it is 14 b K Kinematic during initial ambiguity resolution S z Static during initial ambiguity resolution c The accuracy specifications refer to the PRTKA B logs which include about 3 cm prediction error RTKA B logs are more accurate but have more latency associated with them d Between 30 and 60 seconds assumes pseudorange differential positioning If Type 1 corrections have not been transmitted the accuracy drops to single point mode after 30 seconds e Fortypical tropospheric and ionospheric errors A new message type based on the RTCA format has been created to allow for combined GPS GLONASS operation This is a proprietary message following the RTCA Type 7 subtype N protocol described in the RTCA specifications for SCAT 1 approaches The reference information for RTCA messaging is found in Appendix F of the MiLLennium Commands Description Manual The new RTCA message is significantly more efficient for L1 only operation Along with
58. 116 118 122 time accuracy 52 timing strobes 19 track 61 75 made good 115 122 tracking 30 51 99 100 101 104 106 114 115 116 120 status 106 120 trigger 34 35 58 108 true north 86 114 115 118 119 122 U undulation 122 user datum 102 segment 10 11 UTC 13 30 32 122 data 30 parameters 31 V VARF 20 22 53 58 125 output 53 VDOP 116 122 125 velocity 10 11 52 104 111 116 120 quality 111 vibration 18 19 61 75 voltage 22 23 47 51 52 61 63 71 77 W waypoint 87 102 114 116 120 121 123 125 WGS 84 85 WGS84 87 103 104 123 wire harness 18 19 21 22 GPS GLONASS Receiver User Manual Rev 1 129 NovAtel NovAtel Inc 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 GPS Hotline 1 800 NOVATEL Canada amp U S only GPS Fax 403 295 4901 E mail support novatel ca Web site http www novatel ca Recyclable amp Printed in Canada on recycled paper OM 20000040 Revl 11 18 99
59. 24 satellites in six orbital planes inclined 55 from the equator with four satellites in each plane The orbital period of each satellite is approximately 12 hours at an altitude of 20 183 km This provides a GPS receiver with six to twelve satellites in view from any point on earth at any particular time The GPS satellite signal identifies the satellite and provides the positioning timing ranging data satellite status and ephemerides orbit parameters of the satellite to the receiver The satellites can be identified either by the Space Vehicle Number SVN or the Pseudorandom Code Number PRN The PRN is used by the NovAtel GPSCard The GPS satellites transmit on two L band frequencies one centered at 1575 42 MHz L1 and the other at 1227 60 MHz L2 The L1 carrier is modulated by the C A code Coarse Acquisition and the P code Precision which is encrypted for military and other authorized users The L2 carrier is modulated only with the P code Please refer to the following figure for a representation of the GPS satellite orbit arrangement 10 GPS GLONASS Receiver User Manual Rev 1 NovAtel 1 introduction Figure 1 2 View of GPS Satellite Orbit Arrangement 1 3 2 THE CONTROL SEGMENT The control segment consists of a master control station five reference stations and three data up loading stations in locations all around the globe The reference stations track and monitor the satellites via their broadcast signals The
60. 4 25 5 25 V DC 90mA max VIBRATION Random Profile The MiLLennium GLONASS GPSCard will acquire and track satellites while undergoing vibration levels as shown below This assumes that it is mounted using full length clamped rail mounts and that no vibrating object is touching it It also assumes that C Ng gt 45 dB Hz and that the MiLLennium GLONASS GPSCard is in high dynamics mode Frequency lt 10 Hz 10 Hz 40Hz 1000Hz 2000Hz gt 2000Hz Magnitude g2 Hz 80 dB decade 0 00125 0 02 0 02 0 005 80 dB decade Typical Mounting Configuration Mount the MiLLennium GLONASS GPSCard securely using screws driven through the card s four corner mounting holes Superior Mounting Configuration Mount the card using full length clamped rail mounts Note The card is sensitive to any external rattling that occurs next to the card PHOTOGRAPHS PowerPak II enclosure perspective view and rear end cap view respectively GPS GLONASS Receiver User Manual Hev 1 75 PowerPak II Enclosure NavZtel F 3 HARDWARE CONFIGURATION Installing the PowerPak enclosure is a straightforward process As shown in Figure F 3 Page 76 a minimum configuration is established with the following setup Setup the GPS GLONASS antenna see GPS GLONASS Antenna Considerations Page 23 Route and connect the RF coaxial cable between the GPS GLONASS antenna and the PowerPak enclosure Connect an R
61. 4 integer 900s 48 10 Health 4 integer 52 11 X position PZ90 8 double meters 56 12 Y position PZ90 8 double meters 64 13 Z position PZ90 8 double meters 72 14 X velocity PZ90 8 double meters s 80 15 Y velocity PZ90 8 double meters s 88 16 Z velocity PZ90 8 double meters s 96 17 X lunisolar acceleration PZ90 8 double meters s s 104 18 Y lunisolar acceleration PZ90 8 double meters s s 112 19 Z lunisolar acceleration PZ90 8 double meters s s 120 20 Tau 8 double seconds 128 21 Gamma 8 double seconds second 136 22 Time of frame start 4 long seconds 144 23 Age of data 4 integer days 148 24 Flags See Table H 1 below 4 integer 152 Table H 1 GLONASS Ephemeris Flags Coding N2 NI NO Di Nibble Number mm nm Description Isb P1 FLAG TIME INTERVAL BETWEEN ADJACENT iISSUE tb VALUES See Table below 00000001 N7 N 6 N5 N4 N3 rmm 1 00000002 2 P2 FLAG ODDNESS OR EVENNESS OF iISSUE tb VALUE 0 even 1 odd 00000004 3 P3 FLAG NUMBER OF SATELLITES WITH ALMANAC INFORMATION 0 four 1 five 00000008 WITHIN CURRENT SUBFRAME gt RESERVED 94 GPS GLONASS Receiver User Manual Rev 1 NovAtel H NovAtel Format Logs Table H 1 Bits 0 1 Flag Range Values State Description 00 0 minutes 01 30 minutes 10 45 minutes 11 60 minutes H 2 OTHER RELEVANT GPSCARD LOGS Please refer to the MiLLennium Command Description
62. 4732816 918 0 026 158 909 35 6 808 330 2E74 7 20787884 888 0 035 109241144 038 0 003 1688 748 52 5 6056 480 2E84 60046 21451363 958 0 152 114871116 673 0 012 3404 079 49 1 3731 660 AEA4 220053 19346534 447 0 082 104180633 540 0 011 707 671 52 0 188 950 AEDA 240054 20870849 133 0 127 112467321 221 0 012 3016 171 50 1 6270 474 AF14 1B 106 GPS GLONASS Receiver User Manual Rev 1 NovAtel H NovAtel Format Logs Table H 6 Range Record Format RGED only Data Bit s from first to last Length bits Format NN Scale Factor PRN 1 0 5 6 integer 1 C No 2 6 10 5 integer 20 n dB Hz Lock time 11 31 21 integer 1 32 s ADR 4 32 63 32 integer 2 s comp 1 256 cycles Doppler frequency 68 95 28 integer 2 s comp 1 256 Hz Pseudorange 64 67 msn 96 127 lsw 36 integer 2 s comp 1 128 m StdDev ADR 128 131 4 integer n 1 512 StdDev pseudorange 132 135 4 see Channel Tracking 136 159 24 integer see Table H 3 Page 99 status Higher numbers are reserved for future use Notes on Table H 6 1 The PRN values for GLONASS are 38 62 representing the GLONASS slot number plus 37 frequency information not provided due to lack of space 2 C No is constrained to a value between 20 51 dB Hz Thus if it is reported that C No 20 dB Hz the actual value could be less Likewise if it is reported that C No 51 dB Hz the true value could be greater 3 Lock time rolls o
63. 84 Syntax DATUM option Datum Option Description Default DATUM any one of 63 predefined For a list of 62 predefined datums refer to Table G 2 in Appendix G WGS84 datums of the MiLLennium Command Descriptions Manual 4 50 To see the 63rd predefined datum refer to the table below USER User defined datum with parameters specified by USERDATUM command Default WGS84 a In the MiLLennium Command Descriptions Manual the units of the X Y and Z datum rotation angles are shown to be arc seconds when in fact they are radians Example datum tokyo Sets the system datum to Tokyo NOTE The actual datum name must be entered in this command as listed in the NAME column of Table G 2 in the MiLLennium Command Descriptions Manual 4 50 Also note that references to datum in the following logs use the GPSCard Datum ID MKPA B PRTKA B POSA B and RTKA B The DATUM PZ90 command will use the default values as set to those published by Misra et al ION GPS 96 pg 307 see Page 82 for more information To define the values you must issue the PZO0TOWGSS84 command see G 1 2 PZ90TOWGS84 Page 82 The PZ90 transform parameters can be saved in user configurable memory for immediate use on powerup GPSCard Datum NAME DX DZ DATUM DESCRIPTION ELLIPSOID ID number 64 PZ90 0 2 5 0 Parameters of Earth 1990 Parameters of Earth 1990 See PZ90TOWGSS84 command G 1 2 PZIOTOWGS84 Page 82 for
64. 90 frame The relevant parameters for the PZ90 ellipsoid are from the GLONASS Interface Control Document ICD version 82 GPS GLONASS Receiver User Manual Rev 1 P gZ NovAtel G GLONASS Commands 4 0 1998 Coordination Scientific Information Center CSIC Please see the following table for the reference ellipsoid constants ELLIPSOID a metres 1 f f Parameters of Earth 1990 6378136 0 298 257839303 0 00335280374302 Syntax PZ90TOWGS84 option Ax Ay Az 5 6 c Options ARGUMENT DESCRIPTION DEFAULT Set to default Helmert transformation parameters SET Set to user specified values all must be specified see following table PARAMETER DESCRIPTION Ax Origin offset in x direction m Ay Origin offset in y direction m Az Origin offset in z direction m bs Scale factor given in parts per million ppm final linear scale factor given as 1 5s 10 Small angle rotation around u axis arcsec A positive sign for counter clockwise direction and a negative sign for clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84 Small angle rotation around v axis arcsec positive sign for counter clockwise direction and a negative sign for clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84 oO Small angle rotation around w axis arcsec A positive sign for counter clockwise dire
65. AGC signals equipment 21 Control signals 9 COMI 22 RF and power connectors 10 COM2 23 Primary antenna feed D 1 1 GPS GLONASS ANTENNA The purpose of the GPS GLONASS antenna is to convert the electromagnetic waves transmitted by the combined GPS GLONASS satellites at the L1 frequency 1575 42 MHz for GPS and 1602 1615 5 MHz for GLONASS into RF signals The MiLLennium GLONASS GPSCard will function best with an active GPS GLONASS antenna there is a hardware provision to select an internal or external DC power supply for an active GPS GLONASS antenna Note that the antenna self test will return a fail condition if a passive antenna is used for further information on self test status codes please see RVSA B log Page 109 NovAtel active antennas are 56 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel D Functional Overview recommended NovAtel offers the 504 and 514 model antennas to work with your MiLLennium GLONASS GPSCard system Both antennas use low profile microstrip technology and include band pass filtering and an LNA The GPS GLONASS antenna you choose will depend on your particular application The NovAtel antennas available to work with your MiLLennium GLONASS GPSCard system are single frequency models and each of these models offers exceptional phase center stability as well as a significant measure of immunity against multipath interference Both models have an environmentally sealed radome NovAtel also of
66. E Itis not necessary for the remote receiver to remain fixed although this could improve solution convergence time in RTK positioning GPS GLONASS Receiver User Manual Rev 1 39 PAN 4 Operation NovAtel 4 7 1 PSEUDORANGE PSR DIFFERENTIAL POSITIONING PSR positioning utilizes the satellite pseudorange information from the reference and remote receiver The reference receiver at a known location broadcasts the difference between the measured range to a satellite and the true range Currently the MiLLennium GLONASS GPSCard supports RTCM standard types 31 and 34 for GLONASS operation Type 31 messages are the equivalent of Type 1 for GPS while Type 34 are equivalent to Type 9 for GPS Descriptions of the RTCM message types can be found in RTCM SC 104 version 2 2 available from the Radio Technical Commission for Maritime services The contact information for this organization is given in Appendix F of the MiLLennium Commands Description Manual Type 9 and Type 34 message types contain only a subset of the full correction set and are intended for use with stable external oscillators at the reference station Generally the update rate of the corrections should be at least once every five seconds The default time out values for GPS and GLONASS corrections is 60 seconds but are user configurable using the DGLOTIMEOUT see Page 82 and DGPSTIMEOUT refer to the MiLLennium Command Descriptions Manual commands GLONASS measurements which do not suf
67. Installation 3 4 3 EXTERNAL POWER See Figure 3 2 Page 20 for external power input connections Digital ground pins 1A B internally connected e Vcc main power 5 DC pins 2A B internally connected e Optional external LNA power pin 4B 30 V DC and 4A GND See Table B 1 Page 49 for specifications concerning external power inputs The MiLLennium GLONASS GPSCard requires only one regulated power input of Vcc 5 V DC It is possible to supply power to the LNA on an active antenna either from the MiLLennium GLONASS GPSCard or from an external source The MiLLennium GLONASS GPSCard is factory configured for operation with the single frequency 504 or 514 GPS GLONASS antenna models in which case no special wiring or configuration is required the P301 jumper see Figure 3 1 Page 17 and Figure 3 3 following is normally set for internal operation connects pins 1 and 2 The internal antenna power supply can produce 4 25 5 25 V DC at up to 90 mA If the antenna draws more than 90 mA of current power to the antenna will be disabled and the antenna self test status flag set to zero see Appendix H RVSA B log Page 109 and Table H 2 Page 96 for receiver self test status codes Figure 3 3 LNA Power Jumper P301 3 Cases 4 5 6 Reference Description 1 Pin 1 2 Pin 2 3 Pin 3 4 Case 1 No power to LNA 5 Case 2 Internal power source default 6 Case 3 External power source If a different antenna is used w
68. M1 POSB ONTIME 1 00 0 GPS GLONASS Receiver User Manual Rev 1 105 H NovAtel Format Logs NovAtel H 2 7 RGEA B D CHANNEL RANGE MEASUREMENTS The receiver supports differential combined GPS GLONASS RT 10 GPS GLONASS and most single point logs and commands described in the MiLLennium Command Description Manual GLONASS pseudorange data is transmitted along with the GPS pseudoranges in the RGEA B D log and can be discerned by monitoring the channel tracking status bits in the range logs The RGEA B D log contains the channel range measurements for the currently observed satellites The RGEA example was produced using the MiLLennium GLONASS GPSCard The RGED message is a compressed form of the RGEB message When using these logs please keep in mind the constraints noted in the detailed description in the MiLLennium Command Descriptions Manual It is important to ensure that the receiver clock has been set and can be monitored by the bits in the receiver status field Large jumps in range as well as ADR will occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR ifthe parity known flag in the tracking status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multi
69. NG Be sure that the battery is positioned upright during the charging process it must not be upside down as this will damage the battery Figure E 6 Battery Cap The battery cap A is designed to allow you to change the battery fuse without removing the cap The cap see Figure E 6 is raised in the center with a flat edge that contains two lemo connectors B and the fuse holder C The fuse holder is located between the two lemo connectors and it is easily opened with a flat head screwdriver enabling you to quickly gain access to and change the fuse The life of this type of battery is typically between one to four years depending on the amount of usage If it becomes necessary to replace the battery you can purchase a complete battery assembly from NovAtel otherwise the following procedure is recommended 1 Select a sealed lead acid battery having the same or comparable ampere hour A h rating 2 Remove the existing positive lead marked and colored red and negative lead marked and colored black 3 Insert the RED positive terminal lead of the battery cable onto the RED positive terminal of the battery Insert the BLACK negative terminal lead of the battery cable onto the BLACK negative terminal of the battery 4 Secure battery cap to battery using velcro straps 5 Recycle the old or worn battery by contacting your local recycling authority or NovAtel 1 800 NOVATEL for instructions
70. NovAtel OM 20000040 Rev 1 MiLLennium GLONASS GPSCard GPSolution 5 x Card Plan Settings View Window Help Sem Azimuth Elevatio E3 Channel Tracking Status lonas GDOP 0 2 19 7 13 10 27 9 6 Lock Search Lock Lock Lock Lock Lock Idle 2214 3692 1807 2790 731 3933 1181 51 74 0 00 52 28 45 27 52 35 44 64 51 77 37 59 0 00 7 43 0 33 2 44 4 87 0 96 17899 0 12799 11810 10797 23 2346 Good Good Good Good Good Good GPS N GPS N GPS N GPS N GPS N GLO N GLO N Measurement L1 C A L1 C A L1 C A L1 C A L1 C A L1 C L1 C A 11625 LONG W 11 Channel 1 3 5 7 9 11 13 15 lo 50 0 number 2 26 31 18 3 22 1 24 Chan State Lock Lock Lock Lock Lock Lock Lock Lock Doppler 1991 2935 1803 4012 3250 2816 4324 4354 C No db Hz 51 95 43 58 51 36 45 33 45 03 51 36 41 55 40 62 Residual 2 98 27 20 7 85 28 03 1 31 1 68 8 56 448 LockTime 7071 1725 9117 21985 13861 1027 1772 15633 Reject Code Good Good Good Good Good Good Good Good System Cor GPS N GPS N Measureme Coml gt version Glonass Good Solution LAT N 51 11643214 9 615m Std Dev LON W 114 03811572 9 911m Std Dev HGT 1066 575 MSL 15 771m Std Dev Mon Jan 25 1999 12 55 13 PM UTC of Sats 14 GLOBAL POSITIONING SYSTEM lt y Type Single Point 191 33 ReflD 0
71. RE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES 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 II NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NovAtel IN ADDITION THE FOREGOING WARRANTIES 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 WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NovAtel SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE OR EXPENSE 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 INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the MiLLennium GLONASS GPSCard receiver and no maintenance is required When the status code indicates that a unit is faulty repla
72. S232C communication interface to one of the serial ports of the PowerPak II enclosure Supply power to the input jack of the PowerPak II Figure F 3 Typical PowerPak Il Enclosure Installation Configuration 8 9 4 5 Reference Description Reference Description 1 PowerPak II enclosure 6 Y type null modem data cable 2 Model 504 antenna 7 External oscillator cable user supplied 3 or Model 514 antenna 8 RF Cable 4 Cigarette lighter adaptor 9 External oscillator 5 Optional AC DC power converter 10 User interface Or any GPS GLONASS antenna model NOTE The 4 LEMO socket connector to 4 pin LEMO plug connector auto ranging AC DC converter and AC power cord do not come with the PowerPak II enclosure but are optional accessories The term plug socket refers to the outside of the connector while the term male female refers to the pin type 76 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel F PowerPak II Enclosure F 3 1 POWER SUPPLY CONSIDERATIONS The PowerPak II enclosure incorporates a DC DC power converter providing filtering automatic reset circuit protection and voltage regulation It accepts a single input voltage between the range 10 to 36 V DC which can be supplied either from an automotive DC
73. SS correction the degradation over time is considerably less It could be useful to allow a longer timeout for GLONASS than GPS Syntax DGLOTIMEOUT delay Options delay 2 1000 seconds default 60 G 1 2 PZ90TOWGS84 This command allows the user to input the Helmert transformation relating the GLONASS PZ90 reference frame to the GPS WGS 84 reference frame The Helmert transformation is defined as x Ax 1 o y Ay 1 s 10 1 elv LA 0 2 1101 Here x y z is the desired WGS 84 coordinate set and u v w is the given coordinate set PZ90 The transformation is defined by an origin offset Ax Ay Az a linear scale factor 6s and a series of small angle rotations 0 0 given in radians around the u v and w axes respectively By default the values are set to those published by Misra et al ION GPS 96 pg 307 given by x 0 1 1 9 10 Ollu 2 5 4 1 9 10 5 1 Olly lt WGS 84 0 0 0 1 Ww PZ90 There are a number of different transformations that have been published but the majority of them are optimized for the particular region of the planet that the data was collected in One of the objectives of the current International Glonass Experiment IGE is to accurately determine a PZ90 to WGS 84 transformation that is consistent on a global scale The PZ90TOWGS84 command can be used in conjunction with the DATUM PZ90 command see 1 6 Datum Page 13 to allow for position output in a user defined PZ
74. The RCCA log has been set to output every 60 seconds from the GPSCard s port Before operating the GPSCard for the first time ensure that you have followed the installation instructions of Chapter 3 and if you have a ProPak II enclosure or PowerPak II enclosure have reviewed Appendix E Page 59 or Appendix F Page 73 respectively The following instructions are based on a configuration such as that shown in Figure 3 1 Page 17 It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility 4 4 COMMANDS COMMON TO ALL GPSCARDS The GPS Card is capable of responding to over 50 different input commands You will find that once you become familiar with these commands the GPSCard offers a wide range in operational flexibility All commands are accepted through the COMI and COM2 serial ports 4 4 1 COMMANDS SPECIFIC TO MILLENNIUM GLONASS GPSCARD The MiLLennium GLONASS GPSCard accepts two GLONASS specific commands DGLOTIMEOUT see Page 82 e PZ90TOWGSS84 see Page 82 For a listing of commands common to all GPSCards with the exception of the GLONASS specific commands refer to the MiLLennium Command Descriptions Manual For details on GLONASS specific commands see Page 28 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation 62 For details on Special Data Input Commands see Page 30 NOTE You will find the HELP command a useful tool for inquiring
75. The U S Department of Defense Global Positioning System A constellation of 24 satellites orbiting the earth at a very high altitude GPS satellites transmit signals that allow one to determine with great accuracy the locations of GPS receivers The receivers can be fixed on the Earth in moving vehicles aircraft or in low Earth orbiting satellites GPS is used in air land and sea navigation mapping surveying and other applications where precise positioning is necessary Great circle the shortest distance between any two points along the surface of a sphere or ellipsoid and therefore the shortest navigation distance between any two points on the Earth Also called Geodesic Line HDOP Horizontal Dilution of Precision A numerical value expressing the confidence factor of the horizontal position solution based on current satellite geometry Makes no constraint assumptions about time and about height only if the FIX HEIGHT command has been invoked The lower the HDOP value the greater the confidence in the solution HTDOP Horizontal position and Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry Assumes height is known if the FIX HEIGHT command has been invoked If not it will give the normalized precision of the horizontal and time parameters given that nothing has been constrained The lower the HTDOP value the greater the confidence factor
