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OM-20000087 GTR.book

1. Log Type Synchronous Message ID 653 Field Field Name Data Description Format Binary Binary P Bytes Offset This field contains the message header in ASCI or Binary l header format See Section 4 3 on Page 34 a 0 2 comp Number of components Ulong 4 H 3 type Component type see Table 36 on Page 85 Enum 4 H 4 4 receiver section Receiver section see Table 37 on Page 85 Enum 4 H 8 5 board temp Board temperature C Float 4 H 12 iat manent Ieeie Approximate internal antenna current A 6 5 receiver cards or 3 3 V digital logic voltage 1 Float 4 H 16 volt O Master card 7 core volt 1 5 V CPU core voltage V Float 4 H 20 8 supply volt 12 V supply voltage V Float 4 H 24 RF volt 5 V RF supply voltage V receiver cards or ya 2 Fan volt Fan1 voltage I O Master card Fe E EE FPGA temp FPGA temperature C receiver cards or 19 Fan2 volt Fan2 voltage I O Master card Float 4 a 3 3 V supply Fanl 3 3 V supply voltage receiver cards or Fan 1 mt A RPM rotations per minute I O Master cards Float 4 Htoo 12 TCXO control Control voltage for TCXO receiver cards or Float 4 H 40 volt Fan2 RPM Fan 2 rotations per minute I O Master cards idle time oscillator Idle time receiver cards or D E control volt oscillator control voltage I O Master card Float 4 Hag LNA output volt 14 local ae LNA output voltage V receiver cards or Float 4 H 48 oscillator power I O Master card power
2. 94 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs 0 0 05c84160 0 0 0 05c84180 0 0 0 05c841a0 0 0 0 05c841c0 0 0 0 05c841e0 0 19 0 00105c04 23374218 878 2284 907 44 436 OBSL1 0 000 14 0 00105c24 20386499 881 465 734 50 262 20 OBSL1 0 000 3 0 00105c44 25368413 879 3251 793 40 725 2097 150 0 000 OBSL1 0 000 31 0 00105c64 24239611 040 3773 745 47 694 1019 330 0 000 OBSL1 0 000 18 0 00105c84 23213833 497 2859 917 45 002 2087 500 0 000 OBSL1 0 000 17 0 001040a1 0 000 4000 000 0 047 0 000 0 000 NA 0 000 20 0 001040c1 0 000 3000 000 0 047 0 000 0 000 NA 0 000 000 0 000 0 000 0 000 0 000 0 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 000 000 000 000 4 740 0 000 93 570 0 000 22 0 00105ce4 20974251 108 1649 832 51 853 2086 150 0 000 OBSL1 0 000 9 0 00105d04 22948411 726 2453 190 45 297 2 OBSL1 0 00 0 32 0 00105d24 24060920 270 2965 209 46 980 1 OBSL1 0 00 0 11 0 00105d44 22913825 477 2375 712 46 706 2 OBSL1 0 00 0 6 0 00105d64 25469785 009 3172 542 34 118 2 OBSL1 0 00 0 0 84122180 0 0 0 841221a0 0 0 0 875241c0 0 0 0 875241e0 0 0 0 041b4100 0 0 0 041b4120 0 0 0 041b4140 0 0 0 041b4160 0 0 0 041b4180 0 0 0 041b41a0 0 0 0 041b41c0 0 0 000 0 000 0 000 0 000 0 000 0 000 0 000
3. B Range bias m BR Range bias rate m s SAB Gauss Markov process representing range bias error due to SA clock dither m The standard clock model now used is as follows clock parameters array B BR SAB covariance matrix 2 on oa oa B B BR B SAB 2 a o o BR B BR BR SAB 2 og o 6 o og SAB B SAB BR SAB Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 71 Chapter 6 Data Logs Log Type Synch Message ID 16 Binary Binary Field Field Name Description Bytes Offset This field contains the message header in ASCH or Binary format l header See Section 4 3 on Page 34 H p Clock model status as computed from current 2 Glock status measurement data See Table 43 on Page 92 Et H 3 reject Number of rejected range bias measurements ULong 4 H 4 4 noise time GPS time of last noise addition GPSec 4 H 8 5 update time GPS time of last update GPSec 4 H 12 6 8 H 16 7 parameters Clock correction parameters a 1x3 array of length 3 Double 8 H 24 listed left to right 8 8 H 32 9 8 H 40 10 8 H 48 11 8 H 56 12 8 H 64 Covariance of the straight line fit a 3x3 array of length 13 coy data 9 listed left to right by rows Double 18 de 14 8 H 80 15 8 H 88 16 8 H 96 17 8 H 104 18 range bias Last instantaneous measurement of the range bias Double 8 H 112 meters 19 range bias rate FN SG measurement of th
4. GPS PRECISE TIME IS ALREADY KNOWN 84 GPS precise time is already known Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs Chapter 4 4 2 Logging Data You can control how the GTR logs data by using the LOG command given on Page 55 A field within this command allows you to specify which data log from Chapter 6 to capture There are some things to be noted however 1 Each ofthe receiver sections in the GTR can handle 20 logs at a time If you attempt to log more than 20 logs at a time the receiver will respond with the error message Not enough resources in system 2 Maximum flexibility for logging data is provided to you by these logs You are 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 Receiver overload can be monitored using the idle time field and the buffer overrun bits of the Receiver Status field which are both found in any log header When a log is generated it is sent to the serial port specified by the port parameter in the entered LOG command 4 2 1 Log Types The receiver is capable of generating many different logs These logs are divided into the following three types e Synchronous The data contained in synchronous logs is generated on a regular schedule e Asynchronous The data in asynchronous logs is generated at irregular in
5. Galileo Test Receiver GTR USER MANUAL Limited Rights Notice This document is a deliverable under contract no 9F028 070849 It contains information proprietary to NovAtel Inc or to a third party to which NovAtel Inc may have legal obligation to protect such information from unauthorized disclosure use or duplication Any disclosure use or duplication of this document or of any of the information contained herein for other than the specific purpose for which it was disclosed is expressly prohibited outside the Government of Canada except as NovAtel Inc may otherwise agree to in writing OM 20000087 Rev 5 Proprietary Notice Galileo Test Receiver GTR User Manual Publication Number OM 20000087 Revision Level 5 Revision Date 2010 04 20 Associated Firmware Versions I O Master 7 401S1 L1 ESa I 5 400 L1 ESa II 5 400 E5a E5b 6 401S1 L1 E6 10 401S1 Euro 3M 2 201S1 SafeTrak is a trademark of NovAtel Inc NovAtel and Narrow Correlator are registered trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Copyright NovAtel Inc 2008 2010 All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable 0 2 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Table of Contents 1 Introduction Taala ida dadas Tal MO PENSO a ar andere 1 1 2 Commercial Service imita alias 1
6. 15 8 Next component offset H 4 comp x 48 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 comp x 48 Recommended Input LOG SYSTEMLEVELSA ONTIMI FI H 90 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 Example Output SYSTEMLEVELSA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 5 IOMASTER IOM 43 000 11 824 0 011 1 501 4 909 51 000 1079261824 000 1069572096 000 44 317 0 000 1E5A PM 48 000 0 000 1 204 11 918 5 007 0 011 3 284 1 557 80 995 0 000 1E5A PS1 52 000 0 000 1 204 11 918 5 023 0 022 3 262 1 562 69 043 0 000 ESAB PS2 46 000 0 000 1 496 11 824 4 888 57 000 3 294 1 527 22 991 0 000 1E6 PS3 43 000 0 011 1 501 11 824 4 909 51 000 3 316 1 503 44 317 0 000 7a3fd481 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 91 Chapter 6 Data Logs 6 3 11 TIME Time Data This log is output at the Time port at a maximum rate of I Hz and provides the GPS time of the receiver s 1 PPS signal It also includes the information on the receiver clock offset and the clock model status Log Type Synchronous Message ID 101 Binary Binary Description Format Bytes Offset 1 heder This field contains the message header in ASCII or Binary format See H 0 Section 4 3 on Page 34 Clock model status not including current measurement 2 c
7. 23 23 Galileo L1 data Auto 24 24 GPS L5 dataless Assign 25 25 GPS L5 dataless Assign 26 26 GPS L5 dataless Assign 27 27 GPS L5 dataless Assign 28 28 GPS L5 dataless Assign 29 29 GPS L5 dataless Assign 30 30 GPS L5 dataless Assign 31 31 GPS L5 dataless Assign 32 32 GPS L1 C A Auto 33 33 GPS L1 C A Auto 34 34 GPS L1 C A Auto 35 35 GPS L1 C A Auto 36 36 GPS L1 C A Auto 37 37 GPS L1 C A Auto 38 38 GPS L1 C A Auto 39 39 GPS L1 C A Auto 40 40 GPS L1 C A Auto 41 41 GPS L1 C A Auto 42 42 GPS L1 C A Auto 43 43 GPS L1 C A Auto 44 44 GEO L1 C A Idle 45 45 GEO L1 C A Idle 46 46 GEO L5 C5 data Idle 47 47 GEO L5 C5 data Idle continued on next page 114 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Technical Specifications Appendix A Signal Channel SV Channel SV Type Code Sky Search 48 48 Galileo E6 dataless Auto 49 49 Galileo E6 dataless Auto 50 50 Galileo E6 dataless Auto 51 51 Galileo E6 dataless Auto 52 52 Galileo E6 dataless Auto 53 53 Galileo E6 dataless Auto 54 54 Galileo E6 dataless Auto 55 55 Galileo E6 dataless Auto 56 56 Galileo L1 dataless Assign 57 57 Galileo L1 dataless Assign 58 58 Galileo L1 dataless Assign 59 59 Galileo L1 dataless Assign 60 60 Galileo L1 dataless Assign 61 61 Galileo L1 dataless Assign 62 62 Galileo L1 dataless Assign 63 63 Galileo L1 dataless Assign Galileo Test Receiver GTR User Manual Rev 5
8. Volts Direct Current Wide Area Augmentation System World Geodetic System Crosstrack Error Limited Rights Notice Appendix B 119 A accumulated Doppler range ADR 76 accuracy corrections 53 position 53 time 42 acquisition assignment 48 satellite 48 signal 61 times 53 adapter 116 ADR see accumulated Doppler range AGCMODE command 46 AGCSTATS log 66 almanac log 69 time status 42 ALMANAC log 69 ambiguity half cycle 76 analog to digital 67 86 107 anomaly 69 96 antenna altitude 52 connector 112 installing 22 anti spoofing AS 69 array clock model 71 AS see anti spoofing ASCII 35 36 ASSIGN command 48 asterisk 35 asynchronous logs 33 atmosphere delays 76 refraction 52 automatic channel assignment overriding 48 azimuth 88 B baseline 29 Binary 37 bit rate see bps bit synchronization 16 blanking 16 threshold 47 boot code version 97 boot up 27 bps 50 break detection 50 buffer space 33 55 built in status test 105 byte arrangements 40 C C NQ see carrier to noise density ratio carrier phase 76 carrier phase error estimate 76 carrier to noise density ratio C NO 76 93 channel assigning 48 control commands 44 logs 64 range measurements 76 tracking status 93 checksum see cyclic redundancy check clock aging parameter 69 dither 71 error 71 model 71 72 receiver 92 status 64 71 CODEFREQO
9. 0 000 0 000 0 000 0 000 0 098 720 0 000 913 830 0 000 094 820 0 000 028 630 0 000 000 0 047 0 000 0 000 NA 0 000 000 0 047 0 000 0 000 NA 0 000 000 0 047 0 000 0 000 NA 0 000 000 0 047 0 000 0 000 NA 0 000 11 0 04bb3c04 72593160 039 375 892 51 475 2 GOOD 0 000 12 0 04bb3c24 73392126 530 304 696 51 764 2 GOOD 0 000 5 0 04bb3c44 70026994 368 346 924 51 671 543 180 0 000 GOOD 0 000 25 0 04bb3c64 73151794 072 1967 088 51 613 1953 000 0 000 GOOD 0 000 4 0 04bb3c84 72969726 236 1786 392 51 399 1792 240 0 000 GOOD 0 000 30 0 04bb3ca4 73717629 476 859 282 51 430 716 300 0 000 GOOD 0 000 10 0 04bb3cc4 73698971 337 193 197 51 932 2073 480 0 000 GOOD 0 000 19 0 04bb3ce4 74308510 867 1009 474 51 789 1438 180 0 000 GOOD 0 000 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N 000 0 047 0 000 0 000 N Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 058 000 0 000 056 080 0 000 000 000 000 000 000 000 000 OLD 0 00 A A A A A A A Chapter 6 95 Chapter 6 Data Logs 0 0 041b41e0 0 000 0 000 0 047 0 000 0 000 NA 0 000 68c450e1 Table 44 Reject Code Values ASCII Binary Description GOOD 0 Observations are good BADHEALTH 1 Bad satellite health is indicated by ephemeris data
10. 0 1492 0 0813 1262912 375000 0 000000 0 000000 229A 6525 1925 8000 0 0323 0 0983 0 2150 0 2733 0 2264 0 1547 1360973 375000 0 000000 0 000000 324A 4413 2113 8000 0 0410 0 1125 0 2215 0 2688 0 2185 0 1376 1312806 250000 0 000000 0 000000 326A 3617 1317 8000 0 0662 0 1497 0 2406 0 2551 0 1816 0 1069 1232804 375000 0 000000 0 000000 6904e747 68 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 6 3 2 ALMANAC Decoded Almanac This log contains the decoded GPS almanac parameters from subframes four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information on Almanac data refer to the GPS SPS Signal Specification A list of standards and references with contact information can be found in the GPS Reference Manual available on our website at http www novatel com support docupdates htm Log Type Asynchronous Message ID 73 Description Binary Binary Bytes Offset 1 header This field contains the message header in ASCII or Binary format H 0 See Section 4 3 on Page 34 2 msg The number of satellite PRN almanac data sets to follow Long 4 H 3 PRN Satellite PRN number for current message dimensionless ULong 4 H 4 4 week Almanac reference week GPS week numb
11. 03 7 1 47591911 1 45855341 61440 0 9 1 9109259 8 8922949 E 00 2 E 04 2 479521 E 01 3 E 03 1 7901058E 00 9 6560183E 07 1 E 03 8 0917656 E 04 3 6379788 E 09 1 54950601 666114E 01 E 04 0 00000000 02 1 0 0 FA SE 2 104 SE 0 0 FA 9889042E 09 1 5367432E 06 0 9534287 E 09 2 64214451 E 03 1 0 0 FALS E 00 2 14498231 E 12 1 4585339E 04 5991652E 00 00000000 7193298E 05 0 00000000 1 4585948E 04 2 6559 0 0 TRUI Galileo Test Receiver GTR User Manual Rev 5 E fc97918d Limite Data Logs E 24 508014 000 00000028 42F1 0 31 1 E 03 7 8974718E 09 4 5 E 01 1 17301941 6560862E 07 1 7532921E 9 E 00 E 31 1049 E 00 8 0564663E 01 680E 07 d Rights Notice Data Logs Chapter 6 6 33 CLOCKMODEL Current Clock Model Status The CLOCKMODEL log contains the current clock model status of the receiver Monitoring the CLOCKMODEL log will allow you to determine the error in your receiver reference oscillator as compared to the GPS satellite reference All logs report GPS time not corrected for local receiver clock error To derive the closest GPS time subtract the clock offset from the GPS time reported The clock offset can be calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of light c The following symbols are used throughout this section
12. 1 3 Safety of Life SOrviCe AAA AAA AE WE 1 1 4 Public Regulated Service Aaaa 1 1 5 Search and Rescue Servic oooocncccnccconnconcnnccononenenenononcnnnnnnnanonenanenananonnnos 12 FOUR O E cia 1 2 1 Cross Correlation Detection Channel ooccccccconnnccncnccccoononconoccnonnranonnnnncnnnos 1 2 2Bit Synehronizatior adresse d atte iria ainia R EEE 1 2 3 Digital Pulse Blanking sear Ea REAA 1 3 Functional OVEIVIE Wai ki he a a MS A ENCIOS UNG AA T ae 1 3 2 Receiver AA ii aan kia dte 2 Installation 2 1 TypicalInstallatiON sira a aa id a ai 2 1 1 Connecting the External Frequency Reference wwwwwwwmmmaamaa 2 1 2 Connecting Data Communications Equipment rorrrrnnrnnnnnrrnrrnnnnnnnnnernn 2 1 3 Connecting the GPS Antenna rurnnnnnvrnnnnonnnrrnnnnnnnrrrennnennrrrenrrennrrresrennnnnn 2 1 4 Connecting the External Power Input rwrxrrrrnnnnnnvnvrnnnnnvnnnrrnnnrrnnnrrennrennnnne 2 1 5 Optional Installation Steps a eai a a a aaa a aeaa ia a aia 2 2 StatuS Display gps et r ad iia dela ikke ik tea EA DD Meteo Pn AWA as dae ely Lat a o feels 222 ROSO cha es adits eel eit tuats nets T Ia tee 2 2 3 Operational 45 s uiditneieddv a MAANGA MANE WI AWAUE deen 3 Operation 371 Pre Start Check list cito ts Dr AAA 3 2 BOO UD spie a a aa Melee iatenestladdatuett hal etset address 3 3 Communication AA 3 3 1 Configuring the Serial Time Ports rrrrrrnnnnonnrrrnnnnonnrrrnnnennrrrrnnnennrrrnnrrennnnne O
13. 2 02 2XX 7 400A3 000D5 2009 Feb 6 15 26 38 FPGA DOM Tr ee e SGPST DZN06300008 LIE5A 2 02 2X2 5 400A5 001A1db 2009 Feb 11 15 54 00 FPGA Altera 1 5 2 galileo 2009 Feb 11 11 23 59 LT DZNO6300004 LIE5SA 2 02 2X2 5 400A5 5 002D2db 2009 Feb 11 15 54 00 FPGA Alte ra 1 5 2 g lileo 2009 Feb 1l y 11423 59 E5AB GALT DBH06270003 1 97 Chapter 6 Data Logs FPGA TE AU VES EA 1 YD ere EA Y CPLD we we A CPLD 2 Aa we A wee we gt we L1E6 GALT DFG08510002 LIE6 1 00 2XX 10 400A2 6 000db 2009 Feb 11 15 32 25 FPGA ns ua AB EE OA MIL us CPLD we 7 wee 2 CPLD 2 wee 7 we we y p2898f1f Table 45 Version Log Field Formats Field Name Field Format Description P hardware platform e g OEM4 hw version P R CCC R hardware revision e g 3 10 CCC COM port configuration e g 22T VV major revision number RRR minor revision number sw version boot version VV RRR Xxxx X Special S Beta B Internal Development D A XXX number YYYY year comp date YYYY MM DD MM month DD day 1 31 HH hour comp time HH MM SS MM minutes SS seconds a One character for each of the COM ports 1 2 and 3 Characters are 2 for RS 232 4 for RS 422 and T for LV TTL Therefore the example is for a receiver that uses RS 232 for COM 1 and COM 2 and LV TTL for COM 3 98 Galileo
14. 2 0200000004 Tracking state See Table 33 on Page 80 3 0x00000008 4 0x00000010 5 0x00000020 NI 6 0x00000040 7 0x00000080 SV channel number en n depends on the receiver 8 0x00000100 9 0x00000200 N2 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked 13 0x00002000 N3 14 0x00004000 Correlator spacing See Table 34 on Page 80 15 0x00008000 16 0x00010000 0 GPS 17 0x00020000 Satellite system 15977 Reserved N4 2 GEO 3 Galileo 18 0x00040000 19 0x00080000 0 E5a E5b Receiver Card a Y een NS zi 0200200099 If GPS If Galileo 0 L1 C A 0 LI dataless 22 0x00400000 14 L5 C5 dataless 1 L1 data Sional Type 26 L5 C5 data 5 E6 dataless 0x09609000 de Seco satellite system 6 E6 data P y 10 E5a dataless 24 0x01000000 11 E5a data 15 E5b dataless N6 25 0x02000000 pr 26 0x04000000 Forward Error Correction FEC 0 Not FEC 1 FEC 27 Reserved always 0 Continued on Page 80 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 79 Chapter 6 Data Logs Nibble Bit Mask Description Range Value 28 0x10000000 Reserved always 0 29 0x20000000 N7 30 Reserved always 0 31 0x80000000 Channel assignment 0 Automatic 1 Forced Table 33 Tracking State Bit Values Bit Value Description 0 Idle 1 Sky search 2 Wide frequency band pu
15. CRC32Value int ulCRC ucBuffer Oxff ulCRC ulTempl ulTemp2 return ulCRC Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 43 5 1 Functional Listing of Commands Table 11 lists the commands by function Please see Section 5 3 on Page 46 for a more detailed description of each individual command Table 11 Commands By Function Command Description COMMUNICATIONS CONTROL AND STATUS COM Set serial port configuration LOG Request a log UNLOG Remove a specified log from logging control UNLOGALL Remove all logs from logging control AGCMODE Control Automatic Gain Control AGC functionality SDLLBW Configure receiver s DLL filter bandwidth SPLLBW Configure receiver s phase lock loop bandwidths RESET Perform a hardware reset Constrain to fixed position SATELLITE TRACKING AND CHANNEL CONTROL ASSIGN Assign individual satellite channel ECUTOFF Set satellite elevation cut off angle PULSEBLANKING Enable disable digital pulse blanking for L1 E5a L5 ESb and E6 signals STHRESHOLD Control signal thresholds for acquisition tracking and cross correlation Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 44 Commands Chapter 5 52 Command Summary Table 12 Command Summary Message Command Name ID Description Syntax agcmode frequency mode AGCMODE 229 Control Automatic Gain Control AGC foulsewidth Toadvalu