76. Time to First Fix 70 s typical cold start no initial time or almanac Data Latency Delay from measurement epoch until the first bit of transmitted log PRTKB differential 160 ms typical Pseudorange Standalone 10 m CEP GDOP 2 Position Accuracy real time Differential Code with choke ring HDOP lt 2 CEP 0 75 m RTK Position Accuracy see Table 4 3 RTIO Convergence Summary on Page 41 Velocity Accuracy 0 03 m s nominal differential 0 15 m s nominal single point Time Accuracy relative 50 ns SA off 250 ns SA on Dual RS 232C Serial Bit rates 300 1200 4800 9600 19200 57600 115200 bps 9600 bps default Signals supported TX RX RTS CTS DTR DSR DCD Electrical format EIA RS232C Standard VARF Output A programmable variable frequency output ranging from 0 15 Hz 5 MHz refer to the FREQUENCY OUT command in the MiLLennium Command Descriptions Manual with pulse width from 100 ns to 6 55 ms This is a normally high active low pulse There may be as much as 50 ns jitter on this signal PPS Output A one pulse per second time synchronization output This is a normally high active low pulse 1 ms 50 ns where the falling edge is the reference Measure Output 4 pulses per second output normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe Mark Input An input mark negative pulse gt 55 ns time tags output log data to the time of the falling edge of the
77. Type B male connector Two EIA RS 232C serial communications ports support user selectable bit rates of 300 115 200 bps with a default of 9600 bps The digital section does the following converts the IF analog signals to a digital format tracks the C A codes and carrier phases of the satellites in use e performs channel and loop control e performs position computation GPS GLONASS Receiver User Manual Hev 1 57 PAN D Functional Overview NovAtel executes navigation software performs database management monitors self test system status controls diagnostic LEDs a red one which only lights up to indicate an error condition and a green one the heartbeat which blinks on and off at approximately 1 Hz to indicate normal operation controls I O functions The strobe signals are described as follows Mark input this signal provides a time tag to the signal processors which respond to a falling edge of the signal provided from an external device It can be enabled by you to provide a precise time and data output event Measure output an output set to 10 pulses per second This output is also routed to the signal processors where it provides a trigger for the measurement collection Variable frequency VARF output a user programmable variable frequency pulse train not available in the ProPak II enclosure option PPS output a 1 ms pulse repeating at a 1 Hz rate that is used to synchronize the board with external dev
78. Variation local MAGVAR correction 20 I Magnetic bearing J True bearing AB True bearing 70 AB Magnetic bearing True MAGVAR correction 70 20 50 H 2 3 POSA B COMPUTED POSITION This log will contain the last valid best available position and time calculated referenced to the antenna phase center The position is in geographic coordinates in degrees based on your specified datum default is WGS84 The height is referenced to mean sea level The receiver time is in GPS weeks and seconds into the week The estimated standard deviations of the solution and current filter status are also included POSA Structure POSA week seconds lat lon hgt undulation datum ID lat std lon std hgt std sol status 1 XX CR LF Note See Table H 8 Page 111 Example POSA 991 428326 00 51 11638173 114 03824540 1092 104 16 271 61 14 412 8 799 25 020 0 1E GPS GLONASS Receiver User Manual Rev 1 103 H NovAtel Format Logs NovAtel H 2 4 PRTKA B COMPUTED POSITION This log contains the best available position computed by the receiver along with three status flags In addition it reports other status indicators including differential lag which is useful in predicting anomalous behavior brought about by outages in differential corrections This log replaces the P20A log it is similar but adds extended status information With the system operating in an
79. about the various commands available The following rules apply when entering commands from a terminal keyboard The commands are not case sensitive COMMAND or command e g HELP ot help e g FIX POSITION or fix position commands and required entries can be separated by a space or a comma command variable OR command variable e g datum tokyo e g datum tokyo e g fix position 51 3455323 117 289534 1002 e g fix position 51 3455323 117 289534 1002 e g com1 9600 n 8 1 n off e g coml 9600 n 8 1 n off e g log com1 posa onchanged e g log 1 posa unchanged At the end of a command or command string issue a carriage return command which is usually the same as pressing the ENTER key Most command entries do not provide a response to the entered command Exceptions to this statement are the VERSION and HELP commands Otherwise successful entry of a command is verified by receipt of COM port prompt i e COMI or COM2 The syntax for a command can contain optional parameters OPT1 OPT2 OPT2 may only be used if it is preceded by OPT1 OPT3 may only be used if it is preceded by OPT2 and so on Parameters after and including OPTI will be surrounded by square brackets An optional parameter such as hold may be used with the log without any preceding optional parameters Example log com1 posa 60 1 hold log posa hold When the MiLLennium GLONASS GPS Card is first powered up or aft
80. acement 6 When finished push on the front panel until it is seated against the main enclosure then replace the screws on the front and rear panels See Figure F 4 Page 78 for more details CAUTION Do not pull on the front panel in order to remove the GPSCard and power card from the PowerPak II enclosure cable damage will result GPS GLONASS Receiver User Manual Rev 1 77 PowerPak II Enclosure NovAtel Figure F 4 Opening the PowerPak Il Enclosure 11 12 Reference Description Reference Description 1 Back panel 13 GPSCard 64 pin connector P1 2 Front panel 14 Second slot from top 3 Remove screws 15 Spacer bumper 4 GPSCard 16 Second slot from bottom 5 Back plane PCB 17 Antenna cable 6 Ground wire with connector 18 Power fuse 7 Rear bumper 19 Power card 8 External oscillator cable 20 Internal antenna cable right angled SMB connector 9 Panel screw 4 places 21 To GPSCard 10 PowerPak II top view 22 Internal oscillator cable right angled SMB connector 11 Back panel removed rear view 23 Spade connector socket on end of ground wire 12 Front panel back plane view 24 Power card connector P2 78 GPS GLONASS Receiver User Manual Rev 1 P are Nolte F PowerPak II Enclosure F 3 3 CABLES Please see the following sections for the technical specifications of all cables and optional accessories For field replacement of the LEMO connectors and to find part numbers of optional accessories please see Appendix K
81. achievable by civilian GPS equipment generally by introducing timing and ephemeris errors Sequential receiver a GPS receiver in which the number of satellite signals to be tracked exceeds the number of available hardware channels Sequential receivers periodically reassign hardware channels to particular satellite signals in a predetermined sequence Sidereal Day the rotation period of the earth and is equal to a calendar day minus four minutes Space Segment The portion of the GPS or GLONASS system that is located in space that is the GPS or GLONASS satellites and any ancillary spacecraft that provide GPS or GLONASS augmentation information i e differential corrections integrity messages etc Spherical Error Probable SEP the radius of a sphere centered at your true location that contains 50 percent of the individual three dimensional position measurements made using a particular navigation system Spheroid sometimes known as ellipsoid a perfect mathematical figure which very closely approximates the geoid Used as a surface of reference for geodetic surveys The geoid affected by local gravity disturbances is irregular Standard Positioning Service SPS a positioning service made available by the United States Department of Defence which will be available to all GPS civilian users on a continuous worldwide basis typically using C A Code Static Positioning Location determination accomplished wit
82. ailable alkaline substance such as ammonia solution or baking powder sodium hydrogen carbonate In the event electrolyte contacts skin immediately flush with water and consult a doctor immediately For extended periods of non usage of equipment remove the battery from within the backpack and store within the following conditions Relative humidity should be 55 3096 e 15 to 40 C 5 to 104 F Clean and avoid direct sunlight Refresh the charge if an open circuit voltage test is below 12 5 Volts or every three months 72 GPS GLONASS Receiver User Manual Rev 1 9 NovAtel PowerPak II Enclosure POWERPAK Il ENCLOSURE F 1 POWERPAK Il ENCLOSURE The PowerPak II mounting enclosure provides a protective environment for the MiLLennium GLONASS GPSCard The mounting enclosure houses the internal power card interconnect back plane and front panel connections for COMI COM2 strobes GPS GLONASS antenna external oscillator and power input NOTE The PowerPak II enclosure is intended for stationary operation in benign surroundings such as those found in a laboratory or on a test bench it is not designed for environments with feature vibration dust moisture or extremes of temperature The PowerPak II enclosure see Figure is intended to be used with the following NovAtel accessories and options A NovAtel Model 504 or Model 514 L1 GPS GLONASS antenna single frequency e Model C005 C015 or
83. al data record into an output buffer The flag resets to 0 five minutes after the last overrun occurred Bit 15 CPU Overload see note 1 below 0 Normal operation is indicated by a 0 value 1 A value of 1 indicates that the CPU is being over taxed This may be caused by requesting an excessive amount of information from the GPSCard If this condition is occurring limit redundant data logging or change to using binary data output formats or both You should attempt to tune the logging requirements to keep the idle time above 20 for best operation If the average idle drops below 10 for prolonged periods of time 2 5 seconds critical errors may result in internal data loss and the over load bit will be set to 1 You can monitor the CPU idle time by using the RVSA log message The flag resets to 0 five minutes after the first overload occurred Bit 16 Almanac Saved 0 Almanac not saved in non volatile memory 1 Almanac saved in non volatile memory Bit 17 Secondary AGC 0 This bit will be set clear if the Secondary AGC is operating out of normal range Failure of this test could be the result of various possibilities such as bad antenna LNA excessive loss in the antenna cable faulty RF downconverter or a pulsating or high power jamming signal causing interference If this bit is continuously set clear and you cannot identify an external cause for the failed test please contact NovAtel Customer Service 1 When set to 1
84. al reject code XX CR LF NOTES See Table H 8 Page 111 See Table H 4 Page 100 3 GLONASS PRN FREQUENCY 10000 SLOT 37 Example SATA 991 430994 00 0 10 15 50 52 26 76 0 556 0 2 93 52 62 80 36 584 0 4 169 37 6 37 d17 976 0 9 307 29 28 99 15 237 0 26 254 78 26 92 18 238 0 27 153 64 21 33 d10 992 0 7 197 30 72 72 0 208 0 60046 316 16 43 16 d3 227 0 220053 211 96 61 86 2 582 0 240054 53 20 31 05 0 633 0 24 H 2 12 VERA B RECEIVER H W amp S W VERSION NUMBERS This log contains the current hardware type and software version number for the MiLLennium GLONASS GPSCard The VERA example was produced using the MiLLennium GLONASS GPSCard Together with the RVSA B log Page 109 it supersedes any previous receiver status logs VERA Structure VERA XX version seconds week CR LF Example VERA 991 431836 00 OEM 3 GLO RTK CGL97230083 HW 3 1 SW 6 48D18 2 03DB Jan 05 99 3D 110 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H NovAtel Format Logs H 2 13 VLHA BVELOCITY LATENCY amp DIRECTION OVER GROUND The actual speed and direction of the antenna over ground is provided The VLHA B log provides a measure of the latency in the velocity time tag and a new velocity status word which gives you quality velocity information The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the position solution status m
85. ands the receiver will be able to decode and use the SRTCMA RTCM9A RTCM31A and RTCM34A message types See the Message Formats section of the MiLLennium Commands Description Manual for more details 40 GPS GLONASS Receiver User Manual Rev 1 P gZ NovAtel 4 Operation 4 7 2 REAL TIME KINEMATIC RTK DIFFERENTIAL POSITIONING Available as an option on the MiLLennium GLONASS GPSCard is R10 positioning which makes use of the precise carrier phase measurement This implementation is similar to the RT20 software available on the standard MiLLennium GPSCard but has been augmented to allow the use of GLONASS satellites The position accuracy achievable with RT10 positioning is substantially greater than PSR differential positioning The data transfer rate must be high enough to ensure that sufficient base station messages reach the rover station to keep prediction errors from growing too large Table 4 2 Page 41 shows the base station prediction error to be expected from GPS measurements Table 4 2 Latency Induced Prediction Error Time since last base station observation Typical base station prediction error CEP rate 0 2 seconds cm sec 2 7 seconds 2 cm sec 7 30 seconds 5 cm sec Table 4 3 RT10 Convergence Summary Tracking Time b Data Delay Accuracy cm S K sec Distance km CEP 33 1 to 280 S 0 1 100 to 18 280 to 600 S 0 1 18 to 10 600 to 300
86. anging AC DC converter NovAtel part number GPS APRO which operates over a range of 110 220 V AC and 50 60 Hz The power input is reverse polarity protected Refer to Table E 1 Page 61 for further information WARNING The MiLLennium GLONASS GPSCard will suspend operation if voltage supplied falls outside input range 10 to 36 V DC E 3 2 MOUNTING CONSIDERATIONS A mounting kit is provided with the ProPak II enclosure see Section E 3 2 1 Page 64 to facilitate mounting it to a surface The mounting kit includes the following materials e four self tapping screws 10 16 x LG two wood screws 10 x an LG four flat screws M3 x 8 90x countersink aluminum mounting plate see Page 64 First the mounting plate needs to be attached to the ProPak II enclosure There are two channels running the length of the bottom of the ProPak II enclosure In each of these channels there are two rectangular nuts held in place by grub screws These four nuts are factory positioned so that the mounting plate can be attached to the ProPak II enclosure using the four flat screws Please ensure that the four flat screws are mounted from the countersunk side of the mounting plate Once the plate has been attached to the ProPak II enclosure the entire assembly can then be mounted onto a surface using either the four self drilling screws through the screw mount holes or the two tapping screws through the quick mount holes WARNING The moun
87. arrier phase observable formed by subtracting L2 from L1 carrier phase data F F Fy The corresponding wavelength is 86 2 cm World Geodetic System A consistent set of parameters describing the size and shape of the Earth the positions of a network of points with respect to the center of mass of the Earth transformations from major geodetic datums and the potential of the Earth usually in terms of harmonic coefficients GPS GLONASS Receiver User Manual Rev 1 123 J GPS GLONASS Glossary of Acronyms PAN NovAtel GPS GLOSSARY OF ACRONYMS 1PPS One Pulse Per Second HTDOP Horizontal position and Time Dilution 2D Two Dimensional Of Precision 2DRMS Twice distance RMS Hz Hertz 3DThree Dimensional IC Integrated Circuit A D Analog to Digital ICD Interface Control Document ADR Accumulated Doppler Range IERS International Earth Rotation Service AGC Automatic Gain Control IF Intermediate Frequency ASCII American Standard Code for IGRF International Geomagnetic Reference Information Interchange Field Input Output BIH Bureau International de l Heure IODE Issue of Data Ephemeris BIST Built In Self Test IRQ Interrupt Request BPS Bits per Second LF Line Feed C A Code Code LHCP Left Hand Circular Polarization C No Carrier to Noise Density Ratio LNA Low Noise Amplifier CDMA Code Division Multiple Access LO Local Oscillator CEP Circular Error Probable Isb Least significant bit CPU Ce
88. athematical surface which represents the earth s shape and very closely approximates the geoid It is used as a reference surface for geodetic surveys Ellipsoidal Height height above a defined ellipsoid approximating the surface of the earth Ephemeris a set of satellite orbit parameters that is used by a combined GPS GLONASS receiver to calculate precise GPS GLONASS satellite positions and velocities The ephemeris is used in the determination of the navigation solution and is updated periodically by the satellite to maintain the accuracy of combined GPS GLONASS receivers Ephemeris Data the data downlinked by a GPS GLONASS satellite describing its own orbital position with time Epoch same as measurement time epoch The local time at which a GPSCard takes a measurement Field a character or string of characters immediately preceded by a field delimiter Fixed Ambiguity Estimates carrier phase ambiguity estimates which are set to a given number and held constant Usually they are set to integers or values derived from linear combinations of integers Fixed Discrete Ambiguity Estimates carrier phase ambiguities which are setto values which are members of a predetermined set of discrete possibilities and then held constant Fixed field a field in which the number of characters is fixed For data fields such fields are shown in the sentence definitions with no decimal point Other fields which fall into this cat
89. avigation waypoints The origin FROM and destination TO waypoint coordinates entered are considered on the ellipsoidal surface of the current datum default WGS84 Once SETNAV has been set from lat from lon to lat to lon track offset from port name and to port name you can monitor the navigation calculations and progress by observing the NAVAJB log see Page 102 Track offset is the perpendicular distance from the great circle line drawn between the FROM lat lon and TO lat lon waypoints It establishes the desired navigation path or track that runs parallel to the great circle line which now becomes the offset track and is set by entering the track offset value in meters A negative track offset value indicates that the offset track is to the left of the great circle line track A positive track offset value no sign required indicates the offset track is to the right of the great circle line track looking from origin to destination See the NAVA B log Page 102 and Figure H 1 Page 103 for clarification Example setnav 51 1516 114 16263 51 16263 114 1516 125 23 from to G 3 UNIMPLEMENTED COMMANDS Currently the ability to set satellite health and the ability to de weight the range of a satellite in the solution computations is not enabled for GLONASS Because of this the following commands will not work with the MiLLennium GLONASS GPSCard for GLONASS satellites SETHEALTH RESETHEALTH RESETHEALTHALL LOCKOUT
90. ble The RF section does the following filters the RF signals to reduce noise and interference e down converts with further band limiting the RF signals to intermediate frequencies IFs that are suitable for the analog to digital A D converter in the digital electronics section amplifies the signals to a level suitable for the A D converter in the digital electronics section receives an automatic gain control AGC input from the digital signal processor DSP to maintain the IF signals at a constant level supplies power to the active antenna through the coaxial cable while maintaining isolation between the DC and RF paths A hardware jumper configuration is provided to select an internal or external DC power supply for the active GPS GLONASS antenna The RF section can reject a high level of potential interference e g MSAT Inmarsat cellular phone and TV sub harmonic signals D 1 5 DIGITAL ELECTRONICS SECTION The digital section of the MiLLennium GLONASS GPSCard receives down converted amplified combined GPS GLONASS signals which it digitizes and processes to obtain a GPS solution position speed direction and time The digital section consists of an analog to digital converter a 32 bit 25 MHz system processor memory control and configuration logic signal processing circuitry serial peripheral devices and supporting circuitry I O data and timing strobe signals are routed to and from the board via a 64 pin DIN 41612
91. c time references GLONASS time is maintained within 1 ms of UTC SU by the control segment with the remaining portion of the offset broadcast in the navigation message As well the GLONASS time is offset from UTC SU by plus three hours due to control segment specific issues The GCLA B see Page 91 contains the offset information between GPS and GLONASS time 1 6 DATUM Because a consistent transformation between WGS84 and the Parametry Zemli 1990 PZ90 or in English translation Parameters of the Earth 1990 PE 90 see Page 120 geodetic datum has not been defined we have allowed for a new command PZO0TOWGS84 and a new parameter PZ90 for the DATUM command The PZO0TOWGSS84 command see G 1 2 PZ9OTOWGSS4 Page 82 is intended to define the PZ90 transform for transferring Glonass satellite coordinates to WGS84 However it can also be used in conjunction with the DATUM PZ90 command see G 2 6 DATUM Page 65 to allow for position output in a user defined PZ90 frame The PZO0TOWGSS84 command will override the default values for the DATUM PZ90 command and set them to the user defined values If the PZQOTOWGS84 command is not issued the DATUM PZ90 command will use the default PZ90 values see G 1 2 PZO0TOWGSS4 Page 82 for the output position parameters The PZ90 transform parameters can be saved in user configurable memory for immediate use on powerup GPS GLONASS Receiver User Manual Rev 1 13 1 Introduction NavZtel
92. capabilities NOTE Although the MiLLennium GLONASS GPSCard can operate at bit rates as low as 300 bps this may not always be desirable For example if several data logs are active i e 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 and cause an error condition in the receiver status 4 2 2 COMMUNICATING USING A REMOTE TERMINAL One method of communicating with the MiLLennium GLONASS GPSCard is through a remote terminal The MiLLennium GLONASS GPSCard has been pre wired to allow proper RS232C interface with your data terminal To communicate with the terminal the MiLLennium GLONASS GPSCard only requires the RX TX and GND lines to be used handshaking is not required although it can optionally be used Ensure that the terminal s communications set up matches the MiLLennium GLONASS GPSCard RS232C protocol 4 2 3 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 bi directional communications with the MiLLennium GLONASS GPSCard You can create command batch files using any text editor these can then be directed to the serial port that is connected to the MiLLennium GLONASS GPSCard usin
93. cause normal grounding cannot dissipate static charges on fabrics Acircuit 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 or finger holes 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 Where protective measures have not been installed a suitable alternative would be the use of a Portable Field Service Grounding Kit This consists of a portable mat and wrist strap which must be attached to a suitable ground Acircuit 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 e g repair tags Treat all PCBs and components as ESD sensitive Assume that you will
94. ce with another unit and return the faulty unit to NovAtel Inc NOTE You must obtain a Return Material Authorization RMA number by calling the NovAtel Customer Service Department at 1 800 NOVATEL USA and Canada only or 403 295 4900 before shipping any product to NovAtel or a Dealer Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return all original diskettes along with the defective product in the original packaging to avoid ESD and shipping damage 6 GPS GLONASS Receiver User Manual Rev 1 NovAtel Customer Service and Caution Notice CUSTOMER SERVICE For customer support contact your local NovAtel dealer first If the problem is still unresolved contact NovAtel directly in any of the following ways GPS GLONASS Hotline at 1 800 NOVATEL U S and Canada only telephone 403 295 4900 fax 403 295 4901 e mail support novatel ca web site http www novatel ca postal address NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 CAUTION Handle with Care Use Anti Static Precautions NOTE The ProPak II and PowerPak II enclosures incorporate circuitry to absorb most static discharges However severe static shock may damage the unit If the MiLLennium GLONASS GPSCard is not in a NovAtel supplied enclosure special handling precautions must be observed
95. ction and anegative sign for clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84 Example PZ90TOWGS84 DEFAULT PZ90TOWGSS84 SET 0 1 0 4 0 3 6 0 0 4 NOTE Theformatand sign conventions in this command are set up to conform to the given reference and differ from the NovAtel USERDATUM command GPS GLONASS Receiver User Manual Rev 1 83 G GLONASS Commands NovAtel G 2 OTHER RELEVANT GPSCARD COMMANDS Please refer to the MiLLennium Command Descriptions Manual s commands chapter for a list of GPSCard commands categorized by function For a complete description of individual commands please consult Appendix C of the same manual where commands are listed alphabetically NOTE To determine the GLONASS PRN for commands that require entry of a PRN such as ASSIGN use this equation FREQUENCY 10000 SLOT 37 where the SLOT and FREQUENCY are in the range 1 to 24 inclusive G 2 1 ASSIGN The ASSIGN command for Glonass channels will accept a standard NovAtel Glonass satellite identifier i e frequency 10000 slot 37 The search is done by frequency and not by slot number which is ignored by the ASSIGN command Since antipodal satellites could have the same frequency but different slot numbers the satellite that ends up being tracked will have the slot number of the current visible satellite for that frequency Note that this will NOT necessarily match the value of the slot number entered
96. ctivated logs will be listed in the receiver configuration status log RCCA GPS GLONASS Receiver User Manual Rev 1 35 4 Operation NovAtel 4 6 3 NOVATEL FORMAT DATA LOGS 4 6 3 1 General The NovAtel GPSCard is capable of executing more than 40 NovAtel format log commands Each log is selectable in ASCII and Binary formats The one exception to this rule is the RGE log which can be logged as RGED The D indicates a compressed binary format to allow higher speed logging Any format can be selected individually or simultaneously over the same COMn ports Log descriptions of some logs used by the MiLLennium GLONASS GPSCard as well as GLONASS specific logs are listed in alphabetical order in Appendix I Each log first lists the ASCII format followed by the Binary format description 4 6 3 2 ASCII Log Structure Log types ending with the letter A or a will be output in ASCII format e g CALA The structures of all ASCII logs follow the general conventions as noted here 1 The lead code identifier for each record is 2 Each log is of variable length depending on amount of data and formats 3 All data fields are delimited by a comma with the exception of the last data field which is followed by an to indicate end of message data 4 Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters e g xx CR LF This 8
97. d by reflected combined GPS GLONASS signals arriving at the receiver typically as a result of nearby structures or other reflective surfaces Signals travelling longer paths produce higher erroneous pseudorange estimates and consequently positioning errors Nanosecond 1 x 10 9 second Nautical mile any of various units of distance for sea and air navigation in the U S since 1959 an international unit of linear measure equal to 1 minute of arc of a great circle of the Earth 1 852 meters 6 076 feet Non Volatile Memory a type of memory device that retains data in the absence of a power supply Null field by NMEA standard indicates that data is not available for the field Indicated by two ASCII commas 1 HEX 2C2C or for the last data field in a sentence one comma followed by either the checksum delimiter HEX 2A or the sentence delimiters lt CR gt lt LF gt HEX ODOA Note the ASCII Null character HEX 00 is not to be used for null fields Obscuration term used to describe periods of time when a GPS receiver s line of sight to GPS satellites is blocked by natural or man made objects Observation an input to an estimation algorithm The two observations used in NovAtel s RTK algorithms are the pseudorange measurement and the carrier phase measurement GPS GLONASS Receiver User Manual Rev 1 119 PAN GPS GLONASS Glossary of Terms Novel Observation Set a set of GPSCar
98. d circuit board is not enclosed in a housing structure This allows flexibility in creating a mounting environment to suit particular product and marketing requirements The mounting and enclosure must provide the following mounting of external connectors protection from hostile physical environments e g rain snow sand saltwater extreme temperatures protection from vibration conditions electromagnetic shielding to protect from hostile RF environments e g nearby transmitters electromagnetic shielding so that the final product itself conforms to RF emissions guides protection from ESD The MiLLennium GLONASS GPSCard can be screwed in place held by card rails or both Please see Appendix B Page 49 for mechanical drawings For some applications the ProPak II Enclosure Page 59 or the PowerPak II Enclosure Page 73 in the chapters following are ideal They are enclosure kits that come complete with mounting and wiring interfaces and allow immediate operation of the MiLLennium GLONASS The two enclosures are designed for rugged operating environments 3 4 2 PREPARING THE DATA SIGNAL amp POWER HARNESS The wiring harness serves the following interconnect functions e provide access to COMI and serial communications ports e provide access to input and output timing strobes e provide power input s e provide access to control signals A 64 pin 0 1 DIN 41612 Type B female connector e g Harti
99. d measurements taken at a given time which includes one time for all measurements and the following for each satellite tracked PRN number pseudorange or carrier phase or both lock time count signal strength and channel tracking status Either L1 only or L1 and L2 measurements are included in the set The observation set is assumed to contain information indicating how many satellites it contains and which ones have L1 only and which ones have L1 L2 pairs Origin waypoint the starting point of the present navigation leg expressed in latitude and longitude Parallel receiver a receiver that monitors four or more satellites simultaneously with independent channels P Code precise or protected a spread spectrum direct sequence code that is used primarily by military GPS receivers to determine the range to the transmitting GPS satellite Uses a chipping rate of 10 23 MHz PDOP Position Dilution of Precision This is related to GDOP It describes the effects of geometry on 3 dimensional positioning accuracy It is defined to be the square root of the sum of the three diagonals of a normalized assume measurement noise 1 covariance matrix which correspond to position error PE 90 See PZ90 Pitch the rising and falling of the bow and stern of a ship in a rough sea or the movement up or down of the nose and tail of an airplane Precise Positioning Service PPS the GPS positioning velocity and time service which wi
100. 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 GPS GLONASS Receiver User Manual Hev 1 47 A Anti Static Practices NovAtel could act as a lightning rod funneling the entire charge into the components inside the bag 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 A 3 PRIME STATIC ACCUMULATORS Table A 1 provides some background information on static accumulating materials Table A 1 Prime Static Accumulators Surface Accumulator Work Surfaces formica waxed or highly resistive finished wood synthetic mats writing materials note pads etc Floors wax finished vinyl Clothes common cleanroom smocks personal garments all textiles except virgin wool non conductive shoes Chairs finished wood vinyl fiberglass Packing and handling common polyethylene bags wraps envelopes and bubble pack pack foam common plastic trays and tote boxes Assembly cleaning test and repair areas spray cleaners common solder sucker common solder irons common solvent brushes synthetic bristles cleaning drying and temperature chambers A 4 HANDLING PRINTED CIRCUIT BOARDS ESD damage to unprotected sensitive devices may occur at any time ESD events can occur far b
101. data will start at the next even multiple of the period If a period of 0 20 sec is chosen then data will be logged when the receiver time is at the 0 20 0 40 0 60 and the next 0 80 second marks If the period is 15 seconds then the logger will log the data when the receiver time is at even 1 4 minute marks The same rule applies even if the chosen period is not divisible into its next second or minute marks If a period of 7 seconds is chosen then the logger will log at the multiples of 7 seconds less than 60 that is 7 14 21 28 35 42 49 56 and every 7 seconds thereafter offset Use only with the ONTIME trigger Units for this parameter are seconds It provides the ability to offset 1 the logging events from the above startup rule If you wished to log data at 1 second after every minute you would set the period to 60 seconds and the offset to 1 second Default is 0 hold Will prevent a log from being removed when the UNLOGALL command is issued HOLD Example log coml posa ontime 60 1 If the LOG syntax does not include a trigger type it will be output only once following execution of the LOG command If trigger type is specified in the LOG syntax the log will continue to be output based on the trigger specification Specific logs can be disabled using the UNLOG command whereas all enabled logs will be disabled by using the UNLOGALL command refer to the MiLLennium Command Descriptions Manual Appendix C All a
102. der International copyright laws Printed in Canada on recycled paper Recyclable 550 2 GPS GLONASS Receiver User Manual Rev 1 NovAtel Table of Contents TABLE OF CONTENTS Warranty Polic 6 Customer Service and Caution Notice 7 7 CATON EDT E Conpratilations coression cio E E E E ERE ER O E ES 8 ND eA E E E E E E 8 PHETEQUISILES eee 8 1 1 MiLLennium GLONASS essere nennen enne enne nent 9 1 2 GPS GLONASS Overview 10 T GPS System Design en REO RUE ONT ER e c ERE Eie aei hee 1 3 1 The Space Segment rre eet rt rr Po 1 3 2 The Control Segment 1 3 3 The User Segment ie ern tenere rare e er sepe eh a i i Re ER 1 4 GLONASS System Design 1 4 1 The Space Segment oco oserai eee E FER eR ces RECHERCHER UR 1 4 2 The Control Segment 1 4 3 The User Segment rete eret ce ert one e ide de o to e Recess IE Time eC P ee eee ea ea 1 5 1 GPS Time vs Local Receiver Time 13 1 5 2 GLONASS Time vs Local Receiver Time essent 13 FOE UMP 13 2 1 Omck Start Steps eere ro opo EEEIEE 15 3 Installation 17 3 1 System Config rdtiOn 1
103. differential corrections integrity messages etc This segment is composed of the GLONASS satellites which when complete will consist of 24 satellites in three orbital planes with eight satellites per plane see Figure 1 3 Page 12 Following are points about the GLONASS space segment GPS GLONASS Receiver User Manual Rev 1 11 PAN 1 Introduction NavZtel e The orbit period of each satellite is approximately 8 17 of a sidereal day such that after eight sidereal days the GLONASS satellites have completed exactly 17 orbital revolutions A sidereal day is the rotation period of the earth and is equal to one calendar day minus four minutes Because each orbital plane contains eight equally spaced satellites one of the satellites will be at the same spot in the sky at the same sidereal time each day The satellites are placed into nominally circular orbits with target inclinations of 64 8 degrees and an orbital height of about 19 123 km which is about 1 060 km lower than GPS satellites The GLONASS satellite signal identifies the satellite and provides thepositioning velocity and acceleration vectors at a reference epoch for computing satellite locations synchronization bits e data age satellite health offset of GLONASS time e almanacs of all other GLONASS satellites The GLONASS satellites each transmit on different L1 and L2 frequencies with the P code on both L1 and L2 and with the C A code at pre
104. e formats RTCMA RTCM3A RTCM9A RTCM16A RTCM31 RTCM34 RTCMS9A Use this special data input command to directly input RTCM differential correction data ASCII format RTCM data converted to ASCII hexadecimal with NovAtel header added The data can be accepted using COMI or COM2 The differential corrections will be accepted and applied upon receipt of this special data input command The data is generated from a MiLLennium GLONASS GPSCard RTCM log and is accepted by a MiLLennium GLONASS GPSCard remote station as in the following format RTCM 664142404E7257585C6E7F424E757D7A467C474 14F6378635552427F7357726 1624278777 F5B5A525C7354527C4060777B4843637C7F5S55F6A784 155597D7F6763507B77496E7F7A6A426F55 5C4C604F4E7F467F5A787F6B5F69506C6D6A4C 2B NOTE The RTCM commands allow the user to intermix differential corrections along with other ASCII commands or logs over a single port You must however ensure that the ACCEPT command option is set to COMMANDS The use of a dedicated port for differential operation is described in Section 4 7 Page 39 TIP The decoding success and status of RTCM records can be monitored using the CDSA B data log These commands will not generate any reply response from the command interpreter They will simply be processed for valid format and checksum and used internally If there is any problem with the data characters missing or checksum fail the data will be discarded with no warning message 4 5
105. e port prompt the external data communications equipment screen will display one of these two messages 1 gt if connected to COMI port or 2 gt if connected to COM2 port Either prompt indicates that the GPSCard is ready and waiting for command input Commands are typed at the interfacing terminal s keyboard and sent after issuing a carriage return command which is usually the same as pressing the terminal s Return or Enter key 26 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation NOTE Most valid commands do not echo a response to a command input the indication that they have been accepted is a return of the port prompt from the GPSCard VERSION HELP and are the only commands that do provide a data response other than the port prompt The LOCKOUT and SETHEALTH commands are not for use with GLONASS satellites Example An example of no echo response to an input command is the ASSIGN command It can be entered as follows 1 gt assign 4 120043 Return COMI The above example illustrates command input to the MiLLennium GLONASS GPSCard s COMI port which will cause the card to assign the satellite with frequency 12 and slot number 43 to channel 14 However your only confirmation that the command was actually accepted is the return of the COMI prompt If a command is incorrectly entered the GPSCard will respond with Invalid Command Name or a more detailed error message follow
106. eceiver User Manual OM 20000040 MiLLennium Command Descriptions Manual OM 20000041 Optional ProPak II enclosure 01016564 Straight serial data cable 01016383 Null modem serial data cable 01016329 Power cable assembly LEMO 4 pin socket to cigarette lighter plug 01016331 I O strobe cable 01016330 Optional AC DC converter to LEMO 4 pin socket and an AC power cord GPS APRO Optional power cable assembly LEMO 4 pin plug to LEMO 4 pin plug 33 5 cm length 01016724 75 cm length 01016725 Universal ProPak Mounting Bracket 70015024 Optional PowerPak II enclosure Cigarette lighter power adapter 01014989 Y type null modem cable 60715062 Optional AC DC power converter GPS APWR Optional NovAtel GPS GLONASS antennas Model 504 L1 only GPS 504 Model 514 Aviation Antenna L1 only GPS 514 Optional RF Antenna Cable 5 meters C005 15 meters C015 30 meters C030 22 cm interconnect adapter cable 5 001 Optional battery assembly 01016698 Optional battery charger GPS ACDL The following original manufacturer s part numbers are provided for information only They are not available from NovAtel as separate parts Part Description LEMO part number 10 pin plug connector on both serial data cables FGG 1K 310 CLAC55Z 4 pin plug connectors on power cable FGM 0B 304 CLLD52Z FGJ 0B 304 CLLD52Z 4 pin plug connector on I O strobe cable FGG 0B 304 CLAD52Z 126 GPS GLONASS Receiver User Manual Rev 1 L Index
107. ected but a satellite cannot be isolated then all Glonass satellites will be flagged as BAD INTEGRITY and a GPS only solution will be attempted on the next measurement epoch This integrity algorithm differs from a RAIM algorithm in that it is not designed to protect against specified minimum performance levels In RAIM the position solution is considered suspect if the satellite geometry is insufficient to detect a measurement error that could cause a position error greater than a given threshold This approach is very conservative and was developed for stringent in flight position tolerances The integrity algorithm in the NovAtel MiLLennium GLONASS card does not use this minimum detectable blunder concept but will check for any satellite failure based on the strength of the current satellite geometry GPS GLONASS Receiver User Manual Rev 1 43 5 Firmware Updates and upgrades NovAtel FIRMWARE UPDATES AND UPGRADES 5 1 UPDATE UPGRADE OVERVIEW The MiLLennium GLONASS GPSCard stores its program firmware in non volatile memory which allows you to perform firmware updates without having to return the MiLLennium GLONASS GPSCard to the factory New firmware can be transferred to the MiLLennium GLONASS GPSCard through a serial port and the unit will immediately be ready for operation at a higher level of performance The first step in updating your receiver is to contact your local NovAtel dealer Your dealer will assist you in selecting the be
108. ed by the port prompt After initially turning on the MiLLennium GLONASS GPSCard you may find the following logs useful for observing the MiLLennium GLONASS GPSCard s activities While GPSolution is the easiest way to do this you can also use DOS or a Windows based communications program examples of both are provided below e Use the RCCA log to list the default command settings The RCCA log is useful for indicating status of all current command settings Displaying the RCCA log after a RESET will show the saved configuration Refer to the description of the SAVECONFIG command in the MiLLennium Command Descriptions Manual for more information e Use the ETSA log to monitor the channel tracking status e Use the SATA log to observe the satellite specific data e Use the POSA log to observe the current computed position solutions e Use the DOPA log to monitor the dilution of precision of the current satellite constellation Use the RVSA log to monitor the receiver status e Use the HELP command to list all available commands e Use HELP LOG command to list all available logs Refer to the MiLLennium Command Descriptions Manual for procedures and explanations related to data logging 4 3 2 DOS One way to initiate multiple commands and logging from the GPSCard is to create DOS boot up command files relating to specific functions This will save time when you want to duplicate test situations and minimize set up time Any convenie
109. eft 4 59 5 6 Start GPSolution on your PC Select Card Open from the menu To connect to the MiLLennium GLONASS in GPSolution you must open a configuration A configuration is a group of settings that define the type of card the communication protocol window positions and file locations The Open Configuration dialog will appear All created configurations are displayed in the listbox Choose a configuration from the list and click the OK button If there are no configurations available you must create a new configuration GPSolution will attempt to open MiLLennium GLONASS using the specifications in the selected configuration The MiLLennium GLONASS default port settings are as follows RS232C 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off GPS GLONASS Receiver User Manual Rev 1 15 2 Quick Start NovAtel See Communications with the MiLLennium GLONASS GPSCard Page 24 7 Select View Command Console and then View ASCII Records from the menu You may also open other visual displays from the View menu at any stage See Getting Started Page 25 8 If high accuracy GLONASS pseudoranges are desired run the calibration procedure See Calibration Procedure Page 27 16 GPS GLONASS Receiver User Manual Rev 1 gZ NovAtel 3 Installation INSTALLATION 3 1 SYSTEM CONFIGURATION The MiLLennium GLONASS GPSCard receiver is an OEM product designed for flexibility of integration and confi
110. egory are the address field and the checksum field 1f present Fixed Integer Ambiguity Estimates carrier phase ambiguities which are setto integer values and then held constant Flash ROM Programmable read only memory Floating Ambiguity Estimates ambiguity estimates which are not held to a constant value but are allowed to gradually converge to the correct solution Frequency Division Multiple Access FDMA GLONASS satellites transmit carrier signals in different L band channels The GLONASS receiver uses the FDMA procedure assigning different frequencies to its tracking channels to separate the total incoming signal from all visible satellites GDOP Geometric Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry Assumes that 3D position latitude longitude height and receiver clock offset time are variables in the solution The lower the GDOP value the greater the confidence in the solution Geoid the shape of the earth if it were considered as a sea level surface extended continuously through the continents The geoid is an equipotential surface coincident with mean sea level to which at every point the plumb line direction in which gravity acts is perpendicular The geoid affected by local gravity disturbances has an irregular shape Refer to the PRTKA B log in the MiLLennium Command Descriptions Manual Appendix D Ge
111. elator spacing 0 7 See below O GPS 3 Pseudolite GPS Satellite system 1 GLONASS 4 7 Reserved 2 WAAS Resened TC 0 C A 2 P codeless 1 P 3 Reserved 400000 23 Forward enor conectio 1 FEC enabled 0 800000 M 30 Extemal range 1 Ext range 0 Int range 31 Channel assignment 1 Forced 0 Automatic GPS GLONASS Receiver User Manual Hev 1 99 H NovAtel Format Logs Nortel Table H 3 Bits 0 3 Channel Tracking State L1 Idle L1 Sky search L1 Wide frequency band pull in L1 Narrow frequency band pull in L1 Phase lock loop L1 Re acquisition L1 Steering L1 Frequency lock loop Higher numbers are reserved for future use Table H 3 Bits 12 14 Correlator Spacing State Description 0 Unknown this only appears in versions of software previous to x 4x which didn t use this field 1 Standard correlator spacing 1 chip 2 Narrow Correlator tracking technology spacing lt 1 chip Higher numbers are reserved for future use Table H 4 GPSCard Range Reject Codes Value Description 0 Observations are good 1 Bad satellite health is indicated by ephemeris data 2 Old ephemeris due to data not being updated during last 3 hours 3 Eccentric anomaly error during computation of the satellite s position 4 True anomaly error during computation of the satellite s posi
112. elow 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 2 Remove the replacement circuit board from the static shielding bag or clamshell and insert it into the equipment 3 Place the original board into the shielding bag or clamshell and seal it with a label 4 Do not put repair tags inside the shielding bag or clamshell Disconnect the wrist strap 48 GPS GLONASS Receiver User Manual Rev 1 P gZ NovAtel B Technical Specifications TECHNICAL SPECIFICATIONS 1 MILLENNIUM GLONASS GPSCARD Table B 1 MiLLennium GLONASS GPSCard Specifications Size 100 00 x 179 27 x 18 09 mm with connectors Eurocard format Weight 175 grams MECHANICAL DRAWINGS Figure B 1 OEM5 Board Dimensions gt I 2 1 0 08 oa 0 08 CARD GUIDE ZONE 3 44 CARD GUIDE ZONE lo p a e 0 uc oo ex R iT B L OL as 10 HB Bec 179 9 7 1