16. GTR as well as the fields within them follow specific formats which are discussed in Chapter 4 starting on Page 30 The valid commands which are used to control the operation and data logging of the GTR are specified in Chapter 5 starting on Page 44 Chapter 6 starting on Page 64 provides details on the data logs that can be requested from the GTR It is to your advantage to become thoroughly familiar with Chapters 4 through 6 of this manual to ensure maximum utilization of the GTR s capabilities 3 3 1 Configuring the Serial Time Ports See Section 2 1 2 Connecting Data Communications Equipment on Page 21 3 4 Getting Started Included with your receiver are NovAtel s GP Solution Aviation and Convert programs GPSolution Aviation is a Microsoft Windows based Graphical User Interface GUI which allows you to access the receiver s many features without the need for communications protocol or to write special software The Convert utility isa Windows based utility that allows you to convert between file formats and strips unwanted records for data file compilation Refer to the Quick Start Guide on the accompanying CD for more information on their installation XI IMPORTANT The current configuration of the GTR does not work with GPSolution Please use Hyperterminal or another terminal emulator program instead 3 4 1 Starting the Receiver The receiver s software resides in read only memory When first powered it undergoes a
17. H Steady state tracking lock 4 lock 10 80 threshold in dBHz ULong 4 H 4 Specifies the cross correlation 5 crosscorr 10 80 power threshold in dBHz at which ULong 4 H 8 point the checks are performed Example STHRESHOLD 0 35 20 35 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 61 Chapter 5 5 3 12 UNLOG Remove Log from Logging Control This command permits you to remove a specific log request from the system Syntax UNLOG PORT DATATYPI EE Valid Values ASCII Binary Description Format Commands Message ID 36 Binary Binary Bytes Offset This field contains the Abbreviated ASCII command name See Section 4 1 1 header H 0 on Page 30 Serial port at which log is being output If a value is 2 port See Table 8 on Page 41 not provided COM is Enum 4 H assumed 3 datatype Message name Message ID Log to be disabled ULong 4 H 4 Example UNLOG COM1 PSRPOSA 62 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Chapter 5 5 3 13 UNLOGALL Remove All Logs from Logging Control This command disables all logs on the specified port only All other ports are unaffected lt This command does not disable logs that have the HOLD attribute set See the LOG command in Section 5 3 6 on Page 55 for more information on this attribute To disable log
18. H 4 4 Reserved UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 adr Carrier phase in cycles accumulated Doppler range Double 8 H 20 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 Carrier to noise density ratio 10 GINO C Ng 10 log O S No dB Hz Float 4 H 36 11 AE Number of seconds of continuous tracking no cycle Float 4 H 40 slipping 12 va Tracking status See Table 32 on Page 79 ULong 4 H 44 13 Next data set offset H 4 previous obs x 44 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 obs x 44 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 Recommended Input LOG RANGEA ONTIME 30 Example Output RANGEA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 38 12 0 73392150 510 0 019 288006562 491 0 003 280 328 52 4 1989 530 05433c04 25 0 73151818 188 0 019 287063446 682 0 003 1809 716 52 4 1110 730 05433c24 11 0 72593184 134 0 019 284871246 478 0 003 345 818 52 4 1987 510 05433c44 4 0 72969747 944 0 019 286348964 503 0 003 1643 476 52 4 2044 510 05433c64 19 0 74308534 984 0 019 291602651 801 0 002 928 721 52 4 1662 790 05433c84 26 0 70845868 612 0 019 278014405 155 0 003 1351 511 52 4 705 800 05433ca4 10 0 73698994 893 0 01
19. Heure BIH on the basis of the coordinates adopted for the BIH stations X Axis Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP s Equator the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations Y Axis Completes a right handed earth centered earth fixed ECEF orthogonal coordinate system measured in the plane of the CTP Equator 90 East of the X Axis BIH Defined CTP 1984 0 WGS 84 4 0 Earth s Center of Mass BIH Defined Zero Meridian 1984 0 gl X WGS 84 Y WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 Figure 13 The WGS84 ECEF Coordinate System Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands 5 3 6 LOG Request Logs from Receiver Chapter 5 Many different types of data can be logged using several different methods of triggering the log events See Chapter 6 Data Logs starting on Page 64 for further information and a complete list of data log structures The hold parameter which is only valid when the ONTIME trigger is being used will prevent a log from being removed when the UNLOGALL command is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command The period and offset parameters are only valid when the ONTIME trigger is being use
20. Limited Rights Notice The following notices apply to the Galileo Test Receiver The Canadian Standards Association has specified that the following notices be brought to the attention of users of this product Equipment changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment A WARNING You must have a ground connection from the ground lug at the back of the unit to a reliable ground source The connection is required for safety and must be connected prior to operating the unit Failure to do so may result in unsafe operation of the equipment Please disconnect any antennas from the antenna ports on the GTR which have TNC female connectors as shown in Figure 9 on Page 23 prior to servicing lt IMPORTANT In order to maintain compliance with the limits of this device it is required to use properly shielded interface cables when using the Serial Ports such as Belden 9539 or equivalent and Belden 8770 cable for input power source ensuring the shield is connected to the protection ground Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Customer Service Contact Information If you have any questions or concerns regarding your GTR please contact NovAtel s Aerospace amp Defense Group using any one of the following methods NovAtel Hotline 1 800 NOVATEL U S and Canada 1 403 295 4900 Intern
21. MISSING FIELD 9 A field is missing from the input message ARRAY SIZE FOR FIELD X EXCEEDS MAX 10 Field contains more array elements than PARAMETER KIS OUT OF RANGE al ee N message is outside the TRIGGER X NOT VALID FOR THIS LOG 14 Input trigger x is not valid for this type of log NO VALID AUTH CODE FOR THAT MODEL 19 The model attached to the authcode is not valid CHANNEL IS INVALID 20 The channel number is not correct REQUESTED RATE IS INVALID 21 The requested rate is invalid CHANNELS LOCKED DUE TO ERROR 23 Channels are locked due to error INJECTED TIME INVALID 24 Injected time is invalid COM PORT NOT SUPPORTED 25 The COM port is not supported Continued on Page 32 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 31 Chapter 4 32 Using Commands and Logs String ID Meaning MESSAGE IS INCORRECT 26 The message is invalid INVALID PRN 27 The PRN is invalid MESSAGE TIMED OUT 31 The message has timed out UNKNOWN COM PORT REQUESTED 33 Unknown COM port requested IN NOTFORMS ATED 34 Hex string not formatted correctly INVALID BAUD RATE 35 The baud rate is invalid MESSAGE IS INVALID FOR THIS MODEL 36 This message is invalid for this model of Vedr VEE VA DNL 40 Command is only valid if NVM is in fail mode INVALID OFFSET 41 The offset is invalid MAX NUMBER OF USER MESSAGES 78 The maximum number of user messages REACHED allowed has been reached
22. Receiver GTR User Manual Rev 5 Limited Rights Notice 65 Chapter 6 Data Logs 6 3 1 AGCSTATS Automatic Gain Control Status This log provides status information for the automatic gain control mechanism and details of the parameters it is currently using Log Type Synchronous Message ID 630 Data Description Binary Binary Bytes Offset 1 header E S header in ASCII or Binary format H 0 2 RF decks Number of RF decks reported in this message Ulong 4 H 3 AGCword AGC status word see Table 27 on Page 67 Ulong 4 H 4 4 gain AGC gain 0 to 99999 Ulong 4 H 8 5 pulse width VARF pulse width Ulong 4 H 12 6 modulus VARF modulus Ulong 4 H 16 7 bini A D bin 1 decimal percentage Double 8 H 20 8 bin2 A D bin 2 decimal percentage Double 8 H 28 9 bin3 A D bin 3 decimal percentage Double 8 H 36 10 bin4 A D bin 4 decimal percentage Double 8 H 44 11 bin5 A D bin 5 decimal percentage Double 8 H 52 12 bin6 A D bin 6 decimal percentage Double 8 H 60 13 noise floor Calculated noise floor Double 8 H 68 14 Double 8 H 76 Reserved 15 Double 8 H 84 16 Next RF deck offset H 4 RF 88 Bytes 32 bit CRC ASCII and Binary only Hex 4 He RF 88 66 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 Table 27 AGC Status Word De
23. Signal Generator to the GTR refer to its User Manual for setup details Install the GPS and GPS Galileo antennas including an LNA if applicable and make the appropriate connections to the GTR and an LNA power supply a ES 5 Connect the external power supply to the GTR The steps provided on the previous page merely describe the basic system configuration which you can modify to meet your specific situation In order to take advantage of the many features the GTR has to offer your intended set up may differ significantly from this configuration See Section 2 1 5 on Page 23 for more advanced configuration steps 2 1 1 Connecting the External Frequency Reference The GTR requires an external user supplied frequency reference which typically takes the form of a high accuracy oscillator Please refer to Table 55 on Page 113 in Appendix A for the recommended specifications of this device The frequency reference is connected to the J 5 10 MHz BNC female connector on the rear panel of the GTR which is shown in Figure 5 Table 54 on Page 112 in Appendix provides technical specifications on this port Figure 5 J15 10 MHz Port The LCD status display on the front panel shown in Figure 12 on Page 24 displays the status of the connection between the GTR and the external clock reference 2 1 2 Connecting Data Communications Equipment There are four RS 232 serial ports on the back panel of the GTR that allow you to communicate
24. The ASCII name of the message The names of logs are given 2 MENSAE Char in Table 26 on Page 65 N The name of the port from which the log was generated ee Table 8 on Page 41 3 port Char See Table 8 on Page 41 Y 4 Reserved ULong Reserved for internal use 5 idle time Float Idle time 6 sano Enum The quality of the GPS time as described in Section 4 4 2 4 Y on Page 42 7 week ULong GPS week number Y Seconds from the beginning ofthe GPS week accurate to the 8 seconds GPSec millisecond level ya An eight digit hexadecimal number representing the status of 9 receiver ULon various hardware and software components of the receiver Y status 5 This number is described in Table 40 Receiver Status on Page 87 10 ULong Reserved Reserved for internal use 11 ULong 12 Char The character indicates the end of the header Example ASCII Format Log PSRPOSA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 SOL COMPUTED SINGLE 51 11632963531 114 03829724755 1046 5948 0 0000 WGS84 1 5464 1 2791 2 7786 0 000 0 000 10 9 0 0 0 0 0 O F1BA4EC7 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs Chapter 4 4 3 2 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary as opposed to ASCII da
25. complete self test If an error condition is detected during a self test the self test status word changes This self test status word can be viewed in the header of any data output log See also Chapter 8 Built In Status Test starting on Page 105 3 4 2 Communicating with the Receiver Launch Hyperterminal or other terminal emulator program and open communication with the GTR 28 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Operation Chapter 3 Available device configs Edt Delete Refer to GPSolution Aviation s Help file by selecting Help Contents from the main menu to see Help for GUI windows and their descriptions Ensure you can see the Console and ASCII Messages windows by selecting them under View in the main menu When the receiver is first turned on no data is transmitted from the COM ports except for the port prompt The screen displays a port name COM1 if connected to COM1 port Any of the above prompts indicate that the receiver is ready and waiting for command input Commands are typed at the interfacing computing device s keypad or keyboard and executed after issuing a carriage return command which is usually the same as pressing the lt Enter gt key An example of a response to an input command is the FIX POSITION command It can be entered like this COM1 fix position 51 11635 114 0383 1048 2 carriage return lt OK where COM1 is the port prompt the bolded
26. following rules apply when entering commands and logs 1 You must enter commands in Abbreviated ASCII format The name of the command and its parameters are entered 2 The commands are not case sensitive For example FIX POSITION or fix position 3 At the end of a command or command string press lt Enter gt 4 1 1 Command Settings on Power Up When the receiver is first powered up all commands revert to the factory default settings 4 1 1 1 Factory Defaults The factory defaults for each receiver section are COM COM1 115200 N 8 I N OFF ON FIX NONE PULSEBLANKING L1 127 PULSEBLANKING L5 127 PULSEBLANKING E5B 127 PULSEBLANKING E6 127 SDLLBW n 0 2 where n is for channel numbers 0 to 63 inclusive SPLLBW n 3 where n is for channel numbers 0 to 63 inclusive STHRESHOLD n 36 20 36 where n for is channel numbers 0 to 63 inclusive lt The cooling fans are defaulted to operate at 50 capacity 4 1 2 Determining the Current Command Settings To determine the current command settings of a receiver section request an RXCOMMANDS log which is described in Section 6 3 6 on Page 81 This will provide a listing of all commands and their parameter settings This log provides the most complete information on receiver configuration For some commands including COM and LOG multiple parameter sets can exist For example the LOG Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Noti
27. non use 4 Wakes up ifa fatal error occurs and stays on see also Table 49 on Page 107 In normal operation the LCD on the receiver displays the following Table 46 LCD Display in Normal Operation SYSTEM STAT VERSION IOM OK 7 400 SI OK 5 400 S2 OK 5 400 S3 OK 6 400 S4 OK 10 400 S5 S6 S7 S8 S9 CLK OK FANS OK Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 105 Chapter 8 Built In Status Test When an unusual and non fatal event occurs for example if there is no valid position solution a bit is set in the Receiver Status word If the receiver operation continues normally the LCD continues to display the following where the double line denotes that the LCD toggles between these two screens Table 47 LCD Display of a Non Fatal Error Event SYSTEM STAT VERSION VERSION IOM BAD 7 400 No Pos SI OK 5 400 5 400 S2 OK 5 400 5 400 S3 OK 6 400 6 400 S4 OK 10 400 10 400 S5 S6 S7 S8 S9 CLK OK FANS OK When the event ends in this case when there is a valid position solution the bit in the Receiver Status word is cleared and the LCD returns to its default display Non fatal errors are displayed as in Table 48 Table 48 Non Fatal Errors Error Code Error TEMP Temperature VOLT Voltage CPU CPU overload COMI COMI buffer overrun USB USB buffer overrun No Pos Invalid position NoOCXO External oscillato
28. receiver card to load based on the selected file 7 2 5 Communications Settings To set the communications port and baud rate select COM Settings from the Settings menu see Figure 13 on Page 102 Choose the port on your PC from the Com Port drop down list and the baud rate from the Download Baudrate torpedoing list The baud rate should be as high as possible the default of 115200 is preferred Com Port Download Baudrate hisa y Connect Baudrate 9600 y OK Cancel Figure 18 COM Port Setup 7 2 6 Downloading firmware To download firmware follow these steps 1 Set up the communications port as described in Communications Settings above 2 Change the Boot Target Card ID to 0 IO Master 1 L1 ESA I 2 L1 ESA I 3 ESA ESB 4 L1 E6 3 Select the file to download see Open a File to Download on Page 101 4 Make sure the file path and file name are displayed in main display area see Figure 17 5 Click on the Write Flash button to download the firmware a 6 While WinLoad searches for the card power cycle the receiver turn it off and then on again 102 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Firmware Updates Chapter 7 lt You will only be able to access information from the card and download new firmware during the first few seconds after power initiation 7 WinLoad should be able to locate the card and the hex file should start downloading When the Authorization Code dia
29. second column of the status display shows a BAD flag Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 25 Chapter 2 Installation 26 If both cooling fans fail the error message in the third column on the status display is updated to NOFANS and the second column of the status display shows a BAD flag 2 2 3 1 Receiver Error Display If a fatal receiver error occurs the entire status display screen backlight flashes at 0 5 Hz Fatal errors are failures that put the receiver into an error state see Table 49 on Page 107 If non fatal errors occur the error is displayed in the third column of the status display screen Non fatal errors are failures that put the receiver into a warning state see Table 47 on Page 106 Error status is extracted from the receiver status word and the receiver error word See also the RXSECSTATUS log on Page 84 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 3 Operation 3 1 3 2 27 Before operating the GTR for the first time ensure that you have followed the installation instructions in Chapter 2 From here on it will be assumed that testing and operation of the GTR will be performed while using a personal computer PC which allows the greatest ease and versatility Pre Start Check List Before turning on power to the GTR ensure that all of the following conditions have been met The external frequency reference is properly installed conne