113. ency ionospheric model parameters Analog A type of transmission characterized by variable waveforms representing information contrasted with digital Modern computers are invariably digital but when they communicate over telephone lines their signals must be converted to analog using a modem a modulator demodulator The analog signal is converted back into a digital form before delivering it to a destination computer Antipodal Satellites Satellites in the same orbit plane separated by 180 degrees in argument of latitude Arrival alarm an alarm signal issued by a voyage tracking unit which indicates arrival at or at a pre determined distance from a waypoint see arrival circle Arrival circle an artificial boundary placed around the destination waypoint of the present navigation leg and entering of which will signal an arrival alarm Arrival perpendicular crossing of the line which is perpendicular to the course line and which passes through the destination waypoint Attenuation reduction of signal strength Attitude the position of an aircraft or spacecraft in relation to a given line or plane as the horizon Availability The percentage of time that the services of a navigation system can be used within a particular coverage area Signal availability is the percentage of time that navigational signals transmitted from external sources are available for use Availability is a function of both the physica
114. er Manual Rev 1 r eee NovAtel E ProPak Il Enclosure E 3 3 3 3 Auto ranging AC DC Converter amp Power Cord NovAtel part number GPS APRO 9 4 10 l 2 3 CI 5 6 7 8 LEMO Pin Number Signal efe 0 1 Negative Black 2 Positive White 3 Positive Red 4 Negative Green Reference Description Reference Description 5 Female LEMO plug 8 AC plug 6 Auto ranging AC DC converter 9 Red marker at top of connector AC socket E 3 3 3 4 Straight Power Cable In 33 5 cm and 75 cm lengths NovAtel part numbers 01016724 and 01016725 respectively 10 40 6 8 7 LEMO Pin Number Signal Color Code 1 Negative GND Brown 2 Positive 10 to 36 V DC Orange 3 Positive 10 to 36 V DC Red 4 Negative GND Black Reference Description 5 Red marker at top of connector 6 LEMO 4 pin plug 4 pin plug 8 Extension GPS GLONASS Receiver User Manual Hev 1 69 E ProPak I Enclosure NavZtel E 4 OTHER OPTIONAL PROPAK Il ACCESSORIES E 4 1 BATTERY ASSEMBLY NOVATEL PART NUMBER 01016698 The optional NovAtel battery for the ProPak II NovAtel part number 01016698 see Figure E 5 has been selected to offer the best compromise between availability ease of maintenance and duration of operation It should be handled with care and prevented from being severely knocked or dropped Figure E 5 Battery Assembly WARNI
115. er a FRESET command all commands will revert to the factory default settings The SAVECONFIG command can be used to modify the power on defaults Use the RCCA log to reference station command and log settings NOTE Ina FRESET or a software load all previously stored configurations that were saved to non volatile memory are erased including Saved Config Saved Almanac and Channel Config NOTE Please refer to the MiLLennium Command Descriptions Manual for a table of Commands By Function and an alphabetical listing of commands Please see Appendix G Page 82 for a detailed description of GLONASS specific commands GPS GLONASS Receiver User Manual Rev 1 29 PAN 4 Operation NovAtel 4 5 SPECIAL DATA INPUT COMMANDS These entries are data messages that are generated by one MiLLennium GLONASS GPSCard and sent to another GPSCard or generated by a MiLLennium GLONASS GPSCard and saved for later use by that MiLLennium GLONASS GPSCard eg CALA For example consider a special configuration in which a MiLLennium GLONASS GPSCard 1 is able to send these data messages to a MiLLennium GLONASS GPSCard 2 via a serial port For MiLLennium GLONASS GPSCard 1 this is no different than sending these data messages to a file or a screen Each of these data messages has a special header which is interpreted by MiLLennium GLONASS GPSCard 2 to mean that the data in that message is to be used as an update of its own GLONASS parameters such as time posi
116. eshold 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 fibres 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 A 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 wrist or ankle straps 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 Astatic 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 or ankle straps and mats Boards or components should never come in contact with clothing be
117. et residual offset variance N Te GPS sv GLONASS sv time status XX CR LF Field Field Description Example 1 GCLA Log Header GCLA 2 Week GPS week number 994 3 Sec GPS time into week 149871 00 4 Nominal Offset Nominal offset between GPS and GLONASS time references 10787 in seconds 5 Residual Offset Residual offset estimated in filter in meters 10 62179349 6 Residual Offset Variance of residual offset in meters 167 82950123 Variance 7 N Calendar day number within four year period beginning since 1121 the leap year in days 8 Us From GLONASS almanac GLONASS time scale correction 3 0544738044739E 007 to UTC SU given at beginning of day NA in seconds 9 GPS sv Number of good GPS sv tracked 9 10 GLONASS sv Number of good GLONASS sv tracked 4 11 Time Status Time status see below 00000000 12 xx Checksum 7B 13 CR LF Sentence terminator CR LF Time Status Value Description 0 GLONASS time floating 1 GLONASS time fixed Example GCLA 994 149871 00 10787 10 62179349 167 82950123 1121 3 0544738044739E 007 9 4 00000000 7B CR LF GCLB GPS GLONASS Receiver User Manual Rev 1 91 a H NovAtel Format Logs Note GCLB Format Message ID 88 Message byte count 68 Field Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Message byte count 4 integer bytes 8 2 Week number 4 integer weeks 12 3 Seconds of week 8 double seconds
118. fer from Selective Availability SA will degrade at a slower rate than GPS after about 30 seconds The following sets of commands will enable PSR differential positioning for two MiLLennium GLONASS GPSCard receivers assuming a radio link has been provided Two examples have been shown for the reference station representing the full correction set RTCM Type 1 31 and partial correction set RTCM Type 9 34 configurations 1A Reference Station Initialization full correction message fix position lat lon height station ID log comn rtcm1 ontime interval log comn rtcm31 ontime interval example fix position 51 11358042 114 04358013 1059 4105 1024 log rtcm1 ontime 2 log rtcm31 ontime 2 1B Reference Station Initialization partial correction message fix position lat lon height station ID log comn rtcm9 ontime interval log comn rtcm34 ontime interval example fix position 51 11358042 114 04358013 1059 4105 1024 log rtcm9 ontime 2 log rtcm34 ontime 2 2 Remote Station Initialization accept example accept com2 rtcm NOTE The MiLLennium GLONASS GPSCard also supports the NovAtel ASCII and Binary versions of the new RTCM Type 31 and 34 messages These are of the same form but are wrapped in a NovAtel header and checksum The ASCII version has the RTCM data portion converted to hexadecimal before transmission If the COM port on the remote receiver is set to accept COMn comm
119. fers high quality coaxial cable in standard 5 Model C005 15 Model C015 and 30 m Model C030 lengths These come with a TNC male connector at each end Should your application require the use of cable longer than 30 m you will find the application note Extended Length Antenna Cable Runs at our website http www novatel ca or you may obtain it from NovAtel Customer Service directly see Page 7 While there may be other coaxial cables and antennas on the market which may also serve the purpose please note that the performance specifications of the MiLLennium GLONASS GPSCard are warranted only when it is used with NovAtel supplied accessories D 1 2 PRINCIPAL POWER SUPPLY A single external power supply 4 875 5 250 V DC is all that is necessary to meet the MiLLennium GLONASS GPSCard s 8 W typical power consumption D 1 3 OPTIONAL LNA POWER SUPPLY The MiLLennium GLONASS GPSCard provides power to its GPSAntennas out of the primary 5 V DC input However if a different type of antenna is required that is incompatible with this supply then you could connect an additional power source 30 V DC 100 mA maximum and user supplied to the MiLLennium GLONASS GPSCard In either case the power is fed to the antenna through the same coaxial cables used for the RF signals D 1 4 RADIO FREQUENCY RF SECTION The MiLLennium GLONASS GPSCard receives partially filtered and amplified GPS and GLONASS signals from the antenna via the coaxial ca
120. ffect CAUTION The P301 jumper plug must be jumpered to the external position pins 2 and 3 before external LNA power is connected to pin 4B of the 64 pin wire harness connector to prevent power from feeding back into the receiver Should it be necessary due to extended length antenna cable to supply external power to the GPS GLONASS antenna or to use an optional in line LNA amplifier be careful not to exceed the voltage ratings of either the antenna or LNA No guarantee is made that the MiLLennium GLONASS GPSCard will meet its performance specifications if a non NovAtel antenna is used 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 for example AWG 24 to ensure that the voltage at the 64 pin connector is within the MiLLennium GLONASS GPSCard s requirements 3 4 4 RS232C COMMUNICATIONS The MiLLennium GLONASS GPSCard is capable of communications in EIA RS232C serial data format via two ports COMI and COM2 See Figure 3 2 Page 20 for data connections e COMI pins 7 11 A amp B e COM2 pins 15 19 amp B Each port has a ground connection and supports the following signals Data Terminal Ready DTR Clear To Send CTS Transmitted Data TXD Request To Send RTS Received Data RXD Data Set Ready DSR Data Carrier Detect DCD The port settings bit rate parity etc are
121. free fixed discrete 8 L1 only fixed integer 9 Reserved 10 Undefined type Higher numbers are reserved for future use 112 GPS GLONASS Receiver User Manual Rev 1 H NovAtel Format Logs Table H 12 Searcher Status Searcher Status Definition 0 No search requested 1 Searcher buffering measurements 2 Currently searching 3 Search decision made 4 Hand off to L1 and L2 complete Higher numbers are reserved for future use Table H 13 RTK Status 1 Good narrowlane solution 2 Good widelane solution 4 Good L1 L2 converged float solution 8 Good L1 L2 unconverged float solution 16 Good L1 converged solution 32 Good L1 unconverged solution 64 Reserved for future use 128 Insufficient observations 256 Variance exceeds limit 512 Residuals exceed limit 1024 Delta position too large 2048 Negative variance 4096 Undefined 8192 RTK initialize Higher numbers are reserved for future use GPS GLONASS Receiver User Manual Rev 1 113 GPS GLONASS Glossary of Terms Novel IM GPS GLONASS GLOSSARY or TERMS ASCII A 7 bit wide serial code describing numbers upper and lower case characters special and non printing characters Accuracy The degree of conformance between the estimated or measured position time and or velocity of a GPS receiver and its true time position and or velocity as compared with a constant standard Radionavigation
122. g a communications software package This is discussed in greater detail later in this chapter 4 3 GETTING STARTED Included with your MiLLennium GLONASS GPSCard are NovAtel s GPSolution Convert and Loader programs together with their on line help GPSolution is a Microsoft Windows compatible program that allows you to access the MiLLennium GLONASS GPSCard s many features without struggling with communications protocol or writing special software GPSolution automatically recognizes the model type of the MiLLennium GLONASS GPSCard that you are using and adjusts the displays accordingly Figure 4 2 shows a sample GPSolution screen The Convert utility is a Windows based utility that allows you to convert between NovAtel ASCII and binary file formats and strips unwanted records for data file compilation NovAtel s Loader program is a DOS utility program designed to facilitate program and model updates GPS GLONASS Receiver User Manual Rev 1 25 4 Operation Nolte Figure 4 2 Sample GPSolution Screen number Chan State Lock Lock Lock Lock Lack Search Lock Doppler 3717 2652 1870 3174 2084 512 3533 44 62 50 39 52 58 46 35 4515 0 00 4B E Fiaskdual 0 60 134 12 21 11 30 00 3245 0 00 728 Lack Time 14782 3831 13533 21986 1894 B 2630 Rajact Code Good Good Good Good Good Good yshem Carr GPZ M GPE H GPSEN GPS N GPZ N GLOIN GLO M GLO Measurement L1 C 1 4 Channel 1 PRIN number 28 22 14
123. g and is not followed by the ionospheric IONA or UTC UTCA information See Chapter 4 Page 32 and Appendix Page 89 for more information on the GALA log command option 30 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation 4 5 1 2 Almanac Data Input Types The GPSCard has the capability to accept injection of previously logged NovAtel format ASCII almanac data GALA IONA and SUTCA The GPSCard will interpret this log data as special data input commands This provides the user with the advantage of being able to inject recent almanac data into non volatile memory for example after a FRESET where the almanac information has been erased without having to wait the 5 12 5 minutes described in above paragraphs There are various ways by which this can be accomplished connecting the COMI or COM2 port from one GPSCard reference directly to the COMI or 2 port of another GPSCard remote The reference card is assumed to be tracking satellites for some time and can be commanded by the ALMA or GALA log command option to output almanac records to the remote card The remote card can be assumed to be just powered up or RESET and will recognize the SALMA GALA IONA and SUTCA data as special input commands and update its almanac tables with this new data REMEMBER When connecting two GPSCard COM ports together the MESSAGES command option should be set to OFF to prevent inter ca
124. gnal output to external system active high 140 29 GND Digital Ground 280 ms duration For factory use only 30 GND Digital Ground For factory use only 3l GND Digital Ground Kept high for factory use only 32 GND Digital Ground GPS GLONASS Receiver User Manual Rev 1 53 C Common Unit Conversions Note COMMON UNIT CONVERSIONS Section C to C 4 list commonly used equivalents between the SI Syst me Internationale units of weights and measures used in the metric system and those used in the imperial system A complete list of hexadecimal values with their binary equivalents is given in Section C 5 while an example of the conversion from GPS time of week to calendar day is shown in Section C 6 GLONASS time conversion is explained in Section C 7 and angular conversions may be found in Section C 8 C 1 DISTANCE C 2 VOLUME 1 meter m 100 centimeters 1000 millimeters mm 1 liter 1 1000 cubic centimeters cc 1 nautical mile 1852 meters m 1 gallon British 4 546 liters 1 1 international foot 0 3048 meter 1 gallon US 3 785 litres 1 1 kilometer km 1000 meters m 1 statute mile 1609 meters m 1 US survey foot 0 3048006096 meter m C 3 TEMPERATURE C 4 WEIGHT degrees Celsius 5 9 x degrees Fahrenheit 32 1 kilogram kg 1000 grams degrees Fahrenheit 9 5 x degrees Celsius 32 1 pound 0 4536 kilogram kg C 5 HEXADECIMAL TO BINARY CONVERSION
125. guration You are free to select an appropriate data and signal interface power supply system and mounting structure This concept allows OEM purchasers to custom design their own applications around the MiLLennium GLONASS It also comes in a ProPak II enclosure or PowerPak II enclosure please see ProPak II Enclosure Page 59 or PowerPak II Enclosure Page 73 This section provides the necessary information for you to install and begin to use the MiLLennium GLONASS GPSCard A typical system configuration is shown in Figure 3 1 Figure 3 1 Typical System Configuration 7 9 10 11 13 14 Reference Description Reference Description 1 ProPak II enclosure PowerPak II enclosure 8 Optional LNA DC power 1 pin or user supplied enclosure 9 COMI 8 pins 2 RF signal amp LNA power SMB connector P101 10 8 pins male right angle to antenna via 11 Input amp output timing strobes interconnecting coaxial cable 12 pins 3 Optional external reference clock input SMB 12 Matching user supplied connector P301 male straight interface i e matches item 4 4 Power data amp signals connector P1 male 13 Optional choke ring ground plane 64 pin 0 1 DIN 41612 Type B right angle 14 Antenna model 504 shown 5 Status LEDs green amp red with 5 8 adapter or any NovAtel 6 LNA power jumper P301 see the External L1 GPS GLONASS antenna Power section Page 21 7 5 VDC primary power GPS GLONASS Receiver Use
126. h a MiLLennium GLONASS GPSCard and is constructed of extruded aluminum The enclosure is sealed with an end plate by four mounting screws F 1 2 CONNECTIONS AND INDICATORS The PowerPak II enclosure features a front panel See Figure F 2 with appropriate indicator lights and connectors The front panel indicator glows red when power is on and green when a valid position is computed On the front panel there are connections for the cigarette lighter adaptor optional AC DC power converter Y type null modem data cable user supplied external oscillator cable COM1 and serial ports and an RF input from the GPS GLONASS antenna Figure F 2 PowerPak Il Enclosure Front Panel 1 Indicator Status Red Power on Green Valid position computed F 1 3 PCB INTERCONNECT BACK PLANE The interconnect back plane is a printed circuit board vertically mounted directly behind the PowerPak II front panel Its purpose is to provide direct interconnection between the GPSCard power card and the front panel input and output connections Except for a ground wire and a coaxial interconnect cable all other input output and interconnect connectors are directly soldered to the back plane The MiLLennium GLONASS GPSCard and power card connect directly to the back plane F 1 4 INTERNAL POWER CARD The internal power card is a DC to DC power converter providing filtering fuse protection and voltage regulation for the GPSCard It accepts
127. h a stationary receiver This allows the use of various averaging or differential techniques GPS GLONASS Receiver User Manual Rev 1 121 PAN GPS GLONASS Glossary of Terms NovAtel SV Space Vehicle ID sometimes used as SVID also used interchangeably with Pseudo Random Noise Number PRN SEP spherical error probable a sphere s radius centered at the true antenna position containing 50 percent of the points in the three dimensional scatter plot Static your GPS antenna does not move TDOP Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the TDOP value the greater the confidence factor Three dimensional coverage hours the number of hours per day when four or more satellites are available with acceptable positioning geometry Four visible satellites are required to determine location and altitude Three dimensional 3D navigation navigation mode in which altitude and horizontal position are determined from satellite range measurements Time To First Fix TTFF the actual time required by a GPS receiver to achieve a position solution This specification will vary with the operating state of the receiver the length of time since the last position fix the location of the last fix and the specific receiver design Track a planned or intended horizontal path of travel with respect to the Eart
128. h rather than the air or water The track is expressed in degrees from 000 clockwise through 360 true magnetic or grid Track made good the single resultant direction from a point of departure to a point of arrival or subsequent position at any given time may be considered synonymous with Course Made Good True bearing bearing relative to true north compass bearing corrected for compass error True heading heading relative to true north Two dimensional coverage hours the number of hours per day with three or more satellites visible Three visible satellites can be used to determine location if the GPS receiver is designed to accept an external altitude input Two dimensional 2D navigation navigation mode in which a fixed value of altitude is used for one or more position calculations while horizontal 2D position can vary freely based on satellite range measurements Undulation the distance of the geoid above positive or below negative the mathematical reference ellipsoid spheroid Also known as geoidal separation geoidal undulation geoidal height Universal Time Coordinated UTC this time system uses the second defined true angular rotation of the Earth measured as if the Earth rotated about its Conventional Terrestrial Pole However UTC is adjusted only in increments of one second The time zone of UTC is that of Greenwich Mean Time GMT Update rate the GPS receiver specification which
129. hen a lock break occurs this accumulated value can jump an arbitrary integer number of cycles this is called a cycle slip CEP circular error probable a circle s radius centered at the true antenna position containing 50 percent of the points in the horizontal scatter plot Channel A channel of a combined GPS GLONASS receiver consists of the circuitry necessary to receive the signal from a single GPS GLONASS satellite Checksum by NMEA standard a validity check performed on the data contained in the sentences calculated by the talker appended to the message then recalculated by the listener for comparison to determine if the message was received correctly Required for some sentences optional for all others Circular Error Probable CEP the radius of a circle centered at your true location that contains 50 percent of the individual position measurements made using a particular navigation system Clock Bias The difference between the clock s indicated time and true universal time Clock Offset Constant difference in the time reading between two clocks Coarse Acquisition C A Code a spread spectrum direct sequence code that is used primarily by commercial GPS receivers to determine the range to the transmitting GPS satellite Uses a chip rate of 1 023 MHz Also known as the civilian code Communication protocol a method established for message transfer between a talker and a listener which
130. hose LNA requires voltage and or current capacity beyond what the MiLLennium GLONASS GPSCard can produce then the external LNA power option must be utilized this requires that P301 must be jumpered between pins 2 and 3 The input cannot exceed 30 V D C at 100 mA When the LNA jumper plug is in the external position the antenna sensing circuit will cause the self test status code to always report antenna status as 1 good See Appendix H RVSA B log Page 109 and Table H 2 Page 96 for receiver self test status codes If no LNA power is required remove the jumper at P301 completely In contrast to the physical jumper settings it is the ANTENNAPOWER command which actually enables or disables the supply of electrical power from the internal power source of the card to Pin 1 of jumper P301 By default ANTENNAPOWER ON Table 3 1 Page 22 illustrates the usage of this command in relation to the jumper position The setting of this command will also affect the way the self test diagnostics report the antenna s status please see the description of the ANTENNAPOWER command Page 64 GPS GLONASS Receiver User Manual Rev 1 21 3 Installation NavZtel Table 3 1 Antenna LNA Power Configuration P301 plug connects pins P301 plug connects pins P301 no plug 1 amp 2 2 amp 3 internal power connected to LNA no external effect no external effect Seelam internal power cut off from LNA no external effect no external e
131. ic variation NOTE variation west is negative while a variation east is positive see Pages 86 and 103 for illustrations GPS GLONASS Receiver User Manual Rev 1 55 D Functional Overview NovAtel FUNCTIONAL OVERVIEW D 1 MILLENNIUM GLONASS GPSCARD SYSTEM The MiLLennium GLONASS GPSCard consists of a radio frequency RF and a digital electronics section Prior to operation a GPS GLONASS antenna power supply and data and signal interfaces must be connected The installation instructions for a MiLLennium GLONASS GPSCard and a ProPak II or PowerPak II may be found in Chapter 3 Page 17 Appendix E Page 59 and Appendix F Page 73 respectively The overall system is represented in Figure D 1 A brief description of each section follows Figure D 1 MiLLennium GLONASS GPSCard System Functional Diagram 8 5 i 7 Reference Description Reference Description 1 MiLLennium GLONASS GPSCard 11 Input timing strobe 2 RF section 12 Output timing strobe 3 Digital section 13 VCTCXO 4 Antenna capable of receiving L1 signal 14 RF IF sections NovAtel GPS GLONASS antenna or user supplied 15 Signal Processor 5 Optional user supplied LNA power 16 32 bit CPU 0 30 VDC 17 System I O 6 User supplied power 5 VDC 18 LNA 7 Optional external oscillator 5 or 10 MHz 19 Clock signals 8 User supplied data and signal processing 20
132. ices Status output an output that changes logic states when a valid GPS position is obtained not available in the ProPak II enclosure option You configure the MiLLennium GLONASS GPSCard using special commands see Quick Start Page 15 In turn the MiLLennium GLONASS GPSCard presents information to you in the form of pre defined logs in a number of formats In addition when a MiLLennium GLONASS GPSCard is linked to a NovAtel GPSCard receiver or second MiLLennium GLONASS GPSCard for differential positioning they can communicate directly through their serial ports 58 GPS GLONASS Receiver User Manual Rev 1 gZ NovAtel E ProPak Il Enclosure PROPAK Il ENCLOSURE E 1 INTRODUCTION The ProPak II enclosure see Figure E 1 is rugged reliable and designed for adverse environments It offers you unparalleled flexibility It is intended to be used with the following NovAtel accessories and options e A NovAtel Model 504 or Model 514 L1 GPS GLONASS antenna single frequency e Model C005 C015 or C030 5 15 or 30 m lengths coaxial cable to connect the GPS GLONASS antenna to the ProPak II enclosure e 33 5 cm or 75 cm 4 pin LEMO plug to 4 pin LEMO plug connector NovAtel part numbers 01016724 and 01016725 respectively Model GPS APRO auto ranging AC DC converter and power cables Figure E 1 ProPak Il Enclosure After the addition of these accessories together with user supplied data communications equipment and a
133. ime to destination waypoint 4 7 DIFFERENTIAL POSITION OPERATION Differential operation involves setting up a radio link between a stationary MiLLennium GLONASS GPSCard receiver at a known point and one or more MiLLennium GLONASS GPS Card receivers at unknown locations The stationary receiver known as the reference receiver broadcasts various messages which can be received by the various remote receivers Internally the remote MiLLennium GLONASS GPSCard is capable of utilising this information in the navigation filter It is possible in this manner to eliminate most common error sources and improve the level of position accuracy A more detailed description of differential positioning can be found in Appendix A of the MiLLennium Commands Description Manual It is your responsibility to provide a data communications link between the reference and remote stations Generally a communications link capable of 4800 bits per second or higher is sufficient Refer to the MiLLennium Commands Description Manual for additional information There are two types of differential positioning available with the MiLLennium GLONASS GPSCard These include pseudorange PSR differential positioning and Real Time Kinematic RTK differential positioning RTK positioning is more complicated and CPU intensive than pseudorange positioning and is available as an option on the MiLLennium GLONASS GPSCard Implementation for both modes is explained following NOT
134. istance exceeded maximum of 3 rejections if distance gt 10km 6 Not yet converged from cold start 7 Height or velocity limit exceeded In accordance with COCOM export licensing restrictions 8 Bad integrity Higher numbers are reserved for future use GPS GLONASS Receiver User Manual Rev 1 111 H NovAtel Format Logs NavZtel Table H 9 Position Type No position Single point position Differential pseudorange position GPS RT 20 position GPS RT 2 position GPS WAAS position solution Differential combined GPS GLONASS DGPS with uncorrected GLONASS RT 10 GPS GLONASS Reserved Reserved Differential pseudorange position GLONASS 12 DGLONASS with uncorrected GPS Higher numbers are reserved for future use mH Table H 10 RTK Status for Position Type 3 and Type 8 State Description 0 Floating ambiguity solution converged 1 Floating ambiguity solution not yet converged 2 Modeling reference phase 3 Insufficient observations 4 Variance exceeds limit 5 Residuals too big 6 Delta position too big 7 Negative variance 8 RTK position not computed Higher numbers are reserved for future use Table H 11 Ambiguity Types 0 L1 only floating 1 Wide lane fixed integer 2 Reserved 3 Narrow lane floating 4 Iono free floating 5 Reserved 6 Narrow lane fixed integer 7 Iono
135. it Arrangement 11 1 3 View of GLONASS Satellite Orbit Arrangement 12 2 1 NovAtel Coaxial and Serial Cables essere enne 15 3 1 Typical System Configuration essere ener nent entente 17 3 2 Edge view of Connector on MiLLennium GLONASS sese 20 333 LNA Power Jumper P301 3 Cases s eeenioieo nete ttp bebe iet epe 21 4 1 Typical Operational Configuration seen 24 4 2 Sample GPSolution Screen enero eie Cp eee oie 26 5 1 Main Screen of LOADER Program eese ener en nennen en 46 B 1 OEMS Board Dimensions eere REO REO sedebsuepeseaseees 49 2 Series Side amp End Views eese ener nennen en 50 D 1 MiLLennium GLONASS GPSCard System Functional Diagram 56 E ProPakI Enclosure une eR eei qiie 59 E 2 ProPak II Enclosure Front End Cap 60 E 3 ProPak II Enclosure Rear End Cap eese enne emen 60 E 4 Typical ProPak II Enclosure Installation Configuration esee 62 E 5 Battery Assembly nece gen RP EORR bad qase 70 E 6 Battery Cap soot beet HE e ODD EEI EEEE E EEES 70 F 1 PowerPak lI Enclosure 2 ee thse es Bi vee eiteciee e E aeia cota out bv erect becasue 73 F 2 PowerPak Enclosure Front Panel eese enne enne 74 Typical PowerPak
136. itioning RTCM59 RTK positioning CMROBS RTK positioning RTCAOBS RTK positioning RTCM1819 RTK positioning 42 GPS GLONASS Receiver User Manual Rev 1 P eee Nolte 4 Operation NOTE RTCM Type 1 s and Type 9 can be broadcast by themselves and used for GPS Only operation similar to section 4 7 4 8 INTEGRITY ALGORITHM NovAtel Inc has implemented an integrity algorithm to improve the reliability of the MiLLennium GLONASS receiver The increased redundancy offered by tracking more satellites improves the chance of statistically catching a measurement blunder The integrity algorithm is designed to detect and attempt to isolate single satellite failures A satellite failure in this instance is defined as a ranging error on a pseudorange measurement The detection algorithm is based on a least squares residuals approach see Brown et al A Baseline GPS RAIM Scheme and a Note on the Equivalence of Three RAIM Methods Journal of the Institute of Navigation Vol 39 No 3 Fall 1992 When an integrity failure is detected the solution status flag is set to BAD INTEGRITY If a satellite was successfully isolated then the reject code for that satellite will be set to BAD INTEGRITY and the satellite will be removed from subsequent processing for 30 minutes If operating in RTK mode the RTK filter will be reset and the isolated satellite will be rejected in the ensuing processing for the same period of time If an integrity failure is det
137. l characteristics of the operational environment and the technical capabilities of the transmitter facilities Azimuth the horizontal direction of a celestial point from a terrestrial point expressed as the angular distance from 000 reference clockwise through 360 The reference point is generally True North but may be Magnetic North or Relative ship s head 114 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel GPS GLONASS Glossary of Terms Bandwidth The range of frequencies in a signal Bearing the horizontal direction of one terrestrial point from anther terrestrial point expressed as the angular distance from a reference direction usually measured from 000 at the reference direction clockwise through 360 The reference point may be True North Magnetic North or Relative ship s head Carrier the steady transmitted RF signal whose amplitude frequency or phase may be modulated to carry information Carrier Phase Ambiguity or sometimes ambiguity for short the number of integer carrier phase cycles between you and the satellite at the start of tracking Carrier phase measurements these are accumulated delta range measurements They contain the instantaneous phase of the signal modulo cycle plus some arbitrary number of integer cycles Once the receiver is tracking the satellite the integer number of cycles correctly accumulates the change in range seen by the receiver W
138. l 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 degreeslminutes 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 minuteslseconds 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 are used to indicate field types within this standard A a c hh hhmmss ss x yyyyy yy Numeric Value Fields Variable numbers X X Variable length integer or floating
139. latency Solution a position solution which is based on a prediction A model based on previous reference station observations is used to estimate what the observations will be at a given time epoch These estimated reference station observations are combined with actual measurements taken at the remote station to provide a position solution Magnetic bearing bearing relative to magnetic north compass bearing corrected for deviation Magnetic heading heading relative to magnetic north Magnetic variation the angle between the magnetic and geographic meridians at any place expressed in degrees and minutes east or west to indicate the direction of magnetic north from true north Mask angle the minimum GPS satellite elevation angle permitted by a particular receiver design Satellites below this angle will not be used in the position solution For GLONASS the mask angle is 9 degrees Matched Observation Set Pair it contains observations from both the reference station and the local receiver which have been matched by time epoch contain the same satellites and are corrected for any known offsets Measurement error variance the square of the standard deviation of a measurement quantity The standard deviation is representative of the error typically expected in a measured value of that quantity Measurement Time Epoch the local time at which a GPSCard takes a measurement Mulitpath errors Interference cause
140. ll be available on a continuous worldwide basis to users authorized by the U S Department of Defence typically using P Code PRN number a number assigned by the GPS system designers to a given set of pseudorandom codes Typically a particular satellite will keep its PRN and hence its code assignment indefinitely or at least for a long period of time It is commonly used as a way to label a particular satellite Pseudolite an Earth based transmitter designed to mimic a satellite May be used to transmit differential corrections Pseudorange the calculated range from the GPS receiver to the satellite determined by taking the difference between the measured satellite transmit time and the receiver time of measurement and multiplying by the speed of light This measurement generally contains a large receiver clock offset error Pseudorange Measurements measurements made using one of the pseudorandom codes on the GPS signals They provide an unambiguous measure of the range to the satellite including the effect of the satellite and user clock biases PZ90 Parametry Zemli 1990 or in English translation Parameters of the Earth 1990 PE 90 PE 90 and PZ90 can be used interchangeably though the Russian translation PZ90 is used most commonly Receiver channels a GPS receiver specification which indicates the number of independent hardware signal processing channels included in the receiver design Reference Satellite
141. lock offsets with respect to GLONASS time and UTC SU time and twice a day upload the navigation data to the satellites 12 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 1 Introduction 1 4 3 THE USER SEGMENT The User Segment consists of equipment such as a NovAtel MiLLennium GLONASS GPSCard receiver which tracks and receives the satellite signals This equipment must be capable of simultaneously processing the signals from a minimum of four satellites to obtain accurate position velocity and timing measurements Like GPS GLONASS is a dual military civilian use system Selective availability however will not be implemented on GLONASS C A code The system s potential civil applications are many and mirror that of GPS 1 5 TIME As stated above both GPS and GLONASS satellites broadcast their time within their satellite messages NovAtel s MiLLennium GLONASS GPSCard is able to receive and record both time references as well as report the offset information between GPS and GLONASS time see GCLA B Page 91 Although similar GPS and GLONASS have several differences in the way they record and report time Please see the following sections for information on GPS and GLONASS time as well as how NovAtel s MiLLennium GLONASS GPSCard is GPS week rollover and Y2K compliant 1 5 1 GPS TIME VS LOCAL RECEIVER TIME All logs report GPS time expressed in GPS weeks and seconds into the week The time reported is not corrected fo
142. m the original packing box it is recommended that you save the box and ESD protective plastic clamshell for future storage or shipment purposes REMEMBER Always wear a properly grounded anti static wrist strap when handling the MiLLennium GLONASS GPS Card Always hold the MiLLennium GLONASS GPSCard by its corners or the RF backplane and avoid direct contact with any of the components Do not let the MiLLennium GLONASS 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 MiLLennium GLONASS GPS Card Warranty may be voided if equipment is damaged by ESD 3 4 INSTALLATION PROCEDURE Installing the MiLLennium GLONASS GPSCard typically consists of the following mounting the MiLLennium GLONASS GPSCard in a secure enclosure to reduce environmental exposure RF interference and vibration effects e pre wiring the I O harness and the 64 pin DIN female connector for power and communications then connecting them to the MiLLennium GLONASS GPSCard installing the GPS GLONASS antenna then connecting it to the MiLLennium GLONASS GPS Card installing an optional external oscillator see Page 80 18 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 3 Installation 3 4 1 MOUNTING THE PRINTED CIRCUIT BOARD The MiLLennium GLONASS GPSCard is an OEM product and therefore the printe
143. n Satellite System GLONASS are satellite systems capable of providing autonomous and highly accurate timing and positioning information GPS and GLONASS provide 24 hour all weather worldwide coverage See Table 1 1 Page 14 for a summary of their characteristics Refer to Figure 1 1 Page 10 for a representation of the GPS and GLONASS combined satellite orbit arrangement Figure 1 1 View of GPS and GLONASS Combined Satellite Orbit Arrangement Mur E MEET M y o ie s i am no T 3 1 Lud k S viae T F g n ee 1 1 4 d ak i x T T n wc a uscite ean er Tr mE 1 3 GPS SYSTEM DESIGN The system uses the NAVSTAR NAVigation Satellite Timing And Ranging satellites which consists of 24 operational satellites to provide a GPS receiver with six to twelve satellite coverage at all times depending on the receiver model A minimum of four satellites in view allows the GPSCard to compute its current latitude longitude altitude with reference to ellipsoid mean sea level and the GPS system time The GPS system design consists of three parts e The Space segment The Control segment The User segment All these parts operate together to provide accurate three dimensional positioning timing and velocity data to users worldwide 1 3 1 THE SPACE SEGMENT The space segment is composed of the NAVSTAR GPS satellites The final constellation of the system consists of
144. n timescale whereas GPS time is referenced to UTC as maintained by the U S Naval Observatory UTC USNO The GLONASS control segment periodically applies a time step to bring the system s time within several hundred nano seconds of UTC time 3 GLONASS ephemerides are referenced to the Parametry Zemli 1990 PZ 90 or in English translation Parameters of the Earth 1990 PE 90 geodetic datum The realization of the PZ 90 frame through adopted reference station coordinates has resulted in offsets in origin and orientation as well as a difference in scale with respect to WGS 84 used by GPS Relationships between the PZ 90 and WGS 84 have now been established 14 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 2 Quick Start QUICK START 2 1 QUICK START STEPS The total system consists of a combined GPS GLONASS receiver an antenna cables and your PC Prepare the MiLLennium GLONASS GPSCard so that it is complete with mounting and wiring interfaces and ready for operation as described in Chapter 3 Installation Page 17 If you purchased a ProPak II enclosure see Page 59 or a PowerPak enclosure see Page 75 they are ready for immediate Mount the antenna See GPS GLONASS Antenna Considerations Page 23 GPS GLONASS Antenna Connect the antenna to the RF port of the ProPak II enclosure PowerPak II enclosure or P101 connector on the MiLLennium GLONASS GPSCard see Figure 3 1 Typical System Configuration Page 17 and
145. ng 0902 164 6825 0902 264 6828 or equivalent is required to interface with connector P1 on the MiLLennium GLONASS GPSCard see Figure 3 2 Page 20 The connectors you choose for interfacing to the power source s COM ports and strobes will depend on your external equipment requirements Figure 3 2 Page 20 shows the pin names and locations on connector NOTE See Table B 2 Page 53 for descriptions of the function of each connector pin WARNING The MiLLennium GLONASS GPSCard will suspend operation if voltage supplied falls outside input range 4 875 to 45 250 V DC GPS GLONASS Receiver User Manual Rev 1 19 3 Installation NovAtel Figure 3 2 Edge view of Connector P1 on the MiLLennium GLONASS 33 4A 7A 15A 21A 32A GND 19A DCD2 2A 2B 19 DSR2 3A 5B 8B 12A 12B 16B 20A 20B N C 21B VARF 3B Reserved for future use 22B PPS 4B External LNA power 23B Measure out 5A 6A 13A 14A 26B 27B 30B 32B Factory use 24B Mark in 8A DTR 1 25B Status 9A TXDI 28B Reset in 9B CTSI 29B Reset out 10A RXDI 33 Component side of 10B RTSI MiLLennium GLONASS GPSCard DCDI 34 Power 11B DSR1 35 37 40 42 Factory use 16A DTR2 36 COMI RS 232C 17A TXD2 38 RS 232C 17B CTS2 39 Strobes 18A RXD2 41 Control 18B RTS2 43 Keying tab 20 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 3
146. ng GPS satellites only Faster floating ambiguity solutions mean shorter observations times The use of GLONASS in addition to GPS provides very significant advantages e increased satellite signal observations e markedly increased spatial distribution of visible satellites e reduction in the Horizontal and Vertical Dilution of Precision factor e no special precision degrading mode in GLONASS unlike GPS Selective Availability mode e single frequency L1 positioning accuracy is about 4 times better for GLONASS as compared to GPS single frequency signals e improved RTK performance e decreased occupation times result in faster surveying The MiLLennium GLONASS GPSCard is capable of combined GPS GLONASS operation In order to track GLONASS satellites the MiLLennium must track at least one GPS satellite to determine the GPS GLONASS time offset In order to determine a position in GPS Only mode the receiver must track a minimum of four satellites representing the four unknowns of 3 D position and time In combined GPS GLONASS mode the receiver must track five satellites representing the same four previous unknowns as well as the GPS GLONASS time offset With the availability of combined GPS GLONASS receivers users have access to a potential 48 satellite combined system With 48 satellites performance in urban canyons and other locations with restricted visibility such as forested areas is improved as more satellites are visible in the non bl
147. nge in frequency of sound light or other wave caused by movement of its source relative to the observer Doppler aiding a signal processing strategy which uses a measured Doppler shift to help a receiver smoothly track the GPS signal to allow more precise velocity and position measurement Double Difference a position estimation mechanization which uses observations which are differenced between receiver channels and between the reference and remote receivers Double Difference Carrier Phase Ambiguity or sometimes double difference ambiguity or ambiguity for short carrier phase ambiguities which are differenced between receiver channels and between the reference and remote receivers They are estimated when a double difference mechanism is used for carrier phase positioning Earth Centered Earth Fixed ECEF a right hand Cartesian coordinate system with its origin located at the center of the Earth The coordinate system used by GPS to describe three dimensional location 116 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel GPS GLONASS Glossary of Terms ECEF Earth Centered Earth Fixed This is a coordinate ordinate system which has the X coordinate in the earth s equatorial plane pointing to the Greenwich prime meridian the Z axis pointing to the north pole and the Y axis in the equatorial plane 90 from the X axis with an orientation which forms a right handed X YZ system Ellipsoid a smooth m
148. nications configuration and Terminal terminal emulator The main screen is shown in Figure 5 1 following If you are running Loader for the first time be sure to access the Setup menu step 3 following before proceeding to Program Card step 4 following otherwise you can go directly from step 2 following to step 4 The procedure Figure 5 1 Main Screen of LOADER Program Menu Setup Terminal Quit is as follows 1 25 3 9 Turn off power to the MiLLennium GLONASS GPSCard receiver Start the Loader program From the main menu screen Figure 5 1 select Setup to configure the serial port over which communication will occur default COMI and the data transfer rates for both programming default 115 200 bits per second and terminal emulation default 9600 bps To minimize the time required select the highest serial bit rate your PC can reliably support Loader will verify and save your selections in a file named LOADER SET and return to the main menu screen From the main screen select Program Card Select the disk drive e g A B C D in which the update file e g 746 BIN is located Select the path where the update program file is located e g CAGPSWLOADER the directory from which you started Loader is the default path Select the required update file e g 746 BIN At the prompt enter your update auth code e g 17b2 32df 6ba0 92b5 e5b9 GLONASS2 When prompted by the program turn on po