30. stopbits lor2 Number of stop bits ULong 4 H 16 7 handshake See Table 17 on Page 51 Handshaking Enum 4 H 20 8 echo See Table 18 on Page 51 Echo ability Enum 4 H 24 9 break See Table 19 on Page 51 Break detection Enum 4 H 28 a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware is required for higher rates such as 230 400 bps Example COM COM1 57600 N 8 1 N OFF ON 50 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Chapter 5 Table 16 Parity Values ASCII Description N No parity E Even parity O Odd parity Table 17 Handshaking Values ASCII Description N No handshaking XON XON XOFF software handshaking CTS CTS RTS hardware handshaking Table 18 Echo Values ASCII Description OFF No echo ON Transmit any input characters as they are received Table 19 Break Values Description OFF Disable break detection ON Enable break detection Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 51 Chapter 5 Commands 5 3 4 ECUTOFF Set Satellite Elevation Cut off This command sets the elevation cut off angle for tracked satellites The receiver will not track a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle will no longer be tracked unless they were manually assigned using the ASSIGN
31. time will only be adjusted again to within microsecond if the range bias gets larger than 250 milliseconds If for some reason position is lost and the range bias cannot be calculated the time status will be degraded to FREEWHEELING 42 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs 4 4 2 5 32 Bit CRC Chapter 4 The ASCH and Binary message formats all contain a 32 bit Cyclic Redundancy Check CRC for data verification This allows you to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32 POLYNOMIAL OxEDB88320L SSeS ee ee See A ee es ee ee Cee ee ee ee ee ee ee Calculate a CRC value to be used by CRC calculation functions unsigned long CRC32Value int i int Jj unsigned long ulCRC ulCRC i for FJ 98 7 3 gt Op J if ulCRC 1 ulCRC ulCRC gt gt 1 CRC32 POLYNOMIAL else ulCRC gt gt 1 return ulCRC PR SEES re Er ee Se Ae Se ee eh eee bo TR eS ee eh ee Calculates the CRC 32 of a block of data all at once unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTempl unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTempl ulCRC gt gt 8 O0x00FFFFFFL ulTemp2
32. type is the command you enter from you keypad or keyboard and carriage return indicates that you should press the lt Enter gt key The above example illustrates command input to the base receiver s COM 1 port which sets the position of the receiver Confirmation that the command was actually accepted is the appearance of lt OK If a command is entered incorrectly the receiver responds on the debug port with lt Invalid Message ID or a more detailed message WARNING Ensure the Control Panel s Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lostif one of these modes occurs during a logging session gt lt IMPORTANT The current configuration of the GTR does not work with GPSolution Please use Hyperterminal or another terminal emulator program instead Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 29 Chapter 4 Using Commands and Logs Chapter 5 and Chapter 6 provide the details of the commands and logs used to communicate with the GTR The sections below give information on using these messages including the formats they can take and the responses they may provide 4 1 Entering Commands The GTR is capable of responding to many different input commands The commands offer a wide range of flexibility and can be used to control the following The overall status of the GTR Input and output functions e Configuration ofa specific channel of the GTR The
33. 0 0 Limited Rights Notice Data Logs Chapter 6 0 0 2 2 213 1 3205 242 3167 735 0 0 1 9 90 0 2813 896 2851 404 0 0 0 3 78 8 2535 593 2573 100 0 0 5 0 330 2 1858 116 1820 609 0 0 5 2 355 3 2796 473 2833 980 0 0 0 0 76 4 111 6 3136 163 3173 670 78 1 145 7 3888 059 3850 552 20 0 0 8 3 282 3 3431 021 3468 528 15 0 0 23 9 53 2 3295 386 3257 879 16 0 0 29 9 196 6 124 497 162 004 23 0 0 30 4 234 6 3007 430 3044 937 27 0 0 35 0 357 8 2794 683 2757 176 24 0 0 39 3 134 1 2598 078 2560 571 2670 07 39 7 47 97 3095 257 3057 750 29 0 0 42 3 131 7 442 580 405 072 8 0 0 51 3 325 2 2388 066 2350 559 13 0 0 52 8 234 7 2175 409 2212 916 4 0 0 53 7 344 1 2478 824 2516 331 25 0 0 58 9 250 3 697 310 734 817 770704 60 7 276 77 574 554 537 046 10 0 0 62 5 105 2 1430 878 1393 371 2 0 0 73 6 31 8 680 826 718 333 4D4FBD3F Table 41 Satellite Visibility Values ASCII Binary Description FALSE 0 Satellite visibility is invalid TRUE 1 Satellite visibility is valid Table 42 Complete Almanac Flag Values Description FALSE 0 Complete almanac was not used TRUE 1 Complete almanac was used Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 89 Chapter 6 Data Logs 6 3 10 SYSTEMLEVELS System Hardware Levels This log contains environmental and voltage parameters for the receiver card and the I O Master card
34. 2 1351 511 52 397 705 800 0 000 GOOD 0 000 0 0 854320c0 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 854320e0 0 000 0 000 0 047 0 000 0 000 NA 0 000 10 0 05e33d04 73698994 893 182 382 52 184 2027 132 0 000 GOOD 0 000 19 0 05e33d24 74308534 821 952 958 52 174 1856 112 0 000 GOOD 0 000 12 0 05e33d44 73392150 408 287 644 52 162 2016 752 0 000 GOOD 0 000 4 0 05e33d64 72969747 813 1686 347 52 190 2070 516 0 000 GOOD 0 000 7 0 05e33d84 73615184 250 1998 736 52 165 508 592 0 000 GOOD 0 000 11 0 05e33da4 72593183 970 354 847 52 174 293 876 0 000 GOOD 0 000 0 0 85e321c0 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 860321e0 0 000 0 000 0 047 0 000 0 000 NA 0 000 10 0 040b5c04 73698975 984 238 025 51 313 1227 812 0 000 GALL1 0 000 19 0 040b5c24 74308516 008 1243 674 51 288 875 772 0 000 GALL1 0 000 29 0 040b5c44 73398708 506 292 397 51 280 372 996 0 000 GALL1 0 000 25 0 040b5c64 73151799 161 2423 443 51 316 1693 916 0 000 GALL1 0 000 30 0 040b5c84 73717634 549 1058 625 51 313 302 512 0 000 GALL1 0 000 26 0 040b5ca4 70845849 548 1809 850 51 288 506 004 0 000 GALL1 0 000 11 0 040b5cc4 72593164 921 463 102 51 288 1185 296 0 000 GALL1 0 000 12 0 042b5ce4 73392131 323 375 387 51 293 2063 968 0 000 GALL1 0 000 0 0 05c84100 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 05c84120 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 05c84140 0 000 0 000 0 047 0 000 0 000 NA 0 000
35. 20000 Memory usage status OK Error 18 0x00040000 Message queue usage status OK Error 19 0x00080000 Message usage status OK Error Table 39 Receiver Auxiliary 1 Status Nibble Mask Description 0 0x00000001 Reserved NO 1 0x00000002 2 0x00000004 3 0x00000008 4 0x00000010 NI 5 0x00000020 USBI buffer overrun flag No overrun Overrun 6 0x00000040 USB2 buffer overrun flag No overrun Overrun 7 0000000380 USB3 buffer overrun flag No overrun Overrun 8 0x00000100 OTG243 Port I overrun flag No overrun Overrun N2 9 0x00000200 OTG243 Port 2 overrun flag No overrun Overrun 10 0x00000400 OTG243 Port 3 overrun flag No overrun Overrun 11 0x00000800 Reserved 86 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Nibble Bit Mask Table 40 Receiver Status Description Chapter 6 0x00000001 Error flag see Table 38 Receiver No error Error Error on Page 86 NO 1 0x00000002 Temperature status Within specifications Warning 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power status Powered Not powered 4 0x00000010 LNA status OK Failure nf 5 0x00000020 Antenna open flag OK Open 6 0x00000040 Antenna shorted flag OK Shorted 7 0x00000080 CPU overload flag No overload Overload 8 0x00000100 C
36. 9 296755311 618 0 002 182 382 52 2 2027 132 05e33d04 19 0 74308534 821 0 019 299209677 373 0 003 952 958 52 2 1856 112 05e33d24 12 0 73392150 408 0 019 295519777 036 0 003 287 644 52 2 2016 752 05e33d44 4 0 72969747 813 0 019 293818936 350 0 003 1686 347 52 2 2070 516 05e33d64 7 0 73615184 250 0 019 296417841 939 0 003 1998 736 52 2 508 592 05e33d84 11 0 72593183 970 0 019 292302670 176 0 003 354 847 52 2 293 876 05e33da4 10 0 73698975 984 0 113 129447027 256 0 003 238 025 51 3 1227 812 040b5c04 19 0 74308516 008 0 114 390493885 742 0 004 1243 674 51 3 875 772 040b5c24 29 0 73398708 506 0 114 184059056 812 0 004 292 397 51 3 372 996 040b5c44 25 0 73151799 161 0 113 384415298 019 0 004 2423 443 51 3 1693 916 040b5c64 30 0 73717634 549 0 113 759516976 467 0 004 1058 625 51 3 302 512 040b5c84 26 0 70845849 548 0 114 372297452 106 0 004 1809 850 51 3 506 004 040b5ca4 11 0 72593164 921 0 114 494909897 011 0 004 463 102 51 3 1185 296 040b5cc4 12 0 73392131 323 0 113 385678252 602 0 003 375 387 51 3 2063 968 042b5ce4 19 0 23374218 878 0 249 122832347 491 0 007 2284 907 44 4 2084 740 00105c04 14 0 20386499 881 0 127 107131779 245 0 004 465 734 50 3 2093 570 00105c24 3 0 25368413 879 0 383 133311899 955 0 011 3251 793 40 7 2097 150 00105c44 31 0 24239611 040 0 171 127380026 812 0 005 3773 745 47 7 1019 330 00105c64 Galileo Test Receiver GTR User Manual Rev 5 Limited Righ
37. BLANKING command should only be used by advanced users of GPS This command enables or disables digital pulse blanking By default the digital pulse blanking is enabled The sensitivity of the digital pulse blanking may be adjusted using the switch field Syntax Message ID 519 PULSEBLANKING FREQUENCY SWITCH Binary Binary Valid Values Description Bytes Offset 1 header This field contains the Abbreviated ASCII command name See H 0 Section 4 1 on Page 30 2 freguency L1 LS E5b and E6 Pulse blanking frequency See Enum 4 H Ken Table 23 below 3 switch 0 127 Pulse blanking switch using Ulong 4 H 4 thresholds See Table 24 below Examples PULSEBLANKING 11 5 Table 23 Frequency Switch ASCII Description LI Galileo L1 frequency GPS L1 Frequency L5 Galileo E5a frequency GPS L5 Frequency E5B Galileo E5b frequency E6 Galileo E6 frequency Table 24 Pulse Blanking Switch ASCII Description 0 Disable pulse blanking 1 127 Enable pulse blanking Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 57 Chapter 5 Commands 5 38 RESET Hardware Reset 58 This command performs a hardware reset Following a RESET command the receiver will initiate a cold start bootup and will retain the most recent receiver configuration that is channel configuration The optional delay field is used to set the
38. Binary described in Section 4 3 on Page 34 When entering the LOG command using Abbreviated ASCII format the default format for the output log is Abbreviated ASCII To generate logs in a different format a suffix is added to the name of the message being requested To request a log in ASCI format add A to the end of the log as shown below LOG ALMANACA To request a log in Binary format B is added to the end of the log name LOG RANGEB ONTIME 30 When issuing Binary logs the output message type Is set in the Message Type field in the command header as described in Table 5 on Page 38 Log Formats The receiver handles all incoming and outgoing NovAtel logs using two different formats ASCII e Binary This allows for some versatility in the way the GTR can be used Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs Chapter 4 4 3 1 ASCII The ASCII format is readable by both you and a computer The structures of all ASCI messages follow the general conventions as noted here 1 Basic format HEADER PARAMS PARAM 1 PARAM 2 PARAM N XXXXXXXX CR LF The lead code identifier for each record is This identifier is followed by the header parameters as described in Zable 4 Each log is of variable length depending on the amount of data and field formats All data fields are delimited by a comma with two exceptions The first exception is the la
39. COMPUTED SINGLE 51 11632963531 114 03829724755 1046 5948 0 0000 WG584 1 5464 1 2791 2 7786 0 000 0 000 10 9 0 0 0 0 0 O flba4ec7 Table 30 Solution Status Values ASCII Binary Description SOL COMPUTED 0 Solution computed INSUFFICIENT OBS 1 Insufficient observations NO CONVERGENCE 2 No convergence SINGULARITY 3 Singularity at parameters matrix CONV TRACE 4 Covariance trace exceeds maximum trace gt 1000 m Test distance exceeded maximum of 3 rejections if TEA DST ii distance gt 10 km COLD START 6 Not yet converged from cold start Height or velocity limits exceeded in accordance with VL CIMT COCOM export licensing restrictions VARIANCE 8 Variance exceeds limits RESIDUALS 9 Residuals are too large DELTA POS 10 Delta position is too large NEGATIVE VAR 11 Negative variance Table 31 Position Type Values ASCII Binary Description NONE 0 No solution FIXEDPOS 1 Position has been fixed by the FIX POSITION command or by position averaging SINGLE 16 Single point position Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 75 Chapter 6 Data Logs 6 3 5 RANGE Satellite Range Information 76 RANGE contains the channel measurements for the currently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock model is valid This can be monito
40. Data Ephemeris In Orbit Validation Liquid Crystal Display Line Feed Low Noise Amplifier Least significant bit Medium Earth Orbit Mark Input Message Processor MTSAT Satellite Based Augmentation System Most significant bit Mean sea level National Airspace System United States Not Connected National Marine Electronics Association Non Volatile Memory Oven Controlled Crystal Oscillator Original Equipment Manufacturer Open Service Personal Computer Phase Lock Loop Precise Positioning Service or Pulse Per Second PseudoRandom Noise number Public Regulated Service Random Access Memory Rescue Co ordination Centre Radio Frequency Return Material Authorization Root Mean Square Read Only Memory Request To Send Received Data Selective Availability Search and Rescue Search and Rescue Satellite Aided Tracking Satellite Based Augmentation System Spherical Error Probable Signal to Noise Ratio Safety of Life Standard Positioning Service Galileo Test Receiver GTR User Manual Rev 5 Acronyms Limited Rights Notice Acronyms SQM SV SVN SW TCXO TOE TTFF TXD USB UTC VARF VDC WAAS WGS XTE Galileo Test Receiver GTR User Manual Rev 5 Signal Quality Monitoring Space Vehicle Space Vehicle Number Software Temperature Compensated Crystal Oscillator Time of Ephemeris Time To First Fix Transmitted Data Universal Serial Bus Coordinated Universal Time Variable Frequency
41. FFSET command 49 COM command 50 COM port 50 commands entering 30 formats 34 functional list 44 input 29 settings 82 summary 45 communications commands 44 configuration logging 55 phase lock loop 60 receiver 82 reset 58 serial ports 50 connector 112 constellation 72 control channel 44 commands 44 logs 64 conventions document 12 corrected mean motion 69 120 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice corrections accuracy 53 correlator technology 79 CPU 33 55 CRC see cyclic redundancy check cross correlation 16 Customer Service 10 cut off angle setting 52 cyclic redundancy check CRC 35 37 43 D data bits 50 data communications equipment configuring 22 installing 21 defaults factory 30 differential corrections 96 digital pulse blanking 16 distance 75 dither 71 Doppler assign 48 instantaneous 76 offset 49 satellite visibility 88 tracking status 93 E eccentricity 69 echo 50 ECUTOFF command 52 elevation cut off angle 52 error 96 satellite visibility 88 tracking status 93 entering commands 30 environmental specifications 111 ephemeris health 96 time status 42 errors clock 71 multipath 76 range reject codes 96 response messages 31 tracking 76 external clock input 21 specifications 113 F factory defaults 30 Galileo Test Receiver GTR User Manual Rev 5 Index features 15 28 fi
42. Format ASCII Binary This field contains the Abbreviated ASCII command name See Section 4 1 1 header H 0 on Page 30 Specifies which signal 2 frequency See Table 13 on Page 46 type to apply the Enum 4 H command to Specifies whether to use the default or 3 mode See Table 14 on Page 46 custom values for the Enum 4 H 4 pulse width and load value Pulse width A value is only required when the mode field is set to MANUAL 4 pulsewidth 35 to 262144 Float 4 H 8 Modulus load value A value is only required when the mode field is set to MANUAL 5 loadvalue 35 to 262144 Float 4 H 12 Example AGCMODE L1 MANUAL 40 50 E Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 47 Chapter 5 Commands 5 3 2 ASSIGN Assign Individual Satellite Channels 48 Dx The ASSIGN command should only be used by advanced users of GPS This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions The command specifies that the selected tracking channel should search for a specified satellite at a specified Doppler frequency within a specified Doppler window The instruction will remain in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel e
43. Limited Rights Notice 115 Appendix A Technical Specifications A 1 Power Cable The power cable supplied with the GTR connects from the Power Input port on the back of the GTR to an external power source 100 to 240 V AC An input voltage of less than 100 V AC may cause the unit to suspend operation while an input voltage greater than 240 V AC may physically damage the unit voiding the warranty The power supply automatically adapts its input power to the national power source in the country of use as long as it is within the above range and you have an adapter for your local power receptacle Figure 22 Power Cable 116 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice INTA Acronyms BIH BIT BPS BW C A Code CBIT CEP C No CoCom COSPAS CPLD CPU CR CRC CS CTS dB DCD DLL DPB DRAM DSP DSR DTE DTR ECEF E L ESA ESD ESN FCC FEC FOC FPGA FTP FTS GCC GEO GLONASS GND GPS GSS One Pulse Per Second Analog to Digital Analog to Digital Convertor Accumulated Doppler Range Automatic Gain Control Anti Spoofing American Standard Code for Information Interchange Bureau International de Heure Built In Test Bits per Second Bandwidth Coarse Acguisition Code Continuous Built In Test Circular Error Probable Carrier to Noise Ratio Coordinating Committee on Multilateral Export Controls Cosmitscheskaja Sistema Poiska Awarinitsch Sudow Russian space syste
44. MEA ONNEW Example Output RAWFRAMEA COM1 0 44 5 SATTIME 494 345301 000 00000000 0000 0 55 19 0 492 62 2B26BCEFOCO4F6711BF86137086A12C14F87C07B4C6AA4DE0 4BCEB8 612C34C691BFABCECEB86BCED4F851BFBOC074C68613604BFF48448D33487C2D588 00 357FD5E5 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 81 Chapter 6 6 3 7 RXCOMMANDS Receiver Configuration Data Logs This log outputs all of the current receiver configuration parameters set using the commands in Chapter 5 When requested one RXCOMMANDS log is output for each command type The embedded message is the most recent command string entered by you for that command type If you have not yet entered a command string for that command type that command is not included in RXCOMMANDS Log Type Polled Message ID 579 Field Field Name Data Description Format Bytes Offset This field contains the message header in ASCII or Binary format l header See Section 4 3 on Page 34 H 0 2 command Indicates which command the embedded message Int 4 H type represents see Table 35 on Page 83 Embedded message of the most recent command string you entered Ifa command string has not been Uchar 3 Sane entered yet the default values from start up will be variable a ca provided 4 32 bit CRC ASCII and Binary only Hex 4 variable Recommended Input LOG RXCOMMANDSA ONC Example Output RXCO