149. nk ONMARK Logs the selected data when a MARKIN electrical event is detected Outputs internal buffers at time of mark does not predict to mark time Use MKBA B for predicted position at time of mark ONNEW Logs the selected data each time the data is new even if the data is unchanged ONCHANGED Logs the selected data only when the data has changed ONTIME Immediately logs the selected data and then periodically logs the selected data at period offset a frequency determined by the period and offset parameters The logging will continue until an UNLOG command pertaining to the selected data item is received refer to the UNLOG Command MiLLennium Command Descriptions Manual CONTINUOUSLY Will log the data all the time The GPSCard will generate a new log when the output buffer associated with the chosen port becomes empty The continuously option was designed for use with differential corrections over low bit rate data links This will provide optimal record generation rates The next record will not be generated until the last byte of the previous record is loaded into the output buffer of the UART period Use only with the ONTIME trigger Units for this parameter are seconds The selected period may be any 60 of the following values 0 05 0 10 0 20 0 25 0 50 1 2 3 3600 seconds but may be limited by the GPSCard model and previously requested logs Selected data is logged immediately and then periodic logging of the
150. nnections for the I O strobe signals COM1 and serial ports power input and an RF input from the GPS GLONASS antenna There is an LED above each serial port connector If an LED glows red data is being received by the ProPak II enclosure on that port while if an LED glows green data is being transmitted by the ProPak II enclosure on that port Figure E 3 ProPak Il Enclosure Rear End Cap 2 Indicator Status Red Receiving Green Transmitting Yellow Both the above 60 GPS GLONASS Receiver User Manual Rev 1 P eee NovAtel ProPak Il Enclosure E 2 SPECIFICATIONS Only those specifications which differ from the MiLLennium GLONASS GPSCard see Table B 1 Page 49 will be shown in Table E 1 Table E 1 ProPak II Enclosure Specifications Size 251 mm x 130 mm x 62 mm Weight 1 3 kg Operating Temperature 40 C to 55 C Storage Temperature 45 C to 85 C Resistance Characteristics Dust tight water tight Humidity 5 to 95 RH non condensing at 40 C Voltage 10 to 36 V DC Power 12 W typical RF INPUT LNA POWER OUTPUT Connectors on ProPak II enclosure One TNC female connector RF Input GPS 1575 42 MHz GLONASS 1602 1615 5 MHz Power Output to LNA 4 25 5 25 V DC 0 90 mA current limit 200 20 mA VIBRATION Random Profile The MiLLennium GLONASS GPSCard will acquire and track satellites while undergoing vibration levels as shown below This assumes
151. nt text editor can be used to create command text files Example For this example consider a situation where a PC s appropriately configured COMI port is connected to the GPSCard s COMI port and where a remote terminal is connected to the GPSCard s COM2 port The PC user wishes to monitor the GPSCard s activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log com2 sata ontime 15 log com2 etsa ontime 15 log com2 rvsa ontime 60 5 log com2 posa ontime 15 log com2 dopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOTI TXT file to the PC s COMI port CAGPS copy boot1 txt com1 1 files s copied GPS GLONASS Receiver User Manual Rev 1 27 4 Operation NovAtel C GPS gt 4 The GPSCard is now initialized with the contents of the BOOTI TXT command file and logging is directed from the GPSCard s COM port to the remote terminal 4 3 3 MICROSOFT WINDOWS 3 1 OR HIGHER As any text editor or communications program can be used for these purposes the use of Windows 95 is described only as an illustration The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation boot file on a PC and send it to the GPSCard It is assumed that the PC s serial
152. ntral Processing Unit CR Carriage Return MET Multipath Elimination Technology CRC Cyclic Redundancy Check MEDLL Multipath Estimation Delay Lock Loop CSIC Coordination Scientific Information MKI Mark In Center MKO Mark Out CTP Conventional Terrestrial Pole msb Most significant bit CTS Conventional Terrestrial System msec millisecond CTS Clear To Send MSL Mean sea level dB Decibel N mi Nautical mile DCE Data Communications Equipment NAVSTAR NaAVigation Satellite Timing And DGNSS Differential Global Navigation Ranging synonymous with GPS Satellite System NCO Numerically Controlled Oscillator DGPS Differential Global Positioning System NMEA National Marine Electronics DOP Dilution Of Precision Association DSP Digital Signal Processor ns nanosecond DSR Data Set Ready NVM Non volatile Memory DTR Data Terminal Ready OCXO Oven Controlled Crystal Oscillator ECEF Earth Centered Earth Fixed OEM Original Equipment Manufacturer EMC Electromagnetic Compatibility PC Personal Computer EMI Electromagnetic Immunity P Code Precise Code ESD Electrostatic Discharge PDOP Position Dilution Of Precision PE 90 Parameters of the Earth 1990 see FDMA Frequency Division Multiple Access PZ90 FEC Forward Error Correction PLL Phase Lock Loop FIFO First In First Out PPS Precise Positioning Service or Pulse Per Second GDOP Geometric Dilution Of Precision PRN Pseudo Random Noise number GLONASS GLObal NAvigation Satellite System PZ90 Parametry Zemli 1990 see PE 90 GMT Green
153. o Send for COM 1 10 RXDI Received Data for COM 1 DSRI Data Set Ready for COM 1 11 DCDI Data Carrier Detected for COM 1 N C 12 N C N C 13 For factory use only N C 14 For factory use only N C 15 GND Digital Ground N C 16 DTR2 Data Terminal Ready for COM 2 CTS2 Clear to Send for COM 2 17 TXD2 Transmitted Data for COM 2 RTS2 Request to Send for COM 2 18 RXD2 Received Data for COM 2 DSR2 Data Set Ready for COM 2 19 DCD2 Data Carrier Detected for COM 2 N C 20 N C VARF Output Variable frequency pulse train normally high active low Pulse 21 GND Digital Ground width 100 ns 6 55 ms Frequency range 0 15 Hz 5 MHz IPPS Output Normally high active low 1 ms 50 ns pulse is output at 1 Hz 22 GND Digital Ground 50 ns when clock steering on Falling edge is used as reference Measure Normally high active low pulse is 1 ms 50 ns wide Falling 23 GND Digital Ground Output edge is used as the reference 10 Hz repetition rate Mark Input Normally high active low input pulse must exceed 55 ns in 24 GND Digital Ground duration The falling edge is the reference TTL or contact closure compatible STATUS High level output indicates good solution or valid GPS position 25 GND Digital Ground Low level output indicates solution For factory use only 26 GND Digital Ground For factory use only 27 GND Digital Ground RESET_IN Reset TTL signal input from external system active low 28 GND Digital Ground RESET OUT Reset TTL si
154. o improve GPS accuracy that uses pseudorange errors at a known location to improve the measurements made by other GPS receivers within the same general geographic area Digital Generally information is expressed stored and transmitted by either analog or digital means In a digital form this information is seen in a binary state as either a one or a zero a plus or a minus The computer uses digital technology for most actions Dilution of Precision DOP a numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the value the greater the confidence in the solution DOP can be expressed in the following forms GDOP estimated uncertainty for all parameters latitude longitude height clock offset PDOP estimated uncertainty for all 3D parameters latitude longitude height HTDOP estimated uncertainty for all time and 2D parameters latitude longitude time HDOP 2D parameters are uncertain latitude longitude VDOP estimated uncertainty for height TDOP estimated uncertainty for clock offset Distance root mean square drms The root mean square value of the distances from the true location point of the position fixes in a collection of measurements As typically used in GPS positioning 2 drms is the radius of a circle that contains at least 95 percent of all possible fixes that can be obtained with a system at any one place Doppler the cha
155. ocked portions of the sky A larger satellite constellation also improves real time carrier phase differential positioning performance In addition stand alone position accuracies improve with the combined system and in the absence of deliberate accuracy degradation differential GLONASS requires a much lower correction update rate Table 1 1 lists the two types of NovAtel MiLLennium GLONASS GPSCards available each capable of multiple positioning modes of operation Table 1 1 Positioning Modes of Operation Positioning Modes of Operation MiLLennium GLONASS GPSCard MiLLen G MiLLen G RT10 Single Point Waypoint Navigation Pseudorange differential corrections TX amp RX xX 2 2 RTK pseudorange amp carrier phase double differencing 10 cm RMS accuracies floating The NovAtel MiLLennium GLONASS GPS Cards can be applied in mining and machine control robotics flight inspection marine navigation agriculture military direction finding and other custom OEM applications Some of the information used to create the Introduction was obtained from two sources 1 Langley Richard B GLONASS Review and Update GPS World July 1997 46 51 2 Kleusberg Alfred Comparing GPS and GLONASS GPS World December 1990 52 54 GPS GLONASS Receiver User Manual Rev 1 9 PAN 1 Introduction NavZtel 1 2 GPS AND GLONASS OVERVIEW The Global Positioning System GPS and the Global Navigatio
156. odetic datum the reference ellipsoid surface that defines the coordinate system Geostationary a satellite orbit along the equator that results in a constant fixed position over a particular reference point on the earth s surface GPS satellites are not geostationary GPS GLONASS Receiver User Manual Rev 1 117 PAN GPS GLONASS Glossary of Terms Note Global Positioning System GPS full name NAVSTAR Global Positioning System a space based radio positioning system which provides suitably equipped users with accurate position velocity and time data When fully operational GPS will provide this data free of direct user charge worldwide continuously and under all weather conditions The GPS constellation will consist of 24 orbiting satellites four equally spaced around each of six different orbiter planes The system is being developed by the Department of Defence under U S Air Force management GLONASS The Soviet Ministry of Defense Global Navigation Satellite System A constellation of 24 antipodal satellites orbiting the earth at a very high altitude GLONASS satellites transmit signals that allow one to determine with great accuracy the locations of GLONASS receivers The receivers can be fixed on the Earth in moving vehicles aircraft or in low Earth orbiting satellites GLONASS is used in air land and sea navigation mapping surveying and other applications where precise positioning is necessary GPS
157. ogs Note Table H 2 Receiver Self Test Status Codes N3 Nibble Number Range Values Hex Value 1 good 0 bad 00000001 1 PRIMARY PLL 1 good 0 bad 00000002 2 RAM 1 good 0 bad 00000004 3 oo000008 4 00000010 5 PRIMARY AGC 00000020 6 00000040 7 00000080 8 WEEK T not set 0 set 00000100 9 NO COARSETIME 1 not set 0 set 00000200 10 NO FINETIME 1 not set 0 set 00000400 11 PRIMARY JAMMER T present 0 normal 00000800 12 BUFFER COM 1 1 overrun 0 normal 00001000 13 BUFFER COM 2 1 overrun 0 normal 00002000 14 BUFFER CONSOLE 1 overrun 0 normal 00004000 15 CPU OVERLOAD 1 overload 0 normal 00008000 16 ALMANAC SAVED IN NVM 1 yes 0 no 00010000 17 SECONDARY AGC T good 0 bad 00020000 18 SECONDARY JAMMER 1 present 0 normal 00040000 19 SECONDARY PLL T good 0 bad 00080000 20 OCXO PLL 1 good 0 bad 00100000 21 SAVED ALMA NEEDS UPDATE T yes 0 no 00200000 22 ALMANAC INVALID 1 invalid 0 valid 00400000 23 POSITION SOLUTION INVALID 1 invalid 0 valid 00800000 24 POSITION FIXED 1 yes 0 no 01000000 25 CLOCK MODEL INVALID 1 invalid 0 valid 02000000 26 CLOCK STEERING DISABLED disabled 0 enabled 04000000 27 00 NOT HAVE WAAS ALMANAC not have 0 have 08000000 28 DO NOT HAVE GLONASS ALMANAC 1 not have 0 have 10000000 29 TIMEOFFSET Proprietary Information 20000000 30 RESERVED 40000000 31 RESERVED 8000000
158. ommand Source or 4 Clock Reference Station 5 GPSCard ProPak II or 11 Data Logger or PowerPak II enclosure Remote Station 6 MiLLennium GLONASS GPSCard 12 External Power Source 42 COMMUNICATIONS WITH THE MILLENNIUM GLONASS GPSCARD Communication with the MiLLennium GLONASS GPSCard is straightforward and consists of issuing commands through the COMI or COM2 port from an external serial communications device This could be either a terminal or an IBM compatible PC that is directly connected to a MiLLennium GLON ASS GPSCard serial port using a null modem cable For specific information about any of the GPSCard commands and logs please consult the MiLLennium Command Descriptions Manual 24 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation 4 2 1 SERIAL PORT DEFAULT SETTINGS The MiLLennium GLONASS GPSCard communicates with your PC or terminal via the COMI or COM2 serial port For communication to occur both the MiLLennium GLONASS GPSCard and the operator interface have to be configured properly The MiLLennium GLONASS GPSCard s default port settings are as follows RS232C 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off Changing the default settings requires using the COMn command which is described in the MiLLennium Command Descriptions Manual It is recommended that you become thoroughly familiar with these commands and logs to ensure maximum utilization of the MiLLennium GLONASS GPSCard s
159. on on aircraft For more information on the model 504 antenna please refer to the NovAtel LI GPS GLONASS Antenna Model 504 Brochure NovAtel part number OM 20000037 and for more information on the model 514 antenna please refer to the NovAtel LI GPS GLONASS Antenna Model 514 Brochure NovAtel part number OM 20000038 When installing the antenna system choose an antenna location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For a discussion on multipath refer to the relevant appendix in the MiLLennium Command Descriptions Manual mount the antenna on a secure stable structure capable of safe operation in the specific environment 3 4 6 1 Antenna Cable Considerations An appropriate coaxial cable is one that is matched to the impedance of the antenna being used and whose line loss does not exceed the recommendations shown in Table 3 2 Page 23 NovAtel offers a variety of coaxial cables to meet your single frequency GPS GLONASS antenna interconnection requirements Your local NovAtel dealer can advise you about your specific configuration NovAtel provides optional coaxial cables in the following lengths e 22cm interconnect adapter cable SMB female TNC bulkhead female NovAtel part number GPS C001 e 5 15 or 30 m antenna cable TNC male TNC male NovAtel part numbers C005 C015 and C030 respectively Though it is possible to use other high quality antenna cable
160. on proper disposal This battery is a recyclable product and should NOT be discarded in a landfill site 70 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel ProPak Il Enclosure DISPOSAL Sealed lead acid batteries are considered as Hazardous Waste by most local and Federal Waste Control Boards and must be disposed of properly This means that spent batteries must be taken or shipped to an appropriate disposal site Contact your local battery dealers or Waste Control authority to find out the specific regulations in your area concerning battery disposal NOTE Before using the battery for the first time charge the battery for a minimum of 10 hours The battery is shipped in a discharged condition E 4 1 1 Battery Specifications The battery has the following specifications Description Absorbed electrolyte sealed lead acid in flame retardant case Dimensions Height 94 mm 3 70 in Length 151 mm 5 95 in Width 64 5 mm 2 54 in Weight Approx 2270 g 5 0 1b Voltage 12 V DC typical Rated Capacity 20 hour rate 7 2 A h Capacity 20 hour rate 360 mA 7 2 A h at 77 F 25 C 10 hour rate 680 mA 6 8 A h 5 hour rate 1260 mA 6 3 A h 1 hour rate 4900 mA 4 9 A h 1 5 hour discharge to 10 5V 3 5 Capacity as affected 104 F 40 C 102 by temp 20 hour rate TI F 25 C 10096 32 F 0 C 8596 5 F 15 C 65 Internal resistance Full charged ba
161. onjunction with the SETNAV command REMEMBER The SETNAV command must be enabled before valid data will be reported from this log NAVA Structure NAVA week seconds distance to destination bearing to destination along track xtrack estimated week at destination estimated seconds at destination navigation status solution status 2 CR LF NOTES See Table H 5 below See Table H 8 Page 111 Example NAVA 640 333115 00 6399 6305 88 017 6396 9734 184 3929 657 51514 000 0 1 11 CR LF NOTE All distances and angles are calculated using Vincenty s long line geodetic equations that operate on the currently selected user datum See Figure H 1 for an illustration of navigation parameters Table H 5 Navigation Status Status Description 0 Good 1 No velocity 2 Bad navigation calculation 102 GPS GLONASS Receiver User Manual Rev 1 NovAtel H NovAtel Format Logs Figure H 1 Navigation Parameters Reference Description Reference Description A FROM lat lon F Current GPS position B TO lat lon FD Current distance and bearing from F to D AB Great circle line drawn between E Xtrack perpendicular reference point FROM A lat lon and TO B lat lon EF Xtrack error from E to F AC Track offset from A to C perpendicular to CD BD Track offset from B to D FG Along track from F to G CD Offset track to steer parallel to AB perpendicular to BD H
162. oo etie Dre tu secte a Desde rhet reap Das 17 3 2 Minimum Configuration nerit etii eben Speo eee einen 3 3 Anti Static PRECAUTIONS equa uo EE EE ea DA Installation Procedure eorr n tet AER Y ESTEE Ee TER 3 4 1 Mounting The Printed Circuit Board eese 3 4 2 Preparing the Data Signal amp Power Harness 3 4 3 External POWeT enm m dii ERE 3 4 4 RS232C Communications or 3 4 5 Strobe Signals 22 3 4 6 LI GPS GLONASS Antenna Considerations 23 4 Operation 24 4 Before Operation 2 terret ettet eere e E Rhe Re Pn a Lat REPRE HER rd 24 4 2 Communications With The MiLLennium GLONASS GPSCard sess 24 42 1 Seral Port Default Settings doit nerui 25 4 2 2 Communicating Using a Remote Terminal eese 25 4 2 3 Communicating Using a Personal Computer eese 25 256i M 25 3 ViIPOWEE ON M 26 43 2 DOS 27 4 3 3 Microsoft Windows 3 1 or Higher sese 28 4 4 Commands Common To All GPSCards eese nennen 28 4 4 1 Commands Specific to MiLLenni
163. or intended to be steered through the water with respect to a reference meridian this will not be a straight line if the vessel s heading yaws back and forth across the course Crab the apparent sideways motion of an aircraft with respect to the ground when headed into a crosswind GPS GLONASS Receiver User Manual Rev 1 115 PAN GPS GLONASS Glossary of Terms Novel Cross Track Error XTE the distance from the vessel s present position to the closest point on a great circle line connecting the current waypoint coordinates If a track offset has been specified in the GPSCard SETNAV command the cross track error will be relative to the offset track great circle line Cycle Slip when the carrier phase measurement jumps by an arbitrary number of integer cycles It is generally caused by a break in the signal tracking due to shading or some similar occurrence Dead Reckoning DR the process of determining a vessel s approximate position by applying from its last known position a vector or a series of consecutive vectors representing the run that has since been made using only the courses being steered and the distance run as determined by log engine rpm or calculations from speed measurements Destination the immediate geographic point of interest to which a vessel is navigating It may be the next waypoint along a route of waypoints or the final destination of a voyage Differential GPS DGPS a technique t
164. ossible with a MiLLennium GLONASS GPSCard on its own or in a PowerPak II enclosure not if the MiLLennium GLONASS GPSCard is in a ProPak II enclosure Refer to section F 4 1 1 for instructions to connect MiLLennium GLONASS GPSCard or the PowerPak II to an External Oscillator The external oscillator can be either 5 MHz or 10 MHz The MiLLennium GLONASS GPSCard has built in clock models for OCXO rubidium and cesium oscillators but you can also set custom clock model parameters for other types of oscillators Two commands relate to external oscillator operation EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY If there is no external oscillator you should use the EXTERNALCLOCK DISABLE command EXTERNALCLOCK determines if the GPSCard uses its own internal temperature compensated crystal oscillator or an external oscillator as a frequency reference It also sets which clock model is used for external oscillators Command Reference Oscillator Clock Model EXTERNALCLOCK DISABLE internal EXTERNALCLOCK OCXO external OCXO EXTERNALCLOCK CESIUM external cesium EXTERNALCLOCK RUBIDIUM external rubidium EXTERNALCLOCK CUSTOM external user defined parameters NOTE The EXTERNALCLOCK DISABLE command forces the GPSCard to use the internal oscillator whether there is an external oscillator connected or not Do not use the EXTERNALCLOCK OCXO CESIUM RUBIDIUM or CUSTOM command if no external oscillator is connected 80 GPS GLONASS
165. osure may be found on Page 73 When you are ready to use your MiLLennium GLONASS GPSCard for the first time consult the easy to follow Quick Start chapter that is provided on Page 15 The focus of this manual is on your perspective for integration evaluation and operation purposes It is beyond the scope of this manual to provide service details Please consult your local NovAtel dealer for any customer service problems or inquiries Should the need arise to contact NovAtel directly please see the Customer Support section on Page 7 The standard for measurement throughout this document is metric SI units See Appendix C Page 54 for help with any conversions to imperial measurements PREREQUISITES The MiLLennium GLONASS GPSCard is an OEM product requiring the addition of an enclosure and peripheral equipment before it can become a fully functional combined GPS GLONASS receiver Chapter 3 MiLLennium GLONASS GPSCard Installation Page 17 provides information concerning installation requirements and considerations 8 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 1 Introduction INTRODUCTION 1 1 MILLENNIUM GLONASS GPSCARD The MiLLennium GLONASS GPSCard can receive L1 signals from combined GPS GLONASS satellites This hybrid receiver offers combined GPS GLONASS position solutions An RTK version of the MiLLennium GLONASS GPSCard performs significantly better when tracking GPS and GLONASS satellites than when tracki
166. path errors or atmospheric delays RGEA and RGEB contain all of the new extended channel tracking status bits see Table H 3 Page 99 while RGED contains only the lowest 24 bits NOTE In the RGED log the limited number of bits available means that the GLONASS prns are reported as slot 37 without the frequency information i e 48 instead of 40048 RGEA B D Structure RGEA week seconds Satellite observations receiver status prn pseudorange measurement pseudorange measurement std Carner phase carrier phase std Doppler frequency C No locktime tracking status 3 pseudorange measurement pseudorange measurement std Carrer phase carrier phase std Doppler frequency C No locktime tracking status 2 XX CR LF NOTES See Table H 2 Page 96 2 Table Page 99 3 GLONASS PRN FREQUENCY 10000 SLOT 37 Example carriage returns have been added between observations for clarity RGEA 991 429633 75 10 BOOFF 15 22509752 053 0 062 118289596 426 0 009 295 846 50 4 6058 250 2E04 2 20703387 186 0 030 108797043 280 0 002 648 690 52 8 6133 680 2E14 923557992 104 0 126 123798 100 030 0 008 3242 123 46 0 1381 840 2E34 26 22620451 324 0 071 118871293 335 0 006 1558 346 49 7 6059 250 2E54 27 22289907 868 0 072 117134240 976 0 008 3309 252 49 6 6105 110 2E64 21 25638806 808 0 451 13
167. prevents the plug from accidentally being pulled out Its output voltage is compatible with the PowerPak II s requirements For replacement purposes the NovAtel part number is GPS APWR F 3 3 2 Serial Data Cables The RS232C Y type null modem cable 10 pin LEMO plug to 9 pin D connector DEOS socket is used to connect the receiver to a serial RS232C communication port on a terminal or computer Its NovAtel part number is 60715062 Please see section F 3 3 2 1 for a drawing of this cable GPS GLONASS Receiver User Manual Rev 1 79 PowerPak II Enclosure NavZtel F 3 3 2 1 RS232C Y type Null Modem Cable NovAtel part number 60715062 This serial data cable supplied with the PowerPak II provides a means of communications with a personal computer As shown in the following figure the cable is equipped with a 9 pin connector at the PowerPak II end which can be plugged into either COMI or COM2 At the computer end both a 9 pin and a 25 pin connector are provided to accommodate most serial RS232C communication ports b Reference Description 1 DEOS socket 2 DB25S socket F 4 OTHER OPTIONAL POWERPAK Il ACCESSORIES F 4 1 USER SUPPLIED EXTERNAL OSCILLATOR For certain applications requiring greater precision than what is possible using the 20 MHz on board voltage controlled temperature compensated crystal oscillator VCTCXO you may wish to connect the GPSCard to an external high stability oscillator This is only p
168. r GPS antenna is moving In GPS this term is typically used with precise carrier phase positioning and the term dynamic is used with pseudorange positioning L band The group of radio frequencies extending from 390 MHz to 1550 MHz The GPS carrier frequencies 1227 6 MHz and 1575 42 MHz are in the L band 118 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel GPS GLONASS Glossary of Terms L1 frequency the 1575 42 MHz GPS carrier frequency which contains the course acquisition C A code as well as encrypted P code and navigation messages used by commercial GPS receivers L2 frequency a secondary GPS carrier containing only encrypted P code used primarily to calculate signal delays caused by the ionosphere The L2 frequency is 1227 60 MHz Lane a particular discrete ambiguity value on one carrier phase range measurement or double difference carrier phase observation The type of measurement is not specified L1 L2 L1 L2 iono free Local Observation Set an observation set as described below taken by the receiver on which the software is operating as opposed to an observation taken at another receiver the reference station and transmitted through a radio link Local Tangent Plane a coordinate system based on a plane tangent to the ellipsoid s surface at your location The three coordinates are east north and up Latitude longitude and height positions operate in this coordinate system Low
169. r Manual Rev 1 17 3 Installation NavZtel 3 2 MINIMUM CONFIGURATION In order for the MiLLennium GLONASS GPSCard to perform optimally the following additional equipment is required e NovAtel GPS GLONASS antennas model 504 or model 514 e NovAtel coaxial cable note that a conversion is required between the male SMB connector on the MiLLennium GLONASS GPSCard and the female TNC connector on the GPS GLONASS antenna Aregulated power supply providing 5 V DC see Table B 1 Page 49 for power regulation specifications e A 64 pin 0 1 DIN 41612 Type B female connector as an interface for power communications and signals Datacommunications equipment capable of RS 232C serial communications 3 3 ANTI STATIC PRECAUTIONS Electrostatic discharge ESD 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 the MiLLennium GLONASS GPSCard printed circuit board See Appendix A Page 47 for more information on ESD precautions Leave the MiLLennium GLONASS GPSCard in its anti static packaging when not connected in its normal operating environment When removing the MiLLennium GLONASS GPSCard from the ESD protective plastic clamshell follow accepted standard anti static practices Failure to do so may cause damage to the card When you remove the MiLLennium GLONASS GPSCard fro
170. r local receiver clock error To derive the closest GPS time you must subtract the clock offset shown in the CLKA B log field 4 from GPS time reported refer to the MiLLennium Command Descriptions Manual GPS time is based on an atomic time scale Universal Time Coordinated U S Naval Observatory UTC USNO time reported in NMEA logs is also based on an atomic time scale with an offset of seconds applied to coordinate Universal Time to GPS time GPS time is designated as being coincident with UTC USNO at the start date of January 6 1980 00 hours GPS time does not count leap seconds and therefore an offset exists between UTC USNO and GPS time at this date 13 seconds The GPS week consists of 604800 seconds where 000000 seconds is at Saturday midnight Each week at this time UTC the week number increments by one and the seconds into the week resets to 0 see Appendix C Page 54 for an example 1 5 2 GLONASS TIME VS LOCAL RECEIVER TIME GLONASS time is based on an atomic time scale similar to GPS This time scale is Universal Time Coordinated as maintained by the former Soviet Union UTC SU Unlike GPS the GLONASS time scale is not continuous and must be adjusted for periodic leap seconds Leap seconds are applied to all UTC time references about every other year as specified by the International Earth Rotation Service IERS Leap seconds are necessary because the orbit of the earth is not uniform and not as accurate as the atomi
171. rated from a MiLLennium GLONASS GPSCard GALA log and is accepted as the following format GALA 993 151144 24 993 114250 25 3 21 1 3 86373E 004 3 12420055E 000 4 37933539E 002 2 68745422E 003 2 9627880E 000 2 6559473E 003 4 8828 1250E 004 2 3651123E 004 01 one record for each valid satellite GALA 993 151144 24 993 115025 72 24 1 0 3 94127E 004 3 12265458E 000 4 52344569E 002 2 80475616E 003 3 0648936E 000 2 65 19570E 003 0 00000000E 000 0 00000000E 000 18 IONA Use this special data input command to quickly update the GPSCard ionospheric corrections tables following a system restart always appended to ALMA records unless intentionally stripped This data will ensure that the initial position solutions computed by the GPSCard are as accurate as possible It is generated from a GPSCard ALMA log and is accepted by any GPSCard as the following format IONA 1 0244548320770265E 008 1 4901 161193847656E 008 5 960464477539061E 008 1 1920928955078 12E 007 8 80640000000000 1 7E 004 3 2768000000000010E 004 1 966080000000001E 005 1 966080000000001 005 02 UTCA Use this special data input command to quickly update the GPSCard Universal Time Coordinated UTC parameters following a system restart always appended to ALMA records unless intentionally stripped The UTC data is required before the GPSCard can accurately compute UTC time If not input with SUTCA it may take up to 12 5 minutes after a reset for the GPSCard
172. rd chatter e The GPSCard can log current almanac data to a PC connected to its COMI or COM2 port Assuming the PC is correctly configured using terminal emulator communications software then the PC can redirect the GPSCard almanac log to its disk storage device Ata later time following a system restart the GPSCard can have this almanac file containing GALA IONA and SUTCA records immediately uploaded as a special input command for immediate use NOTE This procedure will generally not be required as all GPSCards have an almanac save feature built in using non volatile memory ALMA Use this special data input command to quickly update the MiLLennium GLONASS GPSCard almanac tables following a system restart It is generated from a GPSCard ALMA log and is accepted as the following format ALMA 1 3 55148E 003 552960 744 7 8174E 009 6 10457691E 002 1 182004 1E4 000 1 90436112E 000 1 8119E 005 3 6379E 012 1 45854758E 004 2 65602532E 007 9 55600E 001 1 0 0 0C record for each valid satellite ALMA 31 4 90379E 003 552960 744 7 9660E 009 3 1044479E 000 6 13853346E 001 1 92552900 000 6 67572 006 3 63797 012 1 45861764 004 2 65594027 007 9 61670E 001 1 0 0 3F GPS GLONASS Receiver User Manual Rev 1 31 PAN 4 Operation NovAtel GALA Use this special data input command to quickly update the MiLLennium GLONASS GPSCard GLONASS almanac tables following a system restart It is gene
173. reat circle 87 103 116 118 119 H HDOP 116 118 heading 86 111 115 118 119 120 122 health 100 111 height 52 71 103 116 117 118 122 help 27 29 97 98 116 high power jamming 97 98 high power signal 97 98 HTDOP 116 118 124 I idle time 98 IF 56 57 124 Inertial Navigation System INS 104 installation 18 ionospheric 30 31 114 corrections 31 data 30 K kinematic 118 121 125 L L1 17 52 62 76 96 100 118 120 123 126 latency 52 104 108 111 119 latitude 10 116 117 119 120 L band 10 LED 17 58 60 LNA 17 20 21 22 51 53 56 57 61 75 84 97 98 124 longitude 10 116 117 119 120 loop control 57 M magnetic variation 86 119 mark 52 mark input 53 mask angle 119 master control station 11 115 mean sea level 10 103 117 124 microstrip 57 misclosure 100 121 modem 62 64 76 mounting 15 17 19 61 63 64 75 mounting bracket 126 mounting plate 59 63 64 multipath 57 106 119 124 N Narrow Correlator 100 navigation 10 58 87 102 104 114 115 117 118 119 122 124 calculations 87 NAVSTAR 10 118 NMEA 38 52 non volatile memory 29 31 44 96 97 98 119 null modem 15 59 62 64 67 126 O offset 13 35 87 116 119 operation 24 28 operational configuration 24 28 orbit period 10 oscillator 56 124 125 Other 80 P PDOP 116 120 124 phase lock 124 pitch 100 polarity 52 63 77 port 15 22 44 45 46 57 59
174. rence between successive position computations In the PVAA B log position velocity and acceleration status fields indicate whether or not the corresponding data are valid This command supports INS Inertial Navigation System integration PVA logs can be injected into the receiver from an INS This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites after loss of lock otherwise it is ignored This command is only useful for very high dynamics where expected velocity changes during the signal blockage of more than 100 meters per second can occur NOTE These quantities are always referenced to the WGS84 ellipsoid regardless of the use of the DATUM or USERDATUM commands 104 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H NovAtel Format Logs PVAA Structure PVAA week seconds Pos x Pos y Pos z Vel x Vel y Vel z 2 Pos status Vel status Acc status Xxx CRI LF NOTE 0 bad 1 good Example PVAA 991 428492 00 1634529 404 3664640 553 4942523 994 0 114 0 462 0 228 0 159 0 983 0 955 1 1 1 23 H 2 6 RCCA RECEIVER CONFIGURATION This log outputs a list of all current GPSCard command settings It will include MiLLennium GLONASS GPSCard configurations Observing this log is a good way to monitor the GPSCard configuration settings The RCCA log is used
175. rved CPU idle time receiver status 1 CPU idle time receiver status XX CR LF NOTE See Table H 2 Page 96 Example 991 430123 00 18 18 1 53 00 00 55 GPS GLONASS Receiver User Manual Rev 1 109 H NovAtel Format Logs NovAtel H 2 11 SATA B SATELLITE SPECIFIC DATA This log provides satellite specific data for satellites actually being tracked The SATA example was produced using MiLLennium GLONASS GPSCard The record length is variable and depends on the number of satellites Each satellite being tracked has a reject code indicating whether it is used in the solution or the reason for its rejection from the solution The reject value of 0 indicates the observation is being used in the position solution Values of 1 through 15 indicate the observation has been rejected for the reasons specified in Table H 4 Page 100 A range reject code of 8 only occurs when operating in differential mode and an interruption of corrections has occurred or the DGPSTIMEOUT has been exceeded The mask angle is user configurable and a range reject code of 6 will indicate that the satellite is below the mask angle The GLONASS PRN fields use the convention given for the RGEA B log SATA Structure SATA week seconds solution status satellite obs prn 3 azimuth elevation range residual reject code 2 prn azimuth elevation range residu
176. s CALB Format Message ID 87 Message byte count 32 16 32 Field Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Message byte count 4 integer bytes 8 2 Week number 4 integer weeks 12 3 Seconds of week 8 double seconds 16 4 Reserved for future use 5 Reserved for future use 6 GloBias 32 32 dBias 8 double meters dStdev 8 double meters H 1 2 GALA B ALMANAC INFORMATION The GLONASS almanac reference time and week are in GPS time coordinates GLONASS ephemeris information is available through the GEPA B log GALA Structure GALA week seconds week time SVID freq health TlambdaN LambadN deltal ecc argperig deltaT deltaTD tau XX CR LF Field Field Description Example 1 GALA Log Header GALA 2 Week GPS Week in weeks 991 3 Seconds GPS Time in seconds 496470 59 4 Week GPS Week for almanac reference time GLONASS time in GPS format in 991 weeks 5 Time GPS Time for almanac reference time GLONASS time in GPS format in 374232 88 seconds 6 SVID Slot number for satellite ordinal 16 7 Freq Frequency for satellite ordinal 22 8 Health Ephemeris Health 1 GOOD 0 BAD 1 9 TlambdaN GLONASS Time of ascending node equator crossing in seconds 3 94199E 004 10 LambdaN Longitude of ascending node equator crossing PZ90 in radians 9 2257260E 001 11
177. s no warrant is made that the MiLLennium GLONASS GPSCard will meet its performance specifications if non NovAtel supplied coaxial cable is used Table 3 2 Recommended Maximum Cable Loss Antenna Type Allowable Cable Loss Active 13 0 dB Passive 1 5 dB NOTE The coaxial cable should be connected to the antenna and MiLLennium GLONASS GPSCard before system power is turned on If for any reason the cable is disconnected from either the antenna or receiver you must turn off power before reconnecting the cable s otherwise the MiLLennium GLONASS GPSCard will not be able to sense the antenna and the system will not work If this occurs remove power from the receiver wait a few moments and then apply it again GPS GLONASS Receiver User Manual Rev 1 23 4 Operation NovAtel OPERATION 4 1 BEFORE OPERATION Before operating the MiLLennium GLONASS for the first time ensure that you have followed the installation instructions of Chapter 3 The following instructions are based on a configuration such as that shown in Figure 4 1 It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility Figure 4 1 Typical Operational Configuration i 4 Reference Description Reference Description 1 Model 504 or 514 Antenna 7 COMI 2 Combined GPS GLONASS Signal Input 8 COM2 3 Optional External Oscillator 9 Power not available with ProPak II enclosure 10 C
178. s Manual s logs chapter for a list of GPSCard logs categorized by function The binary format descriptions and further details on individual logs may be found in Appendix D of the same manual where logs are listed alphabetically Table H 2 Page 96 is a table of the receiver s self test status codes The status field output consists of 8 hexadecimal numbers which you must then convert to binary see Page 54 Reading from right to left the first bit indicates if the antenna signal is good 1 or bad 0 This bit is an OR condition of the antenna If the signal from the antenna is good then the status is good 1 If the antenna signal is bad then the status is bad 0 This table is referenced by the RGEA B D log Page 106 and the RVSA B log Page 109 Bit 18 Table H 3 Page 99 is used for the antenna This table is referenced by the ETSA B log Page 101 and the RGEA B D log Page 106 Table H 4 Page 100 is an updated list of the GPSCard range reject codes This table comes into effect when using the ETSA B log Page 101 or the SATA B log Page 110 NOTE To determine the GLONASS PRN for commands that require entry of a PRN such as ASSIGN use this equation FREQUENCY 10000 SLOT 37 where the SLOT and FREQUENCY are in the range 1 to 24 inclusive GPS GLONASS Receiver User Manual Rev 1 95 amp H NovAtel Format L
179. s set to 1 the receiver ROM test has passed the self test requirements Bit 4 DSP 0 If this bit is set to 0 one or both of the DSP chips has failed self test please contact NovAtel Customer Service 1 This bit will be set to 1 when the digital signal processors DSP have passed the self test requirements Bit 5 Primary AGC 0 This bit will be set clear if the Primary AGC is operating out of normal range Failure of this test could be the result of various possibilities such as bad antenna LNA excessive loss in the antenna cable faulty RF downconverter or a pulsating or high power jamming signal causing interference If this bit is continuously set clear and you cannot identify an external cause for the failed test please contact NovAtel Customer Service 1 When set to 1 the Primary AGC circuits are operating within normal range of control Bit 6 COMI 0 If set to 0 the COMI UART has failed self test and cannot be used for reliable communications 1 When set to 1 the COM1 UART has passed the self test requirements Bit 7 COM2 0 If set to 0 the COM2 UART has failed self test and cannot be used for reliable communications 1 When set to 1 the COM2 UART has passed the self test requirements Bits 8 9 10 Week No Coarsetime No Finetime 0 These bits indicate the state of the receiver time and are set only once generally in the first few minutes of operation in the presence of adequate numbers of satellite signals to compute position and time
180. sent only on L1 L1 is currently centered at 1602 1615 5 MHz e Some of the GLONASS transmissions initially caused interference to radio astronomers and mobile communication service providers The Russians consequently agreed to reduce the number of frequencies used by the satellites and to gradually change the L1 frequencies to 1598 0625 1609 3125 MHz Eventually the system will only use 12 primary frequency channels plus two additional channels for testing purposes e System operation 24 satellites and only 12 channels can be accomplished by having antipodal satellites satellites in the same orbit plane separated by 180 degrees in argument of latitude transmit on the same frequency This is possible because the paired satellites will never appear at the same time in your view Already eight pairs of satellites share frequencies Unlike GPS satellites all GLONASS satellites transmit the same codes They derive signal timing and frequencies from one of three onboard cesium atomic clocks operating at 5 MHz The signals are right hand circularly polarized like GPS signals and have comparable signal strength Figure 1 3 View of GLONASS Satellite Orbit Arrangement Mun em 1 4 2 THE CONTROL SEGMENT The Control Segment consists of the system control center and a network of command tracking stations across Russia The GLONASS control segment similar to GPS must monitor the status of satellites determine the ephemerides and satellite c
181. software configurable These are further described in Chapter 4 Operation Page 24 See Table B 2 Page 53 for further information on data communications characteristics 3 4 5 STROBE SIGNALS The MiLLennium GLONASS GPSCard has 5 TTL compatible I O strobe lines See Figure 3 2 Page 20 for strobe signal connections e Variable Frequency VARF Output Pin 21B e One Pulse per Second PPS Output Pin 22B Measure Output Pin 23B Mark Input Pin 24B e Status Output Pin 25B See Table B 1 Page 49 for further information on I O strobe characteristics 22 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 3 Installation 3 4 6 L1 GPS GLONASS ANTENNA CONSIDERATIONS The MiLLennium GLONASS GPSCard has been designed to operate with the NovAtel 504 or 514 single frequency GPS GLONASS antenna models Though it is possible to operate with other single frequency GPS GLONASS antennas no guarantee is made that the MiLLennium GLONASS GPSCard will meet its performance specifications if a non NovAtel antenna is used For further information on GPS GLONASS antenna systems and extended length cable runs contact NovAtel Customer Service The NovAtel L1 GPS GLONASS antennas models 504 and 514 are active antennas designed to operate at the GPS and GLONASS L1 frequency The 504 antenna is intended for surveying and other kinematic positioning applications and the 514 is an aviation antenna that is ideally suited for installati
182. st update option that suits your specific combined GPS GLONASS 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 Page 7 at the beginning of this manual When you call be sure to have available your MiLLennium GLONASS GPSCard model number serial number and program revision level This information is printed on the original shipping box as well as on the back of the MiLLennium GLONASS GPSCard itself You can also verify the information by issuing the VERSION command at the port prompt After establishing which new model revision level would best suit your needs and having discussed the terms and conditions your dealer or NovAtel Customer Service will issue to you the authorization code auth code which 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 e If you are upgrading to a higher performance model at the same firmware revision level e g upgrading from a MiLLennium GLONASS Standard rev 7 46 to a MiLLennium GLONASS RT 10 rev 7 46 you can use the AUTH special command from a terminal program on the data collector or from GPSolution e If you are updating to a higher firmware revision level of the same model e g updating a MiLLennium GLONASS Standard rev 7 46 to a 7 47 of
183. system accuracy is usually presented as a statistical measure of system error and is characterized as follows Predictable The accuracy of a radionavigation system s position solution with respect to the charted solution Both the position solution and the chart must be based upon the same geodetic datum Repeatable The accuracy with which a user can return to a position whose coordinates have been measured at a previous time with the same navigation system Relative The accuracy with which a user can measure position relative to that of another user of the same navigation system at the same time Address field for sentences in the NMEA standard the fixed length field following the beginning sentence delimiter HEX 24 For NMEA approved sentences composed of a two character talker identifier and a three character sentence formatter For proprietary sentences composed of the character P HEX 50 followed by a three character manufacturer identification code Almanac a set of orbit parameters that allows calculation of approximate GPS satellite positions and velocities The almanac is used by a GPS receiver to determine satellite visibility and as an aid during acquisition of GPS satellite signals Almanac data a set of data which is downloaded from each satellite over the course of 12 5 minutes It contains orbital parameter approximations for all satellites GPS to universal time conversion parameters and single frequ
184. tal period rate 8 double s orbit 96 16 Clock offset to UTC 8 double seconds 104 90 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H 1 3 GCLA B CLOCK INFORMATION This log contains the time difference information between GPS and GLONASS time as well as status flags The status flags are used to indicate the type of time processing used in the least squares adjustment GPS and GLONASS time are both based on the Universal Time Coordinated UTC time scale with some adjustments GPS time is continuous and does not include any of the leap second adjustments to UTC applied since 1980 The result is that GPS time currently leads UTC time by 13 seconds H NovAtel Format Logs GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time The nominal offset between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset Currently this value is at 10787 seconds with GLONASS leading As well as the nominal offset there is a residual offset on the order of nanoseconds which must be estimated in the least squares adjustment The GLONASS M satellites will broadcast this difference in the navigation message This log will also contain information from the GLONASS navigation data relating GLONASS time to UTC GCLA Structure GCLA week sec nominal offset residual offs