45. MMANDSA COM1 0 71 0 1 GI 9 LOG COM1 VERSION ON D 15 36 2 43 STHRESHO 43 STHRESHO D 0 36 20 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 0 ASSIGN 82 0 O io a a uNa nNnNyerrrrrrrr rro kOoOVM IMAUPRSWNEO Eal ACTIVE 51 CE 0 000000 0 000000 HOLD I 0 36 36 2500 1250 ACTIVE 51 ACTIVE 51 ACTIVE 51 ACTIVE 51 ACTIVE 52 EI A GET OE NEI 1250 1250 0 1250 1250 1250 2500 1250 2500 1250 Ea ACTIVE 52 1250 1250 ACTIVE 52 ACTIVE 51 CE E 0 1250 2500 1250 ACTIVE 51 ACTIVE 51 ACTIVE 51 ACTIVE 51 ACTIVE 52 EE EG 81 1250 1250 0 1250 1250 1250 2500 1250 2500 1250 J ACTIVE 52 1250 1250 ACTIVE 51 ACTIVE 51 EJE 1300 5000 2500 1250 ACTIVE 51 ACTIVE 51 ACTIVE 51 ACTIVE 52 ACTIVE 52 FE ET ET EN El 1250 1250 0 1250 1250 1250 2500 1250 2500 1250 Galileo Test Receiver GTR User Manual Rev 5 EXACT 0 0 000 00000000 0000 0 Limited Rights Notice Data Logs Chapter 6 0 ASSIGN 22 ACTIVE 52 1250 1250 0 ASSIGN 23 ACTIVE 52 0 5000 9 LOG COM1 AGCSTATS ONTIME 10 000000 0 000000 HOLD LOG COM1 PSRPOS ONTIME 10 000000 0 000000 HOLD LOG RANGE ONTIME 10 000000 0 000000 HOLD LOG RXSECSTAT
46. No parity e 8 data bits e I stop bit No handshaking Echo off DI After the GTR has been powered on and initial communications are established the port settings for the GTR can be changed using the COM command which is described in Section 5 3 3 on Page 50 2 1 3 Connecting the GPS Antenna Selecting and installing an appropriate antenna system is crucial to the proper operation of the GTR Keep these points in mind when installing the antenna system e Ideally select an antenna location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction 22 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Installation Chapter 2 Ensure that the antenna is mounted on a secure stable structure capable of withstanding relevant environmental loading forces e g due to wind or ice e Use high quality coaxial cables to minimize signal attenuation When using active antennas remember that you also need to connect each low noise amplifier LNA to a suitable power source The gain of the LNA must be sufficient to compensate for the cabling loss Connect the antennas to the antenna ports on the GTR which have TNC female connectors as shown in Figure 9 Table 54 on Page 112 in Appendix A provides technical specifications on these ports 4 Figure 9 Antenna Ports 2 14 Connecting the External Power Input After initial connection of the power supply t
47. Note H W Rev 1 00 P N 01017692 MADE IN CANADA Figure 14 Serial Number and Version Label You can also verify the information by powering up the receiver and requesting the VERSION log Page 97 After conferring with the Aerospace amp Defense Group to establish the required revision level as well as the terms and conditions of your firmware update the Aerospace amp Defense Group will issue you authorization codes or auth codes for each of the receiver cards The auth code is required to unlock the receiver features according to your authorized model type If it is determined that you will be updating to a higher revision level with the use of the firmware loading utility the Aerospace amp Defense Group will confirm with you as to the procedures files and methods required for using this utility As the main utility and other necessary files are generally provided in a compressed file format you will also be given a file decompression password The utility and update files are available from the Aerospace amp Defense Group by FTP e mail or diskette Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 7 Firmware Updates 7 2 Updating Firmware Using a Windows Host Computer 7 2 1 Downloading the Files Typically there are two files required when performing firmware updates on a particular receiver card WINLOAD EXE the firmware loading utility program XXXX HEX the firmware update file Typica
48. OLDEPHEMERIS 2 Old ephemeris due to date not being updated during the last 3 hours ECCENTRICANOMALY 3 Sco anomaly error during computation of the satellite s TRUEANOMALY 4 True anomaly error during computation of the satellite s position SATCOORDINATEERROR 5 peke coordinate error during computation of the satellite s ELEVATIONERROR 6 Elevation error due to the satellite being below the cut off angle MISCLOSURE 7 ee io eee due to excessive gap between estimated and NOEPHEMERIS 9 Ephemeris data for this satellite has not yet been received INVALIDIODE 10 Mee ee Of Data Ephemeris due to mismatch between LOWPOWER 12 me meaning that the satellite is rejected due to low carrier NOIONOCORR 16 OS ionospheric correction is available for this particular Bad integrity indicating a large variation between the measured BAD_INTEGRITY 17 range to the satellite and the theoretical range computed from the ephemeris OBSL5 18 Tracking a GPS L5 signal GALL1 19 Tracking a Galileo L1 signal GALESA 20 Tracking a Galileo ESa signal GALE5B 21 Tracking a Galileo ESb signal GALE6 22 Tracking a Galileo E6 signal OBSL1 23 Tracking a GPS LI signal on I O Master section NA 99 No observation a reject code is not applicable 96 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs 6 3 13 VERSION Version Information This log contains the version information for all components of a system When using a stand
49. OMI buffer overrun flag No overrun Overrun ND 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 COM1 buffer overrun flag No overrun Overrun 11 0x00000800 Reserved 12 0x00001000 13 0x00002000 N3 14 0x00004000 15 0x00008000 16 0x00010000 17 0x00020000 DN 18 0x00040000 Almanac flag Valid Invalid 19 0x00080000 Position solution flag Valid Invalid 20 0x00100000 Position fixed flag see Section 5 3 50n Not fixed Fixed Page 53 NS 21 0x00200000 Clocksteering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 External oscillator flag PLL not locked PLL locked 24 0x01000000 Stack warning OK Warning N 25 0x02000000 Memory warning OK Warning 26 0x04000000 Message queue warning OK Warning 27 0x08000000 Message block usage warning OK Warning 28 0x10000000 Reserved 29 0x20000000 N7 1 30 0x40000000 31 0x80000000 AUXI status event flag No event Event a Galileo Test Receiver GTR User Manual Rev 5 Only applies to Euro4 G2 cards Limited Rights Notice 87 Chapter 6 6 3 9 88 SATVIS Satellite Visibility Data Logs Satellite visibility log with additional satellite information This log only gives GPS data no Galileo data Log Type Synchronous Description Format Message ID 48 1 header This field contains the message header in ASCII or Binary 0 format See Sect
50. REFERENCE Connector BNC female Frequency 10 000 MHz Short Term Stability Allen Variance 2x 10711 1 second Accuracy Over Operating Temperature Range 5 x10712 RF Output Power 17 dBm into 50 Q Output Waveform Harmonics Spurious Phase Noise at 10 Hz at 100 Hz at 1 kHz Sine wave 40 dBc 80 dBc 120 dBc Hz 140 dBc Hz 150 dBc Hz Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 113 Appendix A Technical Specifications Table 56 40GALILEO24GPS Channel Configuration Signal Channel SV Channel SV Type Code Sky Search 0 0 Galileo E5a dataless Auto 1 1 Galileo ESa dataless Auto 2 2 Galileo E5a dataless Auto 3 3 Galileo E5a dataless Auto 4 4 Galileo E5a dataless Auto 5 5 Galileo E5a dataless Auto 6 6 Galileo E5a dataless Auto 7 7 Galileo E5a dataless Auto 8 8 Galileo E5b dataless Auto 9 9 Galileo E5b dataless Auto 10 10 Galileo E5b dataless Auto 11 11 Galileo E5b dataless Auto 12 12 Galileo E5b dataless Auto 13 13 Galileo E5b dataless Auto 14 14 Galileo E5b data Auto 15 15 Galileo E5b data Auto 16 16 Galileo L1 dataless Auto 17 17 Galileo L1 dataless Auto 18 18 Galileo L1 dataless Auto 19 19 Galileo L1 dataless Auto 20 20 Galileo L1 dataless Auto 21 21 Galileo L1 dataless Auto 22 22 Galileo L1 dataless Auto
51. Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 7 Firmware Updates 7 1 99 As described in Chapter 1 the GTR is comprised of multiple receiver cards Each receiver card has its own firmware program software but all the cards in one receiver section must have the same firmware The firmware is stored in on board non volatile memory which allows the receiver s firmware to be updated in the field Thus updating firmware takes only a few minutes instead of the several days which would be required if the receiver had to be sent to a service depot When updating to a higher revision level you will need to transfer the new firmware to the appropriate card using one of NovAtel s firmware loading utilities WinLoad is designed for use with Window based systems Below is shown an outline of the procedure for updating your receiver s firmware Contact the NovAtel Aerospace amp Defense Group Download update files Decompress files F DE Run the firmware loading utility Contacting the NovAtel Aerospace amp Defense Department The first step in updating the receiver is to contact the NovAtel Aerospace amp Defense Group via any of the methods described in Customer Service on Page 10 When you call be sure to have the GTR s serial number and program revision level available This information is printed on the rear panel of the GTR as shown in Figure 14 SOL GALILEO TEST REGEIVER MIDI NCS07 110001
52. This field contains the Abbreviated ASCII command name See Section 4 1 on Page 30 Chapter 5 Message ID 27 Binary Offset channel 0 to 63 SV channel number to apply the command to 0 is the first SV channel and 63 is the last See also Table 56 on Page 114 ULong state See Table 15 below Optional desired SV channel state Ifa value is not given the default of ACTIVE is used Enum H 4 prn doppler 0 to 37 for GPS 0 to 52 for Galileo 120 to 138 for GEO 100 000 to 100 000 Optional satellite PRN code from 0 37 for GPS channels 0 52 for Galileo channels and 120 to 138 for GEO channels A value is required only when the state field is set to ACTIVE Optional current L1 Doppler offset of the satellite specified in the prn field in Hz NOTE Satellite motion receiver antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency default 0 Long Long H 8 H 12 window 0 to 10 000 Error or uncertainty in the L1 Doppler estimate given in the doppler field in Hz NOTE This is a value For example enter 500 for 500 Hz default 5000 for GPS L1 GPS L5 Galileo L1 default 3000 for Galileo E5a Galileo E5b Galileo E6 ULong H 16 Examples ASSIGN 0 ACTIVE 37 0 2000 ASSIGN 11 28 250 0 The first example sets the first SV channel to acquire satellite PRN 37 in
53. US ONTIME 10 000000 0 000000 HOLD LOG SATVIS ONTIME 10 000000 0 000000 HOLD LOG SYSTEMLEVELS ONTIME 10 000000 0 000000 HOLD LOG TIME ONTIME 10 000000 0 000000 HOLD LOG TRACKSTAT ONTIME 10 000000 0 000000 HOLD LOG VERSION ONTIME 10 000000 0 000000 HOLD LOG CO RAWFRAME ONNEW 0 000000 0 000000 HOLD D30D79C8 s Q O 2 s Q O z s Q O 2 s QB oo lt lt PRPPRPPP RB s Q O 2 s Q O 2 s 2 s X 0 ODO IO OO O lO O s Table 35 Command Type Values ASCII BINARY Command Type 0 0 ASSIGN 1 3 1 3 Reserved 4 4 COM 5 6 5 6 ECUTOFF 7 7 FIX 8 8 Reserved 9 9 LOG 10 10 RESET 11 18 11 18 Reserved 19 19 AGCMODE 20 20 Reserved 21 21 PULSEBLANKING 22 22 UNLOG 23 24 23 24 Reserved 25 25 UNLOGALL 26 42 26 42 Reserved 43 43 STHRESHOLD 44 44 Reserved 45 45 SDLLBW 46 46 SPLLBW Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 83 Chapter 6 6 3 8 RXSECSTATUS Receiver Section Status This log is used to output the version and status information for each receiver card in the receiver section Log Type Synchronous Data Logs Message ID 638 Binary Binary Description Format Bytes Offset 1 header He PKR RER WA header in ASCII or Binary format H 0 2 comp Number of c
54. UT TNC female RF Input Frequencies MHz L1 1575 42 L5 E5a 1176 45 E5b 1207 14 Power Connector Power to the LNA is supplied by the user DATA PORTS DE9P or USB Data Transfer Rate Standard Connector User selectable rate including 9600 default 19200 38400 57600 115200 and 230400 bps RS 232C TIME PORT DE9P Data Transfer Rate User selectable rate including 9600 default 19200 38400 57600 115200 and 230400 bps Standard See Table 55 on Page 113 for specifications on the external frequency reference RS 232C 10 MHZ INPUT Connector BNC female Capture Range 10 MHz 1Hz Sensitivity Connector 0 dBm to 17 dBm into 50 2 1 PPS OUTPUT BNC female Signal Description A one pulse per second time synchronization output This is a normally high active low pulse 1 ms where the falling edge is the reference Output Level Voltage high Voltage low Nominal Load Impedance 10 MHz OCXO Output gt 24V DC lt 0 55 V DC 509 OCKO OUTPUT 1 dBm 3 dB a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware is re quired for higher rates such as 230 400 bps Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Technical Specifications Appendix A Table 55 Recommended External Frequency Reference Specifications EXTERNAL FREQUENCY
55. Ya AAA a aad e aA aaa 102 COM Port Setpa aa e saaat id A eae dae aaa NA a AWA BIA ABA aa aaaea 102 Authorization Code Dialog ooooocooncccccnoniccccccnnnonanccnnnnonnn cnn iin etiri AAi EEU aA aa 103 Update Process Complete cccccccececeeeeeeeeeceeaeeeeeeeeeee secede nn nennenntontrnnnnn nn nnnnnnnnenntenernnnnnnnnn 103 GTR Dimensions ai wA liner A a ais dad 111 Power Cel vomita ds ea ne A ta 116 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 6 Tables OMNSNAAURVN Receiver Status Display nescire iieiaei deal kane d kke dd dk eee 25 Response Messages au nakken med aan 31 Log Triggers for Each Log Type mia ia kainama ki i watasikia siwa 34 ASCII Message Header Structure w w wwnaaamwananawunannanumananawumanaanzamaaanzamanzanimananazumananzawawaa 36 Binary Message Header Structure mmmmrnrnnnrrevnnrrnnrrrvnrennnrrnnrrennrrnenrennnrnrensennnrneserennrnnessennnrreserennne 38 Field Types at IA ere 39 Byte Arrangements iii Kia Aa sia cddveet rbk dikene sak dad ide bk d dn 40 Serial Port Identifier Values iniae iea aera a a eniT ar aa eraa a eei T arri ee 41 Message Type Byte Format ccccccccccceececccceeeeenecedeeeseecedeeeensnacdeceeetececeeeteceacedeeeeeeaacedeneeesadeneeeas 41 GPS TIME Status mt iia 42 Commands By FUNCTION aa aa ai SUA AA E ai kiasi askari 44 Command Summary ri alv 45 Frequency Values for AGCMODE Command srrnnnnnennrrrnnnnrnsrrrnnnrensrrrnnnsensrrrenns
56. a range from 2000 Hz to 2000 Hz until the satellite signal has been detected SV channel 11 is set to acquire satellite PRN 28 at an offset of 250 Hz only in the third example Table 15 Channel State Values ASCII Description IDLE Set the SV channel to not track any satellites ACTIVE Set the SV channel active AUTO Tell the receiver to automatically assign PRN codes to channels Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 49 Chapter 5 Commands 5 3 3 COM Serial Port Configuration Control This command permits you to configure the receiver s asynchronous serial port communications drivers See Section 4 1 1 1 on Page 30 for a description of the factory defaults Syntax Message ID 4 COM PORT BPS PARITY DATABITS STOPBITS HANDSHAKE ECHO BREAK 111 I Binary Offset Valid Values Description Format This field contains the Abbreviated ASCII command name See Section 4 1 l headet on Page 30 Serial port to apply the settings to 2 port See Table 8 on Page 41 If no value is supplied the Enum 4 H settings are applied to COM1 9600 19200 38400 3 bps 57600 115200 or Communication baud rate bps ULong 4 H 4 230400 4 parity See Table 16 on Page 51 eg specified no parity Enum 4 H 8 5 databits Tor8 Number of data bits ULong 4 H 12 6
57. aa NTG EEE 3 4 1 Starting the Ki anre nan NE aiar A EE REA 3 4 2 Communicating with the Receiver rrrnnarvvvvvrnnnvvvvvrrrnnnvrvvrrrnnnrrnnrrnenrrrnnnnne 4 Using Commands and Logs 4T Entering Commands e iiaa a dekt bat E A E kes ad hete 4 1 1 Command Settings on Power Up arnnrrnnnnannnrrnnnnennrrrennrennrrrensennnrrrenerennnne 4 1 2 Determining the Current Command Settings rrrrrrrnnnrnnnnrrnnnnonnnrrnnnnennnnnn 4 1 3 Response Format ii ik iadi aaea ihe adakwa 4 1 4 Response Messages rrmnsvannnnnnnnvonnnvnnnvnennnvtnnenennntnnnenannvnnnneennnntneeennnntnnee 4 2 Logging Dala Aa A rea a BARAONA e ea 42 2 LOG DIAS ii A ta ei 4 2 3 Specifying Log Formats rsson eriadan TATE aR EPEA a RET 4 3 Log FOMA iii dain a hen eee ASAS Oli a ar ar i de Sa AIT 4 3 2 BINAY AAA SOMA WA de feer ar epee iae i teed Bak ede Se Peed Se ec YA AA FEIS vunnet tios 44 1 Field Types rnici atone ended ate ee eee Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Table of Contents 4 4 2 Commonly Used FIeldS wwwanzanuwananawamaananzanaanaumanananimaazanzwananazimaananimaananiamwanazaana 41 5 Commands 44 5 1 Functional Listing of CommMmandS eeart ar ar orar terete ee eee ee eee nn nnn eee nn n nn REAA TAT 44 5 2 Commend SUMMA aenaran anana aAA RRE E EEEa a AATA EAr TEARRE 45 9 3 Command Reference asiatica 46 5 3 1 AGCMODE Control Automatic Gain Control rsrrnnnnnnnnrrrvnnnnvnrrrnnnnnnrrrrnnnernrrrr
58. able of tracking the L1 L2 RF signals Multiple hardware channels are used to implement SQM 1 3 2 6 Euro 3M Card The Euro 3M card is the single receiver card in the GPS section This card is capable of tracking L1 C A L2 and L1 L2 C A GEO code GPS signals Up to 18 satellites can be tracked simultaneously and up to four of those can be GEOs This card can only be accessed through the GPS section 1 3 2 7 L1 E5a FPGA The L1 E5a card contains a field programmable gate array FPGA made by Altera Incorporated for its DSP functionality The FPGA has the capacity to support 16 L1 L5 E5a signals 1 3 2 8 E5a E5b FPGA The E5a E5b card contains one FPGA made by Altera Incorporated The FPGA has the capacity to support 16 E5a E5b signals 1 3 2 9 L1 E6 FPGA The L1 E6 card contains one FPGA made by Altera Incorporated The FPGA has the capacity to support 16 L1 E6 signals Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 19 Chapter 2 Installation This chapter provides sufficient information to allow you to set up and prepare the GTR for initial operation 2 1 Typical Installation In order for the GTR to function as a complete system the following equipment is required e NovAtel Galileo Test Receiver which fits a standard 19 EIA rack e NovAtel Galileo Test Signal Generator e User supplied and powered GPS L1 L2 antenna GPS Galileo antenna and low noise amplifier LNA User supplied external frequ
59. ain control 46 blanking threshold 47 elevation cut off angle 52 signal acquisition 61 specifications environmental 111 external frequency reference 113 performance 109 physical 111 ports 112 SPLLBW command 59 60 start up command settings 30 time 42 status channel tracking 76 93 Galileo Test Receiver GTR User Manual Rev 5 Index commands 44 receiver 33 36 64 STHRESHOLD command 61 stop bits 50 storage temperature 111 supply voltage 23 synchronous logs 33 SYSTEMLEVELS log 90 T temperature 111 threshold 61 time anomaly 69 CPU 33 55 fine 42 GPS 71 92 improve acquisition 53 logs 64 precision 42 status 36 42 TIME log 92 TIME port 23 92 tracking assignment 48 channel 76 93 commands 44 continuous 76 93 cut off angle 52 logs 64 loops 76 status 93 TRACKSTAT log 93 triggers 33 55 types fields 39 logs 33 U unlog all logs 63 hold 63 one log 62 UNLOG command 62 UNLOGALL command 63 V velocity 75 VERSION log 96 97 versions 97 visibility satellite 88 voltage 23 112 116 Limited Rights Notice 123 Index W warnings 9 20 warranty 11 weighting pseudorange filter 93 WGS84 53 word receiver status 108 Y year 98 124 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Index Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 125 NovAtel Recyclable lo Printed i
60. ands and logs for the GTR use a variety of field types to convey data The following sections provide information on the types of fields used and some of the more commonly used fields 4 4 1 Field Types The following table describes the field types used in the commands and logs Table 6 Field Types Binary Size Description Bytes An 8 bit signed integer in the range 128 to 127 This integer value may be the Char 1 ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character An 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Chat l Abbreviated ASCII this comes out as a number Short 2 A 16 bit signed integer in the range 32768 to 32767 UShort 2 A 16 bit unsigned integer in the range 0 to 65535 Long 4 A 32 bit signed integer in the range 2147483648 to 2147483647 ULong 4 A 32 bit unsigned integer in the range 0 to 4294967295 Double 8 64 bits with 1 for the sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Float 4 32 bits with 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 This is IEEE 754 A 4 byte enumerated type beginning at zero an unsigned long In Binary the Enum 4 enumerated value is output In ASCH or Abbreviated ASCII the enumeration label i
61. ard software clocks and fans The first column of the status display shows the identification of the receiver cards that are in use with receiver card identification is as follows IOM I O Master card Sl LI1IE5a I card e S2 L1E5a II card 83 E5aE5b card e S4 L1E6 card Only populated cards are displayed in Table 1 on Page 25 24 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Installation Chapter 2 Table 1 Receiver Status Display SYSTEM STAT VERSION IOM OK 7 40181 SI OK 5 400 S2 OK 5 400 S3 OK 6 40181 S4 OK 10 401S1 S5 S6 S7 S8 S9 CLK OK FANS OK The first column of the status display screen has a row for each of the following 1 I O Master card IOM 2 System Clock CLK 3 Fans FANS The second column of the status display screen provides a single OK BAD flag for each of the receiver cards in each section that is in use and each of the above IOM CLK and FANS The OK BAD flag for each receiver card in each section that is in use is extracted from the receiver status word and the receiver error line If one or more errors exists for a receiver card the third column of the status display screen toggles at 0 5 Hz between the software version on the receiver card and the receiver error on the receiver card until the receiver is reset or the errors are corrected If no errors exist for a receiver card the third column of
62. ard receiver there will only be one component in the log Log Type Polled Chapter 6 Message ID 37 Binary Binary Description Bytes Offset 1 head This field contains the message header in ASCII or Binary format See H 0 SAGEK Section 4 3 on Page 34 2 comp Number of components cards etc Long 4 H 3 type Component type See Table 36 on Page 85 Enum 4 H 4 4 model Model Char 16 16 H 8 5 psn Product serial number Char 16 16 H 24 6 hw Hardware version See Table 45 on Page 98 Char 16 16 H 40 version sw A Char 16 ya 7 Firmware software version SeeTable 45 on Page 98 16 H 56 version boot p p 8 version Boot code version See Table 45 on Page 98 Char 16 16 H 72 9 vn Firmware compile date See Table 45 on Page 98 Char 12 12 H 88 10 ke Firmware compile time See Table 45 on Page 98 Char 12 12 H 100 Lg Next component offset H 4 previous comp x 108 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 comp x 108 Recommended Input LOG VI Example Output V IOMASTI 7 1 E5A L1 ERSIONA ONCI Gl 5 1 ESA GAI 6 000db 2009 Feb 11 14 58 19 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice ESAB 1 02 2XX 6 400A5 ERSIONA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 12 ER DAG06500004 IOM
63. ational Fax 1 403 295 4999 E mail support novatel com Web site www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 885 GTR Firmware Updates Firmware updates are firmware revisions to an existing model which improves basic functionality of the GTR receiver The process for obtaining firmware updates is discussed in Chapter 7 Firmware Updates starting on Page 99 If you need further information please contact NovAtel using one of the methods given above Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 10 Warranty Policy Unless there are other contractual agreements in place in which case those contractual agreements will take precedence the following warranty applies 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 Galileo Test Receiver GTR One 1 Year from date of sale Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose Warranty Period Subject to extende
64. aximum a In accordance with export licensing 110 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Technical Specifications Table 52 Physical Specifications Appendix A Size 448 8 x 361 x 177 8 mm without the 19 mounting brackets Weight 11kg 24 25 Ibs MECHANICAL DRAWINGS Figure 21 GTR Dimensions 449 a a a z 375 483 Y O O NA O O ea a ea Ea EG Table 53 Environmental Specifications ENVIRONMENTAL Operating Temperature 25 C to 40 C Storage Temperature Humidity 40 C to 85 C 10 80 Altitude 3 000 metres a May operate above 3 000 m in a controlled environment however is not certified as such Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 111 Appendix A Technical Specifications Table 54 Port Specifications POWER INPUT 3 pin input power connector Connector Connector 3 pin power cord provided for North American standard A C Voltage 100 to 240 V AC Frequency 50 to 60 Hz Current 0 8 A 110 V AC or 0 4 A 220 V AC Fuse Rating 3 A 250 V fast blow there are 2 of these ANTENNA INP
65. azimaaaazimaaazaza 69 6 3 3 CLOCKMODEL Current Clock Model StatusS oooooocccnnnnnnccnnnnnccccccconononcccnnnnnorccnna naar nn cnn 71 6 3 4 PSRPOS Pseudorange POS WA KE BE aa 74 6 3 5 RANGE Satellite Range Information lt lt lt lt wwwwwamamwananamznnananmwnananimananaazznananzwanaazua 76 6 3 6 RAWFRAME Raw Subframes oocccocoiccoccccconoconccononononcconnn aan c cn nn nano nc cnn nn nn rn cnn aran rr r rra 81 6 3 7 RXCOMMANDS Receiver Configurati0N oo noccccnnnnniccnnnnnnocccnnnnnoncccnnnnnnrcccnn naar nc 82 6 3 8 RXSECSTATUS Receiver Section StatUS oonnocccninninicinnnnoccccnonnnncccnnnnrrn cnn nn nnrrn cnn nnn nn 84 6 3 9 SATVIS Satellite Hua 88 6 3 10 SYSTEMLEVELS System Hardware Levels rrsrrnnnnnnnnvrvnnnnnnvrnnnnnrnrrrnnnnnnsrrnnnnrrsrrrnnneenn 90 6311 TIME Time Data li 92 6 3 12 TRACKSTAT Tracking WAKIKE AEEA KADRA rc KEKI 93 6 3 13 VERSION Version Information Aa 97 7 Firmware Updates 99 7 1 Contacting the NovAtel Aerospace 8 Defense Department ooooocccccccnninnoononcncncnnnnnccnnnnnnnnnnnnnnnnnos 99 7 2 Updating Firmware Using a Windows Host Computer ooococoncocccoconococccccnnnnnnncnananano nc ccnnnnnnnnc cnn 100 7 2 1 Downloading the SI SAI AAA WA AA det 100 7 2 2 Neema 100 2 3 Running the KI AAA A AAA IAA 100 12 4 Open a Fileto Downoad ai ii ia 101 7 2 5 Communications Sating S iiras iie T TA A 102 7 2 6 Downloading Ariwa IK EA 102 7 3 Updating Firmware Using a Linux Host Computer r
66. between the two channels is made to check alignment and the cross correlation channel shifts its code phase repeatedly to measure the power If at any point it determines that the cross correlation power is within a certain level of the initial power the channel under test is tracking one of the minor cross correlation peaks The tracking channel then re acquires the satellite to remove the cross correlation error 1 2 2 Bit Synchronization Bit synchronization identifies the location of navigation bit edges with respect to the 1 ms C A code epochs Bit edge detection is based on observing the sign transition between successive I ms accumulations that are aligned with the received C A code epochs The bit synchronization is verified by an additional hardware channel and software steering This additional hardware channel is configured to generate a stream of 1 ms accumulations until sufficient data has been collected to perform the test The tracking channel is forced to re acquire if the results of the second test do not confirm the bit alignment selected by the tracking channel 1 23 Digital Pulse Blanking Digital pulse blanking involves removing or attenuating pulses in the RF signal that exceed a specified level The GTR provides digital pulse blanking for the L1 E5a L5 E5b and E6 signal paths Digital pulse blanking reduces the negative effects of pulsed interference Use the PULSEBLANKING command to enable disable L1 E5a L5 ESb and E6 puls
67. ble Commercial Service CS A Safety of Life Service SOL A government encrypted Public Regulated Service PRS A Search and Rescue Service SAR iy Br E 1 1 1 Open Service This single frequency service will involve the provision of a positioning navigation and precise timing service It will be available for use by any person in possession of a Galileo receiver No authorisation will be required to access this service Galileo is expected to be similar to GPS in this respect The principal applications will be general navigation and positioning network timing traffic information systems systems including information on alternative routes in the event of congestion and wireless location for example with mobile telephones Studies clearly show that the availability of these services will be significantly enhanced by the existence ofa greater number of satellites as is the case when both GPS and Galileo are in operation This is particularly important for land based services such as private car navigation where service is mostly required in downtown cores and where satellite shadowing is minimised by the combination of the systems The Open Service will be transmitted in the E5a frequency band at 1176 45 MHz 1 1 2 Commercial Service 14 Service providers using the multi frequency commercial services will have the opportunity to give added value to their range of products for which they can charge the end customer and will in tur
68. ccordance with applicable specifications or authorized by Seller iii normal wear and tear iv damages caused by force or nature or act of any third person v service or repair of NovAtel Products by Buyer without prior written consent from Seller vi units with serial numbers or other factory identification removed or made illegible vii shipping damage not applicable to improper packaging There are no user serviceable parts in the Galileo Test Receiver GTR and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase 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 the defective product in the original packaging to avoid ESD and shipping damage 11 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Foreword Scope The Galileo Test Receiver GTR User Manual is written for users of the GTR receiver It is organized into chapters that allow easy access to appropriate information about the receiver The manual contains sufficient information on the installation and operation of the GTR to allow you to effectively integrate and
69. ce 30 Using Commands and Logs Chapter 4 command can be entered with one set of parameters to enable logging of the PSRPOS log It can then be entered again with a second set of parameters to configure the GTR to capture the RANGE log When the LOG command is entered the second time the new parameter set does not overwrite the first it exists in addition to the first set 4 1 3 Response Formats The format of the response is dependent on the format of the input command If the command is input as Abbreviated ASCII the output will be Abbreviated ASCII The Abbreviated ASCII response consists of a leading lt followed by the response string like the example below lt OK DX There is no response to a RESET command 4 1 4 Response Messages The receiver is capable of outputting several responses for various conditions Most of these responses are error messages to indicate when something is not correct Zable 2 outlines the various response strings and message IDs Table 2 Response Messages String ID Meaning OK I Command was received correctly NOT ENOUGH RESOURCES IN SYSTEM 3 fravimam number of logs are being generated DATA PACKET DOESN T VERIFY 4 Data packet is not verified COMMAND FAILED ON RECEIVER 5 ad succeed in accomplishing INVALID MESSAGE ID 6 The input message ID is not valid INVALID MESSAGE FIELD X 7 Field x of the input message is not correct MESSAGE
70. ch RANGE Satellite range information Synch RAWFRAME Raw subframes Asynch SATVIS Satellite azimuth and elevation angle data Synch TRACKSTAT Channel tracking information Synch Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 6 2 Log Summary The available logs are listed alphabetically in Table 26 Table 26 Log Summary Log Name Message ID Description AGCSTATS 630 Automatic gain control status ALMANAC 73 Current decoded almanac data CLOCKMODEL 16 Current clock model matrices PSRPOS 47 Position data RANGE 43 Satellite range information RAWFRAME 804 Raw subframes RXCOMMANDS 579 Receiver configuration information RXSECSTATUS 638 Receiver section status SATVIS 48 Satellite azimuth and elevation angle data SYSTEMLEVELS 653 System hardware levels TIME 101 Receiver time information TRACKSTAT 83 Channel tracking information VERSION 37 Receiver hardware and software version numbers 6 3 Log Reference For each log the recommended input command for generating the log is provided The recommended command is shown in ASCI format unless otherwise specified An example of the log output in ASCH format is provided for each recommended input DI All logs are followed by a carriage return and line feed However in some of the examples carriage returns have been inserted in the middle of the log to clearly indicate different data sets Galileo Test
71. command In either case satellites below the ECUTOFF angle will be eliminated from the internal position and clock offset solution computations If the receiver has not yet received an almanac and computed position satellites below the cut off angle may be tracked This command permits a negative cut off angle which could be used in these situations the antenna is at a high altitude and thus can look below the local horizon satellites are visible below the horizon due to atmospheric refraction DI 1 This command only affects GPS satellites used in the GPS receiver section Galileo and GEO satellites maintain their lock 2 Care must be taken when using ECUTOFF because the signals from lower elevation satellites are travelling through more atmosphere and are therefore degraded Syntax Message ID 50 ECUTOFF Binary Binary Valid Values Description Format Bytes Offset 1 da This field contains the Abbreviated ASCII command name See H 0 Section 4 1 on Page 30 Elevation cut off angle 2 angle 90 0 to 90 0 relative to horizon in Float 4 H degrees Example ECUTOFF 10 0 52 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands 5 3 5 FIX Constrain to Fixed Position Chapter 5 This command fixes position parameters for the GTR For various applications fixing this value can assist in improving acquisition times and accuracy of position or correction
72. configuration An antenna input for Galileo L1 E5a E5b and E6 signals and GPS L1 and LS signals Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 17 Chapter 1 Introduction GPS A bi directional serial DATA port and or a DATA USB port used to configure the receiver section receive commands and send measurements and status data XI The GPS DATA USB port is disabled for the current configuration A Time port for sending GPS time and receiver time offset DI The Time port is disabled in the current configuration A 1 PPS output for synchronization with receiver time A 1 PPS input port lt This port is disabled in the current configuration An antenna input for GPS L1 L2 e AC Power A single power input Section 2 1 on Page 20 provides information on connecting to the ports while Table 54 in Appendix gives specifications on the connectors and signals provided at these ports Figure 3 Ports 1 3 2 Receiver Sections 18 The Safety of Life SOL GTR consists of two receiver sections These two sections are the IO and GPS sections see section Section 1 3 on Page 16 The IO section has the capacity to hold an I O Master card and nine receiver cards which are each based on NovAtel s Euro card The SOL GTR has four receiver sections populated in this section These cards are configured in a master slave relationship When commands are sent to the receiver secti
73. cted powered up and stabilized The antenna is properly installed powered and connected The PC is properly connected using a serial cable and its communications protocol has been configured to match that of the GTR Supply power to the GTR only after all of the above checks have been made Note that the warm up process may take several minutes depending on ambient temperature As discussed in Section 2 2 on Page 24 the LCD status display will show three columns to indicate that the GTR has locked on to the external frequency reference and is ready for operation Boot up The GTR s firmware resides in non volatile memory After supplying power to the unit wait a few moments for self boot and the GTR will be ready for command input There are two initial start up indicators to let you know that the GTR s main serial port is ready to communicate e The LCD status display on the GTR s front panel displays a NovAtel logo until the receiver cards have successfully completed boot up and then displays a three column status indication to show that all internal systems are healthy If the LCD does not display this then the system should be considered unreliable If this situation occurs contact NovAtel Customer Service for assistance e Your PC will display the following prompt indicating you are connected through the COM port COM1 The receiver has 4 modes of operation including power up mode e Power Up e Operational Faul