185. tatus 2 dopp frequency C No residual in meters locktime pseudorange reject code 3 prn tracking status 2 dopp frequency C No residual in meters locktime pseudorange reject code 3 XX CR LF NOTES See Table H 8 Page 111 See Table H 3 Page 99 3 See Table H 4 Page 100 4 GLONASS PRN FREQUENCY 10000 SLOT 37 Example carriage returns have been added between observations for clarity ETSA 993 601238 00 0 16 4 2E04 3754 0 44 893 0 000 185 1 8 23840800 24 16 2 2E14 1640 0 52 283 0 000 17750 3 21307036 11 16 7 2E24 278 8 52 620 0 000 10495 6 20256363 18 16 26 2E34 2706 7 45 828 0 000 12436 2 23949547 80 16 8 2E44 3819 7 41 938 0 000 404 3 24858796 71 16 9 2B54 2217 6 50 991 0 000 4090 3 22084643 13 16 5 2E64 3367 5 41 902 0 000 116 5 25234194 37 16 15 2E74 2168 4 47 324 0 000 9610 5 23182672 06 16 27 2E84 3962 1 44 486 0 000 21429 9 24183438 98 16 0 2090 0 0 0 000 0 000 0 0 0 00 9 60046 AEA4 1526 5 51 330 0 642 6666 7 20159777 89 0 240054 AEB4 3587 0 45 926 2 094 17258 1 22564127 88 0 220053 AEC4 2926 0 51 674 0 524 151 1 20285415 40 0 210040 AED4 4038 5 42 807 3 985 482 1 23919984 64 0 90047 AEE4 4272 8 44 638 1 729 445 1 23902690 30 0 0 A0F0 0 0 0 000 0 000 0 0 0 00 9 27 GPS GLONASS Receiver User Manual Rev 1 101 H NovAtel Format Logs NovAtel H 2 2 NAVA B WAYPOINT NAVIGATION DATA This log reports the status of your waypoint navigation progress It is used in c
186. tel s FTP site http www novatel ca 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 7 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 Example C GPS LOADER The file is available in a compressed format with password protection your local dealer will provide you with the required password After copying the file to your computer it must be decompressed The syntax for decompression is as follows Syntax filename s password where filename is the name of the compressed file but not including the EXE extension 5 is the password command switch password is the password required to allow decompression Example oem746 512345678 The self extracting archive will then generate the following files LOADER EXE Loader utility program LOADER TXT Instructions on how to use the Loader utility e XYZ BIN Firmware version update file where XYZ program version level e g 746 BIN GPS GLONASS Receiver User Manual Rev 1 45 5 Firmware Updates and upgrades 5 1 2 2 Using the LOADER Ulility The Loader utility can operate from any DOS directory or drive on your PC The program is comprised of three parts Program Card authorization procedure Setup commu
187. that it is mounted using full length clamped rail mounts and that no vibrating object is touching it It also assumes that C No gt 45 dB Hz and that the MiLLennium GLONASS GPSCard is in high dynamics mode Frequency lt 10 Hz 10 Hz 40Hz 1000Hz 2000Hz gt 2000 Hz Magnitude g2 Hz 80 dB decade 0 00125 0 02 0 02 0 005 80 dB decade Typical Mounting Configuration Mount the MiLLennium GLONASS GPSCard securely using screws driven through the card s four corner mounting holes Superior Mounting Configuration Mount the card using full length clamped rail mounts Note The card is sensitive to anything that rattles against it PHOTOGRAPHS ProPak II enclosure side view front end cap view and rear end cap view respectively GPS GLONASS Receiver User Manual Hev 1 61 E ProPak I Enclosure NavZtel E 3 HARDWARE CONFIGURATION Installing the ProPak II enclosure is a straightforward process As shown in Figure E 4 a minimum configuration is established with the following setup Set up the GPS GLONASS antenna see GPS GLONASS Antenna Considerations Page 23 Route and connect coaxial cable between the GPS GLONASS antenna and the ProPak II enclosure Connect an RS232C communication interface to one of the serial ports of the ProPak II enclosure The supplied null modem cables are intended for RS232C communications only Connect the output of the optional power converter to
188. the LOADER Utility essere neret 45 APPENDICES A Anti Static Practices 47 49 UJ Technical Specifications Common Unit Conversions D Functional Overview ProPak Il Enclosure PowerPak Il Enclosure nm G GLONASS Commands 82 G 1 GLONASS Specific Commands eese enne nennen nennen 82 G 2 Other Relevant GPScard Commands esee 84 G 3 UnImplemented Commandis eee 87 H NovAtel Format Logs 88 H 1 GLONASS Specific Logs nenne nennen net rennen eene enne nennen nennen 88 H 2 Other Relevant GPSCard Logs esee een enne entente 95 GPS GLONASS Glossary of Terms 114 J GPS GLONASS Glossary of Acronyms 124 K Replacement Parts and Accessories Index r gt 00 r m o N NIO 1 1 Positioning Modes of Operation 9 1 2 Comparison of GLONASS and GPS Characteristics essssseeeeenee 14 3 1 Antenna LNA Power Configuration esee rernm nennen 22 3 2 Recommended Maximum Cable Loss essere nemen 23 4 1 NMEA Messages Supported By The MiLLennium GLONASS GPSCard 39 4 2 Latency Induced Prediction Error 41 4 3 RT10 Convergence Summary essere nennen nennen tremere trennen erret 41 Awl Prime Static Accumulators etes temet eher tie
189. the input power jack of the ProPak II Figure E 4 Typical ProPak Il Enclosure Installation Configuration 1 i aiii N ij Reference Description Reference Description 1 ProPak II enclosure 10 Straight serial data cable 2 RF antenna cable male connector attaches to 3 RF antenna connection user supplied modem or 4 Model 504 antenna radio transmitter or Model 514 antenna 11 I O strobe cable 6 9 pin D connector 12 Automotive cigarette lighter 7 Male LEMO socket adapter 8 Female LEMO plug 13 Auto ranging AC DC converter 9 Null modem serial data cable 14 Operator interface female connector attaches to user supplied operator interface Or any L1 GPS GLONASS antenna model 62 GPS GLONASS Receiver User Manual Rev 1 NovAtel E ProPak Il Enclosure NOTE The 4 pin LEMO socket connector to 4 pin LEMO plug connector auto ranging AC DC converter and AC power cord do not come with the ProPak II enclosure but are optional accessories The term plug socket refers to the outside of the connector while the term male female refers to the pin type E 3 1 POWER SUPPLY CONSIDERATIONS The ProPak II enclosure incorporates a DC DC power converter providing filtering automatic reset circuit protection and voltage regulation It accepts a single input voltage between the range 10 to 36 V DC which can be supplied either from an automotive DC source or by the optional auto r
190. ting kit is not designed for use in high dynamics or high vibration environments Contact your dealer or NovAtel Customer Service if your application requires the ProPak II enclosure to be mounted in these types of environment GPS GLONASS Receiver User Manual Rev 1 63 E ProPak I Enclosure NovAtel E 3 2 1 Mounting Plate NovAtel part number 70015024 8 9 Reference Description Reference Description 1 Thread for flat screw 6 Holes to mount plate to enclosure using 2 Rectangular nut flat screw 3 Grub screw T Holes to mount assembly to a surface 4 Channel using self tapping screws 5 Quick mount holes to mount assembly 8 Back of receiver enclosure to surface using wood screws Front of mounting plate E 3 3 CABLES Please see the following sections for the technical specifications of all cables and optional accessories For field replacement of the LEMO connectors and to find part numbers of optional accessories please see Appendix K Page 126 E 3 3 1 I O Strobe Port Cable The T O strobe lines can be accessed by inserting the 8 pin LEMO connector of the I O strobe port cable NovAtel part number 01016330 into the I O port The other end of the cable is provided without a connector so that you can provide an application specific one the jacket insulation is cut away slightly from the end but the insulation on each wire is intact The Input Output Strobes
191. tion 5 Satellite coordinate error during computation of the satellite s position 6 Pitch error due to the satellite being below the cutoff angle user configurable 7 Misclosure too large due to excessive gap between estimated and actual positions 8 No differential correction is available for this particular satellite 9 Ephemeris data for this satellite has not yet been received 10 Invalid IODE due to mismatch between differential stations 11 Locked Out satellite is excluded by user LOCKOUT command 12 Low Power satellite rejected due to low signal noise ratio 13 L2 measurements are not currently used in the filter 14 Reserved 15 Undetermined GLONASS slot 16 Bad Integrity Higher numbers are reserved for future use 100 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel H NovAtel Format Logs H 2 1 ETSA B EXTENDED CHANNEL TRACKING STATUS This log provides channel tracking status information for each of the MiLLennium GLONASS GPSCard parallel channels NOTE This log is intended for status display only since some of the data elements are not synchronized together they are not to be used for measurement data Please use the RGEA B D log Page 106 or the SATA B log Page 110 to obtain synchronized data for post processing analysis ETSA Structure SETSA week seconds solution status 1 of observations prn 4 tracking s
192. tion velocity acceleration or knowledge of satellite ephemeris In this general category also belong the RTCM data messages SRTCMA RTCM3A RTCM9A RTCM16A RTCM31 RTCM34 and RTCM594A These are described in further detail in Chapter 4 Message Formats Page 33 The injection of special command data can take place via COMI or COM2 Remember the source of these special data commands are valid NovAtel ASCII data logs The special data input commands fall into three categories Almanac Data Differential Corrections and Calibration Data Listed below are input commands relevant to GLONASS To see input commands that work with GPS only such as REPA B and PVAA B please refer to the MiLLennium Command Descriptions Manual 4 5 1 ALMANAC DATA The MiLLennium GLONASS GPSCard is capable of receiving and using both the GLONASS almanac and the GPS almanac The GLONASS almanac is stored in the log GALA see Page 89 and the GPS almanac is stored in the log ALMA see Page 31 Please see the following sections for an explanation of both almanacs 4 5 1 1 GPS Almanac VS GLONASS Almanac The GPSCard s standard features include GPS and GLONASS almanac data collection Following a cold start power on or system reset the GPSCard will begin a sky search Once a valid satellite is acquired the GPSCard will begin downloading and decoding the almanac information For a GPS satellite this process will take 12 5 minutes following a cold start or reset
193. to receive current UTCA data In order to comply with NMEA standards see NMEA Page 38 or refer to the References section of the MiLLennium Command Descriptions Manual the MiLLennium GLONASS GPSCard will null NMEA log data fields until valid UTC parameters are collected or injected by the UTCA input command This command is generated from a MiLLennium GLONASS GPSCard ALMA log and is accepted as the following format UTCA 1 769512891769409E 008 1 776356839400250E 015 552960 744 755 9 10 5 03 32 GPS GLONASS Receiver User Manual Rev 1 P are Nolte 4 Operation 4 5 2 DIFFERENTIAL CORRECTIONS DATA NovAtel GPSCards can utilize the special data input commands RTCA and RTCM These special data input commands are utilized by a GPSCard operating as a remote station to accept NovAtel ASCII format differential corrections The data is generated by a GPSCard operating as a reference station with intent to be received by remote stations To correctly interpret these commands the remote GPSCard must have its ACCEPT command option set to COMMANDS default Refer to the MiLLennium Command Descriptions Manual Appendix A for further information on differential positioning The RTCA message is supported by the MiLLennium GLONASS GPSCard but is GPS only Please refer to the MiLLennium Command Descriptions Manual for more information on the RTCA message RTCM The RTCM message works with the MiLLennium GLONASS GPSCard in the following messag
194. to view the current configuration of the MiLLennium GLONASS GPSCard receiver The log will identify the setting of every user configurable parameter An excerpt from the RCCA log will look something like this RCCA COM1 57600 N 8 1 CTS OFF ON 1A RCCA COM1_DTR HIGH 70 RCCA COM1_RTS HIGH 67 RCCA ACCEPT COM1 COMMANDS 5B RCCA COM2 9600 N 8 1 N OFF ON 28 RCCA COM2_DTR HIGH 73 RCCA COM2_RTS HIGH 64 RCCA ACCEPT COM2 COMMANDS 58 RCCA UNDULATION TABLE 56 RCCA DATUM WGS84 15 RCCA USERDATUM 6378137 000 298 257223563 0 000 0 000 0 000 0 000 0 000 0 000 0 000 6A RCCA SETNAV DISABLE 5C RCCA MAGVAR 0 000 30 000 02 RCCA DYNAMICS AIR 4F RCCA UNASSIGNALL 64 RCCA UNLOCKOUTALL 20 RCCA RESETHEALTHALL 37 RCCA UNFIX 73 RCCA ANTENNAPOWER OFF 50 RCCA SETDGPSID ALL 1D RCCA RTCMRULE 6CR 32 RCCA RTCMI6T 48 RCCA CSMOOTH 20 00 20 00 7E RCCA ECUTOFF 0 00 45 RCCA FREQUENCY OUT DISABLE 12 RCCA EXTERNALCLOCK DISABLE 12 RCCA CLOCKADJUST ENABLE 47 RCCA SETTIMESYNC DISABLE 17 RCCA SETL1 OFFSET 0 000000 3F RCCA MESSAGES ALL ON 67 RCCA DGPSTIMEOUT 60 00 120 00 51 RCCA DGLOTIMEOUT 60 00 60 RCCA SAVEALMA ONNEW 4E RCCA POSAVE DISABLE 59 RCCA RTKMODE DEFAULT 16 RCCA CONFIG DEBUG 48 RCCA DIFF_PROTOCOL DISABLED 47 RCCA IONOMODEL CALCULATED 5B RCCA WAASCORRECTION DISABLE 55 RCCA LOG COMI TMIB ONTIME 30 00 58 RCCA LOG COM1 PRTKB ONTIME 10 00 6F RCCA LOG COM1 ETSB ONTIME 2 00 0 50 34 RCCA LOG COM1 MKPB ONNEW 6E RCCA LOG CO
195. ttery 40 mV Self discharge 77 F 25 C Capacity after 3 month storage 91 Capacity after 6 month storage 82 Capacity after 12 month storage 64 Terminals Standard LCR12V6 5BP AMP Faston type 187 Operating temperature 15 to 50 C 5 to 122 F Storage temperature Low humidity no direct sunlight 15 to 40 C 5 to 104 F Remaining battery capacity can be estimated by measuring the open circuit voltage Capacity OPEN CIRCUIT VOLTAGE Minimum Maximum 0 11 5 11 8 20 11 7 12 1 40 12 0 12 4 60 12 3 12 7 80 12 5 12 9 100 12 7 13 3 GPS GLONASS Receiver User Manual Rev 1 71 PAN E ProPak I Enclosure NavZtel E 4 1 2 BATTERY CARE Do not disassemble the battery as its strong acid electrolyte may burn your skin Do not short the battery as it can burn the connections wires and could damage the equipment Do not incinerate Batteries may explode if thrown into fire Keep the battery clean Wipe the battery with a dry cloth or a water dampened cloth Never use oil gasoline thinner or other petrochemicals The battery may be charged in the backpack but it is recommended to keep the backpack flap open to allow proper ventilation of the battery during recharging The battery must be charged while being in an upright position If the battery is accidentally broken and electrolyte sulfuric acid leaks out wipe it up with a cloth neutralize the acid with some av
196. uld be taken to monitor these values Some of the logs that can be output from the remote receiver and the information they contain are given following BSLA B inter antenna baseline information PRTKA B best low latency position RPSA A base station position and health RTKA B matched observation position RTKOA B RTK position filter parameters The RTKA B position solution is based on time matching reference and remote observations This is the most accurate form of positioning available and is recommended for static users There will be a solution latency for this log that is dependent on the latency of the data link The PRTKA B log contains a low latency solution which predicts the last received reference station observations ahead to the current time of observation This is a method for eliminating the effects of radio link data latency and is recommended for kinematic users 4 7 4 GPS ONLY OPERATION WITH STANDARD MILLENNIUM GLONASS GPSCARD The MiLLennium GLONASS GPSCard is also capable of supporting a number of GPS Only messages that can be broadcast to standard MiLLennium GPSCards for GPS Only pseudorange or RT 20 positioning The MiLLennium GLONASS GPSCard can also receive GPS Only messages and perform GPS Only RT 20 positioning if enough satellites are available The following message types are supported for GPS Only operation For further information on these message types refer to the MiLLennium Commands Description Manual RTCA PSR pos
197. um GLONASS GPSCard ees 28 4 5 Special Data Input Commandis essere ennemis 30 451 AMMAN AG DAA a3 30 GPS GLONASS Receiver User Manual Rev 1 3 Table of Contents Novel 4 5 2 Differential Corrections aa nennen nenne 33 4 5 3 Calibration Data den eh et er tb Ie AG ved 33 4 6 Logs Common To GPSCards essere eene nennen nennen 34 4 6 1 Logs Specific To MiLLennium GLONASS GPSCatd serere 34 4 6 2 Outpt eoe yr d EE E ED EE GEHE RUE EE EE EH PE REE 4 6 3 NovAtel Format Data Logs 4 6 4 NMEA Format Data Logs tetro toto tooth reete 4 7 Differential Position Operation oo eee esecseesseceeceseeseceseeaececeseeeeeeeseeseseseeesaeeeaseneesaes 4 7 1 Pseudorange PSR Differential Positioning eee 40 4 7 2 Real Time Kinematic RTK Differential Positioning sese 41 4 7 3 Monitoring Your RTK Output Data sees 42 4 7 4 GPS Only Operation with Standard MiLLennium GLONASS GPSCard 42 4 8 Integrity 1 M M 5 Firmware Updates and upgrades 5 1 Update Upgrade Overview 00 ce eececesseeeceseeeeceseeeeecaeesaecaaesaecaessaeeaecaeesesneseeeesaeseneeaeenaes 5 1 1 Upgrading Using the AUTH Command 5 1 2 Updating Using
198. ure output Red Pin 4 mark input Orange Pin 5 STATUS valid solutions available Yellow Pin 6 GND Green Pin 7 GND Blue Pin 8 GND White Reference Description 9 Red marker at top of connector 10 LEMO 8 pin plug female 11 8 conductor wireE 3 3 2 Serial Data Cables GPS GLONASS Receiver User Manual Rev 1 65 E ProPak I Enclosure NavZtel E 3 3 2 1 Straight Serial Cable receiver to PC NovAtel part number 01016383 13 1e o1 20 o2 46 50 64 o5 o6 60 7e o7 86 o8 9 O 100 LEMO Pin Number RS232C Signal 14 Wire Color Code o9 DE9P Pin Number Pin 1 DCD Brown Pin 1 Pin2 RXD Black Pin2 Pin3 TXD Red Pin3 Pin4 DTR Orange Pin4 Pin 5 GND Yellow Pin 5 Pin 6 DSR Green Pin 6 Pin 7 RTS Blue Pin 7 Pin 8 CTS Violet Pin 8 Pin9 NULL Gray Pin9 Pin 10 White not used Reference Description 11 Red marker at top of connector 12 Male LEMO 10 pin plug 13 DE9P male connector 14 10 conductor wire 66 GPS GLONASS Receiver User Manual Rev 1 7 g NovAtel E ProPak II Enclosure E 3 3 2 2 Null modem Serial Cable Receiver to radio NovAtel part number 01016329 S5 51 59 56 12 13 ark nm N 100 14 LEMO Pin Number RS232C Signal Wire Color Code DE9S Pin Number
199. ust also be checked If the solution status is non zero the velocity will likely be invalid Also it includes the age of the differential corrections used in the velocity computation It should be noted that the MiLLennium GLONASS GPSCard does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of motion of the antenna relative to ground VLHA Structure VLHA week seconds velocity time tag latency age of GPS data hor speed direction wrt True North vert speed solution status 1 velocity status XX CR LF NOTES See Table H 8 Page 111 Example See Table H 7 below VLHA 99 1 489504 00 0 500 0 000 0 099 56 492 0 139 0 3 3B CR LF State Description Value Description Table H 7 Velocity Status 0 Velocity computed from differentially corrected carrier phase data 1 Velocity computed from differentially corrected Doppler data 2 Old velocity from differentially corrected phase or Doppler higher latency 3 Velocity from single point computations 4 Old velocity from single point computations higher latency 5 Invalid velocity Higher values reserved for future use Table H 8 GPSCard Solution Status 0 Solution computed 1 Insufficient observations 2 No convergence 3 Singular ATPA Matrix 4 Covariance trace exceeds maximum trace gt 1000 m 5 Test d
200. ver after 2 097 151 seconds 4 ADR Accumulated Doppler Range is calculated as follows ADR ROLLS RGED PSR WAVELENGTH RGED ADR MAX VALUE Round to the closest integer IF ADR ROLLS O 0 5 ADR ROLLS ADR ROLLS 0 5 ELSE ADR ROLLS ADR ROLLS 0 5 At this point integerise ADR ROLLS CORRECTED ADR RGED ADR MAX VALUE ADR ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 5 KERNEL NEN Code GED 0 0 00 to 0 050 8 0 855 to 1 281 1 0 051 to 0 075 9 1 282 to 2 375 2 0 076 to 0 113 10 2 376 to 4 750 3 0 114 to 0 169 11 4 751 to 9 500 4 0 170 to 0 253 12 9 501 to 19 000 5 0 254 to 0 380 13 19 001 to 38 000 6 0 381 to 0 570 14 38 001 to 76 000 7 0 571 to 0 854 15 776 001 to 152 000 6 Only bits 0 23 are represented in the RGED log GPS GLONASS Receiver User Manual Rev 1 107 PAN H NovAtel Format Logs NovAtel H 2 8 RTKA B COMPUTED POSITION TIME MATCHED This log represents carrier phase positions that have been computed from time matched reference and remote observations There is no reference station prediction error on these positions but because they are based on buffered measurements they lag real time by some amount depending on the latency of the data link If the remote receiver has not been enabled to accept RTK differential data or is not actually receiving data leading to a valid solution this will be reflected by the code shown in field 16
201. wer to the MiLLennium GLONASS GPSCard receiver Loader will automatically establish communications with the MiLLennium GLONASS GPSCard The time required to transfer the new program data will depend on the bit rate which was selected earlier When the transfer is complete use the terminal emulator in Loader select Terminal or any other one to issue the VERSION command this will verify your new program version number When using the terminal emulator in Loader a prompt does not initially appear you need to enter the command first which then produces a response after which a prompt will appear Exit Loader select Quit This completes the procedure required for field updating a MiLLennium GLONASS GPSCard 46 GPS GLONASS Receiver User Manual Rev 1 NovAtel P are NovAtel A Anti Static Practices E ANTI STATIC PRACTICES This appendix only applies if you are handling a MiLLennium GLONASS GPSCard without a ProPak II enclosure or a PowerPak II enclosure If you purchased either enclosure then the sections that follow are not applicable A 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 thr
202. wich Mean Time GND Ground RAM Random Access Memory GPS Global Positioning System RF Radio Frequency RHCP Right Hand Circular Polarization HDOP Horizontal Dilution Of Precision ROM Read Only Memory HEX Hexadecimal RTCA Radio Technical Commission for 124 GPS GLONASS Receiver User Manual Rev 1 svo NovAtel J GPS GLONASS Glossary of Acronyms Aviation Services RTCM Radio Technical Commission for Maritime Services RTK Real Time Kinematic RTS Request To Send RXD Received Data SA Selective Availability SCAT I Special Category I SEP Spherical Error Probable SNR Signal to Noise Ratio SPS Standard Positioning Service SV Space Vehicle SVN Space Vehicle Number TCXO Temperature Compensated Crystal Oscillator TDOP Time Dilution Of Precision TTFF Time To First Fix TTL Transistor Transistor Logic TXD Transmitted Data UART Universal Asynchronous Receiver Transmitter UDRE User Differential Range Error UTC Universal Time Coordinated VARF Variable Frequency VCTCXO Voltage Controlled Temperature Compensated Crystal Oscillator VDOP Vertical Dilution of Precision WGS World Geodetic System WPT Waypoint XTE Crosstrack Error GPS GLONASS Receiver User Manual Rev 1 125 K Replacement Parts and Accessories 5 NovAtel REPLACEMENT PARTS AND ACCESSORIES Part Description NovAtel Part Number MiLLennium GLONASS GPSCard GLONASS GPSolution and Convert Disk 01015790 GPS GLONASS R
203. ype The syntax is as follows 44 GPS GLONASS Receiver User Manual Rev 1 P are NovAtel 5 Firmware Updates and upgrades Syntax AUTH auth code where AUTH is a special command that allows program model upgrades auth code is the upgrade authorization code expressed as hhhh hhhh hhhh hhhh hhhh model where the characters are an ASCII hexadecimal code and the model would be ASCII text Example auth 17cb 292f 3d74 01ec fd34 millenrt2 Once the AUTH command has been executed MiLLennium GLONASS GPS Card resets itself Issuing the VERSION command produces a response confirming the new upgrade model s type and version number 5 1 2 UPDATING USING THE LOADER UTILITY Loader is required when updating previously released firmware with a newer version of program and model firmware e g updating a MiLLennium GLONASS GPSCard Standard rev 7 46 to a higher revision level of the same model Loader is a DOS utility program designed to facilitate program and model updates Once Loader 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 MiLLennium GLONASS GPSCard 5 1 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 OEMXYZ EXE where XYZ is the firmware revision level This file is available from NovA

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