74. d Any positive double value ONTIME trigger in Double 8 H 12 seconds offset Any positive double value smaller than Offset for ONTIME E the value specified in the period field trigger in seconds Double 8 B20 Flag for whether or not the log is removed 9 hold See Table 22 on Page 56 by the UNLOGALL Enum 4 H 28 command Valid for ONTIME trigger only Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 55 Chapter 5 Examples LOG COM1 PSRPOSA ONTIMI LOG COM1 TRACKSTATA ONCI T E 7 2 5 HOLD FI Commands The first example configures the GTR to output the PSRPOS log in ASCII format to COM at 7 second intervals offset by 2 5 seconds output at 2 5 seconds then 9 5 seconds and so on The second example outputs the TRACKSTAT log only once on COMI 56 Table 21 Log Trigger Values ASCII Binary Description ONNEW 0 Output when the message is updated not necessarily changed ONCHANGED 1 Output when the message is changed ONTIME 2 Output on a time interval ONCE 4 Output only the current message Table 22 Log Hold Values ASCII Binary Description Allow log to be removed by the NOHOLD 0 UNLOGALL command HOLD 1 Prevent log from being removed by the UNLOGALL command Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Chapter 5 5 3 7 PULSEBLANKING Enable Disable Digital Pulse Blanking for L1 E5a L5 and E5b lt The PULSE
75. d as well For example to log data at 1 second after every minute you would set the period to 60 and the offset to 1 lt Maximum flexibility for logging data is provided to you by these logs You are 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 Receiver overload can be monitored using the Buffer Over run bits of the Receiver Status word in any log header Syntax Message ID 1 LOG PORT M ESSAGE TRIGG E R PERIOD OFFSET HOLD Valid Values Description Format ASCII Binary This field contains the Abbreviated ASCII command name See Section 4 1 on 1 header P H 0 age 30 Serial port at which to 2 port See Table 8 on Page 41 output the log data Enum 4 H Any valid message name listed in Table 25 on Page 64 witha suffix Any valid message to specify the output message ID Log to output Dee 2 His format as explained in Section 4 2 3 on Page 34 message This field is only present in Binary format ut 4 type See Table 9 on Page 41 Message type of log Char 1 H 6 5 Reserved field required for Binary format only Set to 0 when entering the Char 1 H 7 command in Binary 6 trigger See Table 21 on Page 36 E or condition Enum 4 H 8 o generate log on Log period for 7 perio
76. d warranty provisions Seller s standard warranty is one 1 year from the date of delivery for production hardware and three 3 months from the date of delivery for engineering units and internal retained models Seller warrants that during the Warranty Period NovAtel products will be free from defects in material and workmanship conform to applicable specifications and the software will be free from error which materially affect performance THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESSED OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICAULAR PURPOSE SELLER SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Buyer s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at Seller s option of defective or non conforming materials parts or components The foregoing warranties do not extend to i nonconformities defects or errors in NovAtel products due to accident abuse misuse or negligent use of NovAtel Products or use in other than a normal and customary manner environmental conditions not conforming to applicable specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the NovAtel Products due to modifications alterations additions or changes not made in a
77. ds are discussed in this section 4 4 2 1 Serial Port Identifiers The values used to indicate serial ports are given below Table 8 Serial Port Identifier Values ASCII Binary Description COM 1 32 Represents the Data port USBI 224 Represents the USB port a The only commands this value is valid for are COM LOG UNLOG and UN LOGALL as this port is an output only 4 4 2 2 Message Type Indicator The Message Type Indicator is a byte given in numerous binary format messages and all binary headers It follows the format in Table 9 below Table 9 Message Type Byte Format Bit Description 0 4 Reserved Message format where 00 Binary 5 6 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Response indicator where 0 original message 7 1 response message See Section 4 2 on Page 33 for more information on logging data 4 4 2 3 Message Time Stamps All NovAtel format messages generated by the receiver have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 5 1980 The time stamp consists of the number of weeks since that zero point adjusted for rollover 0 to 1023 and the number of seconds since the last week number change 0 to 604 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can ex
78. e ASSIGN 27 Assign individual satellite channel to a PRN ee H SE Doppler window com port bps parity COM 4 Serial port configuration control databits stopbits handshake echo break ECUTOFF 50 Set satellite elevation cutoffs ecutoff angle FIX 44 Constrain to fixed position fix tybe parami param param3 log port message trigger LOG 1 Request logs from receiver A E Enable disable digital pulse blanking for pulseblanking frequency PULSEBLANKING 319 L1 ESa LS and E5b signals en RESET 18 Perform a hardware reset reset delay SDLLBW 800 Configure receiver s DLL filter bandwidth sdllbw sigchan bw SPLLBW 801 Configure receiver s phase lock loop bw spllbw sigchan bw STHRESHOLD 803 Control signal thresholds for acquisition sthreshold sigchan acqui lock tracking and cross correlation crosscorr UNLOG 36 Remove log from logging control unlog port datatype UNLOGALL 38 Remove all logs from logging control unlogall port Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 45 Chapter 5 Commands 5 3 Command Reference All syntax strings and command examples given in this section are in the Abbreviated ASCII format unless otherwise indicated The tables provided show the fields necessary for all formats unless otherwise noted Dx As mentioned in Section 4 1 on Page 30 all command strings must be followed by lt Enter gt 5 3 1 AGCMODE Contro
79. e the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation Fatal errors are displayed as in Table 50 107 Chapter 8 Built In Status Test 8 1 Receiver Status Word The Receiver Status word is a 32 bit field that indicates the current status of the receiver This word is found in the header of all logs See Table 40 Receiver Status on Page 87 for the contents of this word 8 2 LCD Status Display When there is a non fatal error the display toggles between the error and the software version see Table 47 on Page 106 If the error is fatal the backlight flashes at 0 5 Hz see Table 49 on Page 107 See also Section 2 2 3 1 Receiver Error Display starting on Page 26 108 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice PV MGM Technical Specifications Table 51 Performance Specifications PERFORMANCE All values subject to GPS system characteristics Frequency GPS Galileo L1 1575 42 MHz L5 1176 45 MHz L1 1575 42 MHz E5a 1176 45 MHz E5b 1207 14 MHz E6 1278 75 MHz Codes Tracked GPS L1 C A Code Galileo L1 Code Galileo E5a Code Galileo E5b Code Galileo E6 Code GPS SVN PRN 0 37 GEO SVN PRN 120 138 Galileo SVN PRN 1 48 Pseudorange Measurement Accuracy L1 C A Narrow L1 C A Wide L5 BOC L1 E5a E5b E6 GIOVE A GIOVE B Satellite Tracking Channels 60 Position Accuracy stand alone 1 5
80. e 11 on Page 24 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 23 Chapter 2 Installation 1 PPS Figure 11 1 PPS Port 2 1 5 3 Accessing the 1PPS Input Use this port to supply a 1 pulse per second input to the receiver lt 1PPS input is currently disabled and is replaced by the internal OCXO output signal 2 2 Status Display Figure 12 Front Panel with LCD Status Display The receiver includes a display on the front panel indicating overall receiver status You can increase or decrease the contrast by using the CONTRAST buttons shown in Figure 12 above 2 2 1 Start up At start up of the I O Master card the status display screen displays a NovAtel logo until the receiver cards have successfully completed boot up If a fatal error exists with any card the status display screen backlight flashes at a rate of 0 5 Hz once every 2 seconds If a non fatal error exists the status display screen displays the error for each receiver card in each receiver section 2 22 Reset Upon issuing the RESET command the status display screen displays the NovAtel logo until the reset is complete One RESET command resets both receiver sections 2 2 3 Operational The status display screen for the receiver contains three distinct columns Each column contains a total of seven distinct rows one row for the header one row for each receiver card L1E5a I L1E5a II L1E6 and E5aE5b and three rows for the I O Master c
81. e blanking or to control its sensitivity see Page 57 1 3 Functional Overview The NovAtel GTR unit consists of the following e Standard enclosure for a 19 rack with built in forced air cooling e Liquid crystal display LCD to indicate overall receiver status Input output ports for power antenna frequency reference and general communications e Two receiver sections The IO Master section has five receiver cards in a master slave configuration with the I O Master card The I O Master card is external to the IO Master section The four slave cards are two L1 E5a cards capable of tracking L1 L5 and E5a signals one E5a E5b card capable of tracking ESa and E5b signals and one L1 E6 card capable of tracking L1 and E6 signals The GPS section has one single receiver card It is a Euro 3M capable of tracking the L1 and L2 signals e Auxiliary cards to provide power clock and overall status information throughout the unit These sections are discussed in further detail in the sections that follow Figure 2 on Page 17 shows the components of the GTR 16 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Introduction Chapter 1 GPS Galileo N GPS Antenna LNA RF Filter N Antenna LNA RF Filter Bias DC Power ite aide ere External 3 OP jti T for LNA 120 240 VAC Reserved For Future Expansion Reserved For Future Expansi
82. e range bias rate Double 8 H 120 Indicates whether or not there is a change in the s 20 change constellation See Table 29 on Page 73 eae Hi 128 21 32 bit CRC ASCII and Binary only Hex 4 H 132 72 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Recommended Input LOG CLOCKMOD Example Output HC VA 3 4 4 1 LOCKMODELA COM1 0 55 0 FINI ELA ONTIMI ES LID 0 497224 500 497224 500 6 59596736 40165918E 00 4 63006778E 02 50054493E 02 1 19966616E 00 50054493E 02 7 902561491 03659974E 01 FALSE f33b4465 E 1048 497224 500 00000128 8791 E 01 9 29232987E 02 1 19966616E 00 2 15673338E 01 7 90256149 E 01 4 760571221 E 02 2 902 Table 28 Clock Model Status Values ASCII Binary Description VALID 0 The clock model is valid CONVERGING 1 The clock model is near validity ITERATING 2 The clock model is iterating towards validity INVALID 3 The clock model is not valid ERROR 4 Clock model error ASCII Table 29 Constellation Change Flag Values Binary Description There has not been a change in the constellation TRUE The constellation has changed Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 6 E 0 E O1 73 Chapter 6 6 3 4 Log Type Synchronous PSRPOS Pseudorange Position This log con
83. eld Programmable Gate Array L5EURO 7 Reserved CPLD 8 Complex Programmable Logic Device LIESA 9 L1 E5a Card IOMASTER 10 1 0 Master Card ESAB 11 E5a E5b Card L1E6 12 L1 E6 Card Table 37 Receiver Section ASCII Binary Description GPS 0 GPS Section Master Card Euro 3M Sl 1 I O Section Slave 1 Card L1 E5a S2 2 I O Section Slave 2 Card L1 E5a S3 3 I O Section Slave 3 Card E5a E5b S4 4 1 0 Section Slave 4 Card L1 E6 IOM 12 I O Master Card UNKNOWN 13 Unknown Receiver Section Limited Rights Notice Chapter 6 85 Chapter 6 Data Logs Table 38 Receiver Error Nibble Bit Mask Description NO 0 0x00000001 Dynamic Random Access Memory DRAM status OK Error 1 0x00000002 Reserved OK Error 2 0x00000004 OK Error 3 0x00000008 OK Error NI 4 0x00000010 Electronic Serial Number ESN access status OK Error 5 0x00000020 Authorization code status OK Error 6 0x00000040 Sensor ADC status OK Error J 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Reserved OK Error 9 0x00000200 Temperature status as compared against acceptable limits OK Error 10 0x00000400 MINOS4 status FPGA OK Error 11 0x00000800 PLL RFI hardware status OK Error N3 12 0x00001000 PLL RF2 hardware status OK Error 13 0x00002000 Reserved OK Error 14 0x00004000 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Stack usage status OK Error 17 0x000
84. elds convention 12 types 39 filter pseudorange 93 fine precision time 42 firmware compile date 97 compile time 97 updates 10 99 103 104 version 97 FIX command 53 fix position 53 flag parity 76 formats 34 ASCII 35 Binary 37 functional overview 16 fuse 23 G Galileo 13 14 46 76 88 GEO 19 GPS time 36 H handshaking 50 hardware reset 58 version 97 header ASCII 36 Binary 37 document convention 12 health satellites 69 88 96 height fix 53 limit 75 of position 74 hexadecimal convention 12 hold logs 55 I identifier ASCII 35 impedance 112 inclination angle 69 input commands 29 installation equipment 20 L latitude Limited Rights Notice 121 Index fix 53 of position 74 Linux 103 LOADER utility 100 local horizon 52 lock 93 lock signal 61 LOG command 55 logs cancelling 62 63 configuring 55 formats 34 functional list 64 hold 55 summary 65 triggers 33 55 types 33 longitude fix 53 of position 74 LSB 40 M memory buffer space 33 55 message almanac 69 formats 34 MINOS4 19 model clock 71 72 model version 97 month 98 motion mean 69 MSB 40 multipath 76 N noise time of 72 noise thermal 76 notices regulatory 9 O offset clock 71 92 Doppler 48 49 ONCE trigger 33 ONCHANGED trigger 33 one pulse per second 1 PPS time 92 ONNEW trigger 33 ONTIME trigger 33 operating temp
85. ency reference 10 MHz User supplied data communications equipment capable of standard RS 232 serial communications such as a PC e User supplied data and RF cables The typical configuration of this equipment is shown in Figure 4 Fi Nr y GPS N Galileo NUAZ N GPS N NI of Y e SN Galileo Test A VV V Signal Generator 55 IE Go m 000 000 ooo 000 000 ooo 000 000 ooo Oscillator 10 MHz gt Galileo Test Receiver 9 Power Supply 120 VAC Data Communications Equipment Figure 4 Typical Configuration A WARNING You must have a ground connection from the ground lug at the back of the unit to a reliable ground source The connection is required for safety and must be connected prior to operating the unit Failure to do so may result in unsafe operation of the equipment Please disconnect any antennas from the antenna ports on the GTR which have TNC female connectors as shown in Figure 9 on Page 23 prior to servicing Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 20 Installation Chapter 2 To create the typical configuration complete the steps below which are described in more detail in the sections that follow Connect the external frequency reference to the GTR Connect the data communications equipment to the GTR Connect the Galileo
86. ensrrrennsersrrrennsenennn 46 AGG Mode Valles A Aa A en 46 Channel State Values coincida di a E Ra kwa 49 Pany Valles vad sarte 51 Handshaking Values sundt a dd dd e dit 51 Echo Valles ecc A A dunke 51 Break GEER EE NE aa 51 Fix Type Valli e ee oe e e ed ae 53 Log Trigger Values Ia e E E A kibamia ww bl A 56 Log Hold Values cia ra binder teke adr 56 Frequency SWIteh li aida 57 Pulse Bl niking SWIG arar pda dei 57 Logs By Function ai astra dada aa era akikaa area td dee 64 LOS SUMMA Yi dattera auke Guia 65 AGC Status Word waa da aaa an 67 Clock Model Status Values rrmnnannnnvrnnnnnnnrrrnnnnennrrrnnnennrrrnnnnernrrrnnneernsrrnnnsersrrnnnesessrnnnnesersrnnnneeenn 73 Constellation Change Flag Values oooocccconnnnccccnnnncoccccconnoncccnnnn ono c cn nana orcas 73 Solution Status Vales ica tad 75 Position Type Values ccoo ti dd ee 75 Channel Tracking Status osi nineden kakaa ani aa reiret an kk 79 Tracking State Bit Values ui ai kadai ni 80 Correlator Spacing Bit Values sanes dinesna eendi enie i Aa DS eraa iee iddaa aai TARE 80 Command Type Values nesnnrarsrio nenni inii kaniki kika asia S a a A 83 COMPoOnentEYDE 000 AAA A a aae a eh 85 Receiver Section utili a EASE EEA ESE dec 85 Receiver EMO AAA ada WAASWA APA MAPORI NAWE MAPORI BABE DU AA Na 86 Receiver Auxiliary 1 Status wwwmawamananawwnnananzwnananawananawumannawa anazama maaaazamananaumananazumanaanawawana 86 Receiver Status tutti caian 87 Satellite Visibil
87. er ULong 4 H 8 5 seconds Almanac reference time seconds into the week Double 8 H 12 6 ecc Eccentricity dimensionless Double 8 H 20 7 o Rate of right ascension radians second Double 8 H 28 8 Oo Right ascension radians Double 8 H 36 9 O Argument of perigee radians Double 8 H 44 10 Mo Mean anomaly of reference time radians Double 8 H 52 11 afo Clock aging parameter seconds Double 8 H 60 12 ar Clock aging parameter seconds second Double 8 H 68 13 N Corrected mean motion radians second Double 8 H 76 14 A Semi major axis meters Double 8 H 84 15 incl angle Angle of inclination relative to 0 3 7 radians Double 8 H 92 16 SV config Satellite configuration ULong 4 H 100 17 health prn SV health from subframe 4 or 5 ULong 4 H 104 18 health alm SV health from almanac ULong 4 H 108 19 antispoof Anti spoofing flag See Table on Page 47 Enum 4 H 112 20 Next almanac data set offset H 4 previous msg x 112 H 4 21 32 bit CRC ASCII and Binary only Hex 4 ne Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 69 Chapter 6 70 Recommended Input LOG ALMANACA ONCHANGED ASCII Example ALMANACA COM1 0 64 5 SATTIMI 1049 61440 0 5 10788 1 73611531 1 45849741 61440 0 1 2 52088921 2 6560419 E 04 2 954221 E 00 E 07 E 00 9 1286238 E 02 8 0917656 1 7547607 8 2930836E 03 1 30 1049 61440 0 5 61333E
88. erature 111 oscillator 71 overload 33 55 overview functional 16 SBAS 13 P parity 50 76 performance specifications 109 perigee 69 period 55 phase lock loop PLL 60 86 physical specifications 111 polled logs 33 ports 1 PPS 23 10 MHz In 21 antenna 9 20 23 COM 29 overview 17 specifications 112 TIME 21 23 92 unlog 63 position accuracy 53 base station 29 commands 44 fix 53 logs 64 pseudorange 74 power 23 96 116 connector 112 installing 23 precision 42 prerequisites 12 processing 38 logs 64 prompts 27 pseudorange 74 error estimate 76 measurement 76 position type 74 solution status 74 tracking status 93 PULSEBLANKING command 57 Q quotation marks 35 R range 42 93 bias 71 122 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice RANGE log 76 range bias 72 RAWFRAME log 81 receiver cards 18 configuration 82 status 33 108 regulatory notices 9 RESET command 58 60 reset hardware 58 residual 93 response messages 31 right ascension 69 rollover GPS week 12 RXCOMMANDS log 81 RXSECSTATUS log 81 84 S Satellite Based Augmentation System see SBAS satellites acquisition 48 almanac 69 commands 44 elevation cut off 52 errors 96 PRN 88 tracking 64 76 visibility 88 SATVIS log 88 SBAS 13 scaling almanac 69 scope 12 SDLLBW command 59 self test 28 serial port configuring 50 setting automatic g
89. fully operate it Additionally each command used to configure the GTR as well as each log used to capture data is described in detail including the purpose syntax and structure of these messages However it is beyond the scope of this manual to provide details on service or repair Please contact NovAtel for any customer service related inquiries See Customer Service on Page 10 The versions of GTR firmware that are associated with the features described in this manual are listed on Page 2 of this manual Prerequisites The GTR is a stand alone Global Navigation Satellite Systems GNSS receiver Refer to Chapter 2 Installation starting on Page 20 for more information on installation requirements and considerations The GTR utilizes a comprehensive user interface command structure and to utilize the full potential of the GTR it is recommended that some time be taken to become familiar with this manual before operating the receiver Conventions The conventions used throughout this document are H The letter H in the Binary Bytes or Binary Offset columns represents the header length for that command or log The binary header is described in Section 4 3 2 on Page 37 Ox A number following 0x is a hexadecimal number field Text surrounded by a box indicates a variable parameter to be entered as part of the command string Parameters surrounded by and are optional in a command or are required for only some insta
90. g been activated in the event of an emergency will send an alerting signal to the rescue centre The Galileo Program provides this search and rescue service for users based on humanitarian and public service principles of the international COSPAS SARSAT system while at the same time making search and rescue operations more effective Features To assist the ground stations in providing data with the necessary precision the GTR has been designed with the following features e Support for L1 and L5 GPS signal processing e Support for L1 E5a E5b and E6 Galileo signal processing e Digital pulse blanking for the L1 E5a L5 E5b and E6 signals The majority of these features are discussed further in the following sections Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 15 Chapter 1 Introduction 1 2 1 Cross Correlation Detection Channel NovAtel s SafeTrak technology is also featured in the GTR The receiver tracks a satellite by replicating the satellite s PRN code and aligning it with the received PRN code Cross correlation happens when the receiver is tracking a certain PRN code with an incorrectly replicated PRN code This is due to the receiver tracking a minor rather than the required major correlation peak The Euro 3M performs a cross correlation check on channels tracking at low C No values The cross correlation channel aligns its code phase with that of the tracking channel under test An initial power check
91. gh level of integrity and consequently provide the user with a very rapid warning of any possible malfunctions It will need to be certified in accordance with the regulations applicable to the various modes of transport the International Civil Aviation Organization ICAO regulations in the case of air transport the International Maritime Organization IMO regulations in the case of sea transport This service will require specialised receivers providing access to this enhanced quality signal The safety of life service will be transmitted in two frequency bands L1 at 1575 42 MHz and E5b at 1207 14 MHz Users may receive signals from the two frequency bands independently 1 1 4 Public Regulated Service The PRS will be a restricted access service offered to government agencies that require a high availability navigation signal The PRS service will utilize ranging codes that are encrypted with a highly secure government encryption scheme To enhance availability the PRS service is intended to have anti jamming and anti spoofing capabilities The PRS will be transmitted in two frequency bands L1 at 1575 42 MHz and E6 at 1278 75 MHz Users may receive signals from the two frequency bands independently 1 1 5 Search and Rescue Service 1 2 A specific public service designed to assist in search and rescue operations will make it possible to locate person and vehicles in distress The vehicles will be fitted with beacons which havin
92. he Galileo section of the European Space Agency ESA website gives you information on the Galileo signals and their use For extended GPS and Satellite Based Augmentation System SBAS information both of which are used by the Galileo Test Receiver please refer to the GPS Reference Manual available from our website at http www novatel com support docupdates htm The rest of this chapter provides information on the features and functionality of the GTR and how it operates in the context of the GPS and Galileo systems GALILEO TEST RECEIVER Figure 1 Galileo Test Receiver Galileo Overview Galileo will be Europe s own global navigation satellite system providing a highly accurate guaranteed global positioning service under civilian control It will be inter operable with GPS and GLONASS the two other global satellite navigation systems A user will be able to take a position with the same receiver from any of the satellites in any combination By offering dual frequencies as standard however Galileo will deliver real time positioning accuracy down to the metre range which is unprecedented for a publicly available system It will guarantee availability of the service under all but the most extreme circumstances and will inform users within seconds of a failure of any satellite This will make it suitable for applications where safety is crucial such as running trains guiding cars and landing aircraft Galileo In Orbit Validat
93. ion 4 3 on Page 34 2 sabia Indicates if the satellite visibility is valid See En m H Table 41 on Page 89 3 comp alm a gt ya oo almanac was used See Eni H 4 4 sat Number of satellite data sets to follow ULong H 8 5 PRN GES only PRN number of range measurement Short H 12 6 Reserved Short H 14 7 health Satellite health ULong H 16 8 elev Elevation degrees Double H 20 9 az Azimuth degrees Double H 28 10 true dop Theoretical Doppler of satellite Hz Double H 36 11 app dop Apparent Doppler for this receiver Hz Double H 44 12 Next satellite data set offset H 12 previous sat x 40 H 12 variable 32 bit CRC ASCII and Binary only Hex m K a Satellite health values may be found in ICD GPS 200 To obtain copies of ICD GPS 200 refer to ARINC A list of standards and references with contact information can be found in the GPS Reference Manual available on our website at http www novatel com support docupdates htm Recommended Input LOG SATVISA ONTIME 60 ASCII Example SATVISA COM1 0 46 5 FIN TRUE TRUE 30 14 0 0 82 2 184 2 433 718 471 225 22 0 0 57 7 94 2 1691 642 1654 135 11 0 0 26 6 306 0 2338 609 2376 116 18 0 0 24 3 97 8 2898 892 2861 385 9 0 0 21 9 42 3 2493 568 2456 061 32 0 0 16 1 279 6 2935 138 2972 645 31 0 0 13 4 171 3 3739 715 3777 222 3 0 0 5 0 224 4 3285 719 3248 212 Galileo Test Receiver GTR User Manual Rev 5 E 494 345320 000 00000000 000
94. ion Element GIOVE A the first experimental satellite as part of the so called Galileo System Test Bed GSTB was launched in December 2005 The objective of this experimental satellite is to characterize the critical technologies which are already in development under ESA contracts Thereafter up to four operational satellites will be launched to validate the basic Galileo space and related ground segment Once this In Orbit Validation IOV phase has been completed the remaining satellites will be installed to reach Full Operational Capability FOC The fully deployed Galileo system consists of 30 satellites 27 operational 3 active spares positioned in three circular Medium Earth Orbit MEO planes in 23616 km altitude above the Earth and at an inclination of 1 Galileo information from ESA Navigation website http www esa int Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 1 Introduction the orbital planes of 56 degrees with reference to the equatorial plane Once this is achieved the Galileo navigation signals will provide a good coverage even at latitudes up to 75 degrees north which corresponds to the North Cape and beyond The large number of satellites together with the optimisation of the constellation and the availability of the three active spare satellites will ensure that the loss of one satellite has no discernible effect on the user Two Galileo Control Centres GCC will be imp
95. ist in synchronization between UTC and GPS time The TIME log reports both GPS and UTC time and the offset between the two The data in synchronous logs like the RANGE log are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second synchronous log with trigger ONTIME I can be used in conjunction with the I PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 41 Chapter 4 Using Commands and Logs be synchronized to the current GPS time Logs that contain satellite broadcast data have the transmit time of their last subframe in the header In the header of differential time matched logs the time of the matched reference and local observation that they are based on is given Logs triggered by a mark event have the estimated GPS time of the mark event in their header The header of a polled log like VERSION gives the approximate GPS time when its data was generated 4 4 2 4 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known as shown i
96. ity Values essenin iniii EEEE AANEEN ENEE EEEE AAPEA EAA ASEA 89 Complete Almanac Flag Values orsoni aatinaa kand cc canon nr cnn rr neeaaeia aain aia E wai 89 Clock Model Status Values ssiconcracasciiirieiiaiiiiiii ioii iatan AE i A A E ia kiki ATEA 92 Reject Code Valles ci e eo read a A 96 Version Log Field Formats ito ic dic 98 LCD Display in Normal Operation ooooooccccccncccccccccccononnonnnnonnnnnnnnnnnnnnnnnn nn nn cnnnnnnnnnn nin nnannnnnnnnnnnnnn 105 LCD Display of a Non Fatal Error Event mssrnnrrnnnennnvrrnnevnrnsvrennnensrrrnnnsersrrrnnnnersrrrenesersrrrnnesernn 106 Non Fatal EM ra e leaders 106 LCD Display of a Fatal Error Event onreine ia i a aiai ra E i 107 Frettal A E E rat ta TEET EERE AEAT ATA E Aa A 107 Performance Specifications ccccccceeeceeeeseeeeceeeeceeeeeeeeeeeeseceaeaaeaaeeeseeeeeeeeeesaeeceaeneceeeeeeeeeeees 109 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 52 54 55 56 Tables Physical Specifications senesi arrisera di 111 Environmental Specifications oooooonncnnnnninnonconconccnnnnnnnnnnnnnnnnn ono nnnnnnnnn nn nn nn ana nnn nn nn nn nn rra rra 111 POrESPECIICA AS o a dde aba e 112 Recommended External Frequency Reference Specifications ooooocccinnininnnonnonccnncnnncnnnnnnnns 113 40GALILEO24GPS Channel Configuration ooooooccccnnnnncccccnnnoonccccnnnonncccnnn nan cc cnn nano nn nc cnn nan nnccnnnnnns 114 Galileo Test Receiver GTR User Manual Rev 5
97. l Automatic Gain Control lt 1 This command can fundamentally change the way that the receiver operates Do not alter the default settings unless you are confident that you understand the consequences 2 When the AGC mode is disabled the Receiver Status word in the message header discussed in Table 40 Receiver Status on Page 87 will report the AGC as GOOD as long as the control metric used in the feedback loop is within 7 5 of the set point This command controls the GTR s Automatic Gain Control AGC mechanism which has two primary functions To perform the analog to digital conversions in the receiver s front end e Mitigate jamming Table 13 Frequency Values for AGCMODE Command ASCII Description LI L1 GPS and Galileo channels L5 L5 and E5a Galileo channels E5b E5b Galileo channels E6 E6 Galileo channels a Changing GPS Ll affects Galileo L1 and changing GPS L5 affects Galileo E5a Table 14 AGC Mode Values ASCII Description Specifies that the default pulse width and load AUTO values should be used Specifies that the values specified in the pulsewidth MANUAL and loadvalue fields should be used 46 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Chapter 5 Syntax Message ID 229 PULSEWIDTH LOADVALUE AGCMODE FREQUENCY MODE Valid Values Description
98. l GTR firmware files might be named 5000 HEX for example To proceed with your update you will first need to download the appropriate files from NovAtel s FTP site at ftp novatel ca or via e mail at support novatel com If downloading is not possible the files can be mailed to you on diskette The files are available in compressed password protected file format The compressed form of the files may have different names than the names discussed above the Aerospace amp Defense Group will advise you as to the exact names of the files you need As well the Aerospace amp Defense Group will provide you with a file de compression password 7 2 2 Decompressing the Files After copying the compressed files to an appropriate directory on your computer each file must be decompressed The syntax for decompression is as follows Syntax filename password where filename is the name of the compressed file but not including the EXE extension and password is the password required to allow decompression A window based dialog is provided for password entry The self extracting archive then generates the following files WinLoad exe WinLoad utility program HowTo txt Instructions on how to use the WinLoad utility WhatsNew txt Information on the changes made in the firmware since the last revision XXXX hex Firmware version update file where XXXX program version level for example 2000 hex 7 2 3 Running the Utility WinLoad i
99. l script from the command line The script may be used as follows perl gtrload pl firmware data port power port Where firmware is the firmware archive to be loaded data port is the serial device that is connected to the I O Data port on the receiver power port is the serial device that is used to control the receiver power For example if file firmware_123456 tgz is to be loaded on a receiver connected to dev ttySO and power is being controlled by dev ttyS5 then the script would be invoked as follows perl gtrload pl firmware 123456 tgz dev ttyS0 dev ttyS5 The script will exit with code 0 if the load was successful and the exit code will be negative if the load was not successful 104 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 8 Built In Status Test The built in test monitors system performance and status to ensure the receiver is operating within its specifications If an exceptional condition is detected you are informed through one or more indicators The receiver status system is used to configure and monitor these indicators e Receiver Status word in log headers e LCD status display See also Page 108 This section describes factory default behavior The LCD screen 1 Comes on after the receiver is powered up 2 Goes to sleep after 4 minutes of non use 3 Wakes up if one of the contrast buttons is pressed and goes to sleep again after 4 minutes of
100. lemented on European ground to provide for the control of the satellites and to perform the navigation mission management The data provided by a global network of twenty Galileo Sensor Stations GSS will be sent to the Galileo Control Centres through a redundant communications network The GCC s will use the data of the Sensor Stations to compute the integrity information and to synchronize the time signal of all satellites and of the ground station clocks The exchange of the data between the Control Centres and the satellites will be performed through so called up link stations Five S band up link stations and 10 C band up link stations will be installed around the globe for this purpose As a further feature Galileo will provide a global Search and Rescue SAR function based on the operational search and rescue satellite aided tracking Cospas Sarsat system To do so each satellite will be equipped with a transponder which is able to transfer the distress signals from the user transmitters to the Rescue Co ordination Centre RCC which will then initiate the rescue operation At the same time the system will provide a signal to the user informing them that their situation has been detected and that help is under way This latter feature is new and is considered a major upgrade compared to the existing system which does not provide a feedback to the user Five categories of services have been defined 1 A free Open Service OS A highly relia
101. ll in 3 Narrow frequency band pull in 4 PLL 5 Reacquisition 6 Steering 7 Frequency lock loop 8 14 Reserved 15 Newman Hoffman alignment Table 34 Correlator Spacing Bit Values Bit Value Description 0 Reserved 1 Standard correlator spacing gt 0 1 chip 2 Narrow correlator spacing 0 1 chip 3 Reserved 4 Reserved a Galileo Narrow Correlator L1 0 07 chips E5a 0 73 chips E5b 0 73 chips E6 0 365 chips 80 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 6 3 6 RAWFRAME Raw Subframes This log contains the raw subframes The subframes are output even when there are parity failures Log Type Asynchronous Message ID 804 Description Format This field contains the message header in ASCII or Binary format l header See Section 4 3 on Page 34 H 0 The parameters should be applied to this signal 2 sigchan channel Ulong 4 H 3 PRN Satellite PRN number Ulong 4 H 4 4 aed Number of consecutive parity failures Ulong 4 H 8 gt E Number of bits in subframe Ulong 4 H 12 rame 6 Hbytes Number of bytes to follow Ulong 4 H 16 7 data Raw subframe data Fig 40 H 20 8 32 bit CRC ASCII and Binary only Hex 4 H 60 a In the Binary log case the data field will only output the number of bits in the subframe This is 120 for L1 120 for E5b 244 for E5a and 484 for E6 Recommended Input LOG RAWFRA
102. lock status data See Table 43 below ai H Receiver clock offset in seconds from GPS time A positive 3 ffset offset implies that the receiver clock is ahead of GPS time Doubl 8 H 4 Pog To derive GPS time use the following formula PMDE GPS time receiver time offset 4 offset std Receiver clock offset standard deviation s Double 8 H 12 5 12 Reserved 24 H 20 13 32 bit CRC ASCII and Binary only Hex 4 H 44 Recommended Input LOG TIMEA ONTIME 1 Example Output TIMEA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 VALID 4 927184044e 05 8 604988375e 08 14 99999999715 1989 6 28 23 55 5000 VALID 3333502a Table 43 Clock Model Status Values ASCII Binary Description VALID 0 The clock model is valid CONVERGING 1 The clock model is near validity ITERATING 2 The clock model is iterating towards validity INVALID 3 The clock model is not valid ERROR 4 Clock model error 92 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 6 3 12 TRACKSTAT Tracking Status These logs provide channel tracking status information for each of the receiver s channels Log Type Synchronous Message ID 83 Description Format Te E ia 2 sol status Solution status See Table 30 on Page 75 Enum 4 H 3 pos type Position type See Table 31 on Page 75 Enum 4 H 4 4 cutoff Primary antenna lo
103. log opens see Figure 19 enter the auth code and select OK Authorization Code x Cancel Figure 19 Authorization Code Dialog 8 The receiver should finish downloading and reset The process is complete when Done is displayed in the main display area see Figure 20 on Page 103 Download Complete Resetting Card Resetting Done KE SAA AAA AAA 8 COM 1 Connect 9600 Download 115200 Figure 20 Update Process Complete 9 Close WinLoad This completes the procedure reguired to update a GTR receiver 7 3 Updating Firmware Using a Linux Host Computer 7 3 1 Required Files The following files are required to update receiver firmware on a Linux host computer gtrload pl A Perl script for loading the receiver powercycle pl A Perl script used by gtrload pl to control the receiver power during the loading process aload An executable file used by gtrload pl to load the individual cards in the receiver checkversions An executable file used by gtrload pl to verify the versions of software installed on the receiver XXXX tgz An archive containing the firmware to be loaded on the receiver These files will be provided by NovAtel A working Perl interpreter must be installed on the host computer prior to updating firmware Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 103 Chapter 7 Firmware Updates 7 3 2 Updating the Firmware The firmware is updated using the gtrload p
104. m CEP 10 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 1 m RMS C No gt 44 dB Hz DLL BW 0 05 Hz 4 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 7 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 4 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 4 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 6 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz Single Channel Phase Accuracy Raw Data Availability Rate L1SQM L5 BOCL1 E5a E5b Time Almanac Data L1 C A 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz L5 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz BOC L1 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz E5a 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz E5b 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz E6 3 mm RMS C No gt 44 dB Hz Loop PLL 3 Hz C No Accuracy L1 L5 E5a E5b E6 2 5 dB 30 65 dB Hz One phase and code measurement per second per satellite One message per second lt 15 minutes after reset Time to First Fix 100 seconds 95 with stabilized internal and external oscillators and initial time almanac and position Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 109 Appendix A Technical Specifications Re acquisition L1 C A 5 seconds C No 44 dB Hz 16 L5 60 seconds C No 44 dB Hz 16 BOC L1 60 seconds C No 44 dB Hz 16 E5a 60 seconds C No 44 dB Hz 16 E5b 60 seconds C No 44 dB Hz 10 E6 60 seconds C No 44 dB Hz 10 Height Measurements Up to 18 288 metres 60 000 feet m
105. m for search of vessels in distress Complez Programmable Logic Device Central Processing Unit Carriage Return Cyclic Redundancy Check Commercial Service Conventional Terrestrial System or Clear To Send Decibel Data Carrier Detected Delay Lock Loop Digital Pulse Blanking Dynamic Random Access Memory Digital Signal Processor Data Set Ready Data Terminal Eguipment Data Terminal Ready Earth Centred Earth Fixed Early Late European Space Agency Electrostatic Discharge Electronic Serial Number Federal Communications Commission USA Forward Error Correction Full Operational Capability Field Programmable Gate Array File Transfer Protocol Frequency and Time Standard Galileo Control Centre Geostationary Satellite Global Navigation Satellite System Ground Global Positioning System Galileo Sensor Stations Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 117 Appendix B 118 GSTB GTR GTS MEO MSAS MSB MSL NAS NMEA NVM OCXO OEM OS PC PLL PPS PRN PRS RAM RCC RMA RMS ROM RTS RXD SA SAR SARSAT SBAS SEP SNR SOL SPS Galileo System Test Bed Galileo Test Receiver Galileo Test Signal Generator Initiated Built In Test International Civil Aviation Organization Interface Control Document Identification Institute of Electrical amp Electronics Engineers Intermediate Frequency International Maritime Organization Input Output Issue of
106. n pay a fee to the Galileo operator The signal will contain data relating to the additional commercial services being offered In return for the fee the Galileo operator will be able to offer certain service guarantees This aspect of service guarantee and the commensurate liabilities is one area where Galileo is significantly differentiated from GPS A key component in achieving this is an independent system within Galileo for monitoring the satisfactory working of the system and informing the end user of this by an integrity signal incorporated in the data stream Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Introduction Chapter 1 The main applications for this service concern professional users who are ready to pay for a service guaranteed by the Galileo operator notably in the areas of technical surveys in activities involving customs and excise operations network synchronisation sea fleet management vehicle fleet management and road tolls Controlled access to this service for end users and the providers of value added services will be based on protected access keys in the receivers This will also enable revenue to be collected from users The commercial service will be transmitted in the E6 frequency band at 1278 75 MHz 1 1 3 Safety of Life Service The safety of life service will be offered to users who are highly dependant on precision signal quality and signal transmission reliability It will offer a hi
107. n Canada on recycled paper OM 20000087 Rev 5 2010 04 20
108. n Table 10 Table 10 GPS Time Status GPS Time Status Description Binary UNKNOWN 20 Time validity is unknown APPROXIMATE 60 Time is set approximately COARSE 100 This time is valid to coarse precision Position is lost and the range bias cannot be FREEWHEELING 130 calculated FINE 160 Time has fine precision Time from satellite This is only used in logs SATTIME 200 containing satellite data such as ephemeris and almanac There are several distinct states that the receiver will go through UNKNOWN COARSE FREEWHEELING 4 FINE AR a st On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qualified by the COARSE time status flag Once a position is known and range biases are being calculated the internal clock model will begin modelling the position range biases and the receiver clock offset Modelling will continue until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The time status flag will never improve on FINE The
109. n used is new value e x old data 1 e 47 x new data where AT the PLL sampling rate and 4 x filter constant Syntax Message ID 801 SPLLBW SIGCHAN BW Binary Binary Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCII command name See Section 4 1 1 header H 0 on Page 30 The parameters should be applied to 2 sigchan ee this signal channel Ulong 4 H 3 bw 0 5 to 15 PLL low pass filter bandwidth in Hz Float 4 H 4 Example SPLLBW 0 1 0 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Chapter 5 5 3 11 STHRESHOLD Control Signal Thresholds This command controls signal acquisition and steady state lock signal thresholds The sigchan acqui lock and crosscorr fields must have values See also Table 56 on Page 114 for the mapping of signal channels DI When you change this command the selected channel loses lock and the locktime for its tracking satellite Is reset to zero Syntax Message ID 803 STHRESHOLD SIGCHAN ACQUI LOCK CROSSCORR Binary Offset Valid Values Description This field contains the Abbreviated ASCII command name See Section 1 header H 0 4 1 on Page 30 2 sigchan 0 63 The parameters should be applied y long 4 H 20 to this signal channel Acquisition power threshold in 3 acqui 25 80 dBHz ULong 4
110. nces of the command depending on the values of other parameters lt gt Text displayed between lt and gt indicates the entry of a keystroke in the case of the command or an automatic entry in the case of carriage return lt CR gt and line feed lt LF gt in data output In tables where no values are given such fields should be assumed to be reserved for future use Compliance with GPS Week Rollover The GPS week rollover issue refers to the way GPS receivers store information regarding the current GPS week According to the official GPS system specifications document 1CD GPS 200 paragraph 20 3 3 3 1 1 10 bits shall represent the number of the current GPS week This means the GPS week is represented by an integer number between 0 and 1023 As GPS time started on Sunday January 6 1980 at 0 00 hours week 1023 ended on Saturday August 21 1999 at 23 59 59 As per the GPS system specifications document NovAtel firmware reset the receiver s GPS week number back to zero Users should be aware of this issue and keep in mind that there may be a compatibility issue when purchasing and using different makes of GPS receivers Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 12 Chapter 1 Introduction 1 1 13 The NovAtel Galileo Test Receiver GTR see Figure I below is a high performance receiver designed for installation as a core component of the Galileo and Global Positioning System GPS network T
111. nnerrrrrrrnneeenn 46 5 3 2 ASSIGN Assign Individual Satellite Channels orrnnrannrrrnnnnnnnvrnnnnnrnrrnnnnnnnnrrnnnnersrrrnneennn 48 5 3 3 COM Serial Port Configuration GOMA WI 50 5 3 4 ECUTOFF Set Satellite Elevation Cut off ee eceeee eee eeneeeeeeeeeeeeeeeeeeeneaeeeeeseenaaeeees 52 5 3 5 FIX Constrain to Fixed Position IA rr KI EKA 53 5 3 6 LOG Request Logs from REHMA Waha awa cc cnn rra nn cnn anar E ARKAE kaika 55 5 3 7 PULSEBLANKING Enable Disable Digital Pulse Blanking for L1 E5a L5 and E5b 57 5 3 8 RESET Hardware RA IA AI AAE A EAA 58 5 3 9 SDLLBW Configure DLL Filter Bandwidth lt lt lt wamanamwananawuwanaanuwananamumanaanzwaanzaza 59 5 3 10 SPLLBW Configure Phase Lock Loop Bandwidth rrnnrannsvrnnnnnnnrrrnnnnnnnrrrnnnnnrnrrnnnnenn 60 5 3 11 STHRESHOLD Control Signal Thresholds issis kaniki wa KIKI EK ka aa 61 5 3 12 UNLOG Remove Log from Logging COntrol wwwwwmwwmmamanwwwmanamu mama narran zama 62 5 3 13 UNLOGALL Remove All Logs from Logging Control rnrarnnrnnnnnnnnnvrrnnnnnnnvrrnnnnnnrrrrnneennn 63 6 Data Logs 64 6 1 Functional Listing Of Yaa AAA AAA ne betente eten renne 64 62 Log Summary a kne Reset 65 6 3 Log Reference iets A E KIKA ea ds 65 6 3 1 AGCSTATS Automatic Gain Control Status r wrsrrnnnrarnvrrvnnnnnnvrrnnnnvnvrrnnnnernrrrrnnnrrrrrrnneenn 66 6 3 2 ALMANAC Decoded Almanac ww wwwananawumananmunananzumananaumanananimaazanuzanan
112. number of seconds the receiver is to walt before resetting MX One RESET command affects all receiver cards simultaneously Syntax Message ID 18 RESET DELAY Binary Binary Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCII command name See Section 4 1 on 1 header Page 30 H 0 Seconds to wait before resetting If no 2 delay Any ulong value value is provided the default of 0 ULong 4 H seconds is assumed Example RESET 5 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands 5 3 9 SDLLBW Configure DLL Filter Bandwidth This is the noise equivalent bandwidth command for the DLL filter bandwidth M 1 The SDLLBW command should only be used by advanced users It may not be suitable for every Chapter 5 application When using SDLLBW in a differential mode the same setting should be used at both the monitor and remote station 2 When you issue the SDLLBW command all channels lose lock and the locktime for all tracking satellites is reset to zero 3 The measurement becomes noisier as the DLL bandwidth increases Syntax SDLLBW SIGCHAN BW Valid Values Description Format Message ID 800 Binary Binary Bytes Offset 1 herdet This field contains the Abbreviated ASCII command name See H 0 Section 4 1 on Page 30 The parameters sho
113. o the GTR press the power switch on the back of the unit see Figure 10 below The GTR requires an input supply voltage that comes from a normal AC power source of 100 240 volts at 50 60 Hz AC through its 3 pin power connector The Power Input connector on the GTR contains two 3 A 250 V fast blow fuses that can only be serviced when the GTR is disconnected from power For a listing of the required input supply voltages see Power Input on Page 112 For more information on the supplied 3 pin power cable see Section A 1 Power Cable on Page 116 Figure 10 Power Port 2 1 5 Optional Installation Steps In addition to the required connections discussed in the previous sections other ports on the GTR can be used to implement more advanced functionality 2 1 5 1 Accessing Time Output The Time port shown in Figure on Page 22 provides the time data for the 7 PPS output through a DB9 connector Data is available on this port at a rate of I Hz See also the TIME log on Page 92 Section 3 3 1 on Page 28 provides information on configuring the settings for this port DI The Time port is currently disabled 2 1 5 2 Accessing the 1 PPS Output The clock signal available on the 7 PPS port is synchronized to the 10 MHz input The specifications and electrical characteristics of this signal are described in Table 54 on Page 112 in Appendix A The pulse train is accessed from the BNC female connector on the back of the GTR as shown in Figur
114. omponents cards and so on Ulong 4 H 3 Enum 4 H 4 Reserved 4 Enum 4 H 8 5 model Model Char 16 16 H 12 6 psn Product serial number Char 16 16 H 28 7 sw version Firmware software version Char 16 16 H 44 8 status word Receiver status word See Table 40 on Page 87 Ulong 4 H 60 9 femorwond Revver emor mord A valueofaeroindentetne ong a 6 10 Reserved Ulong 4 H 68 11 Next component offset H 4 comp x 68 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 F i Recommended Input LOG RXSECSTATUSA ONNEW Example Output 84 RXSI IOMASTI 00 L1 00 L1 00 00 L1 000000 401000 401000 E5AB PS2 GAI 000000 E6 PS3 GAI ECSTATUSA COM1 0 46 5 FINI LT DBHO6270003 6 400A5 001 00000000 6cea5562 LT DFG08510002 10 400A2 001 Galileo Test Receiver GTR User Manual Rev 5 E 494 345320 000 00000000 0000 07 5 ER IOM DAG06500004 7 400A3 00000000 00000000 E5A PM LILSGPST DZN06300008 5 400A5 00C81008 00000000 E5A PS1 GALT DZNO06300004 5 400A5 00CC1008 00000000 EC0000 00000000 EC0000 00000000 Limited Rights Notice Data Logs Galileo Test Receiver GTR User Manual Rev 5 Table 36 Component Type ASCII Binary Description UNKNOWN 0 Unknown Component GPSCARD 1 OEM4 Family Component Reserved 2 3 4 6 Reserved FPGA 5 Fi
115. on Reserved For Future Expansion Reserved For Future Expansion Reserved For Future Expansion Front Panel Display 1 PPS out 1 PPS out Data Control Data Control Host Computer Host Computer Figure 2 Block Diagram 1 3 1 Enclosure The GTR is contained in a enclosure designed to fit standard 19 EIA racks Within the enclosure built in forced air cooling is provided to keep all components at an optimum temperature 1 3 1 1 LCD Status Display On the front of the GTR enclosure an LCD has been included to provide basic status information regarding the unit See Status Display on Page 24 for more details 1 3 1 2 Input Output Ports As shown in Figure 3 the GTR provides a variety of ports on the back panel of the enclosure for power antenna input and general communications including the following TO A bi directional serial DATA port and or a DATA USB port used to configure the receiver section receive commands and send measurements and status data An input port to connect an external 10 MHz oscillator for synchronization A bi directional Time port for sending GPS time and receiver time offset DX The current configuration uses the Time port as a debug port Time logs are available on the DATA ports A I PPS output for synchronization with receiver time A 1 PPS input port lt This port is disabled in the current
116. on through the serial port the master card coordinates the operation of all cards in the section in order to execute the command This coordination between cards is transparent to the user The GPS section contains only the Euro 3M GPS card This section is not used in the SOL application however a GPS RF input is a required input into the GPS section so that the IO section can initialize time correctly Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Introduction Chapter 1 1 3 2 1 L1 E5a Card There are two L1 E5a cards as slave cards in the IO section This card is capable of tracking up to 16 L1 L5 or E5a signals 1 3 2 2 E5a E5b Card The E5a E5b card is a slave card in the IO section It is capable of tracking up to 16 E5a or E5b Galileo signals 1 3 2 3 L1 E6 Card The L1 E6 card is a slave card in the IO section This card is capable of tracking up to 16 L1 or E6 Galileo signals 1 3 2 4 I O Master card The I O Master card provides the IO and GPS receiver sections with a common clock signal It also controls the LCD display and the cooling fans 1 3 2 5 MINOS4 The Euro 3M card accommodates three GPS digital signal processors DSP named MINOS4 The MINOS4 is capable of processing L1 and L2 RF signals The quantity of MINOS4 processors ensures the necessary hardware channels for extra satellite tracking capability and to support the output of SQM data Each MINOS4 has 24 hardware channels that are cap
117. r not locked BADCM Bad clock model 140PLL 140 MHz PLL unlocked When a fatal event occurs like a receiver hardware failure there may be damage to the hardware or erroneous data so the receiver is put into an error state Bit 0 is set in the Receiver Status word to show that an error occurred The LCD displays as follows in Table 49 on Page 107 where the double line denotes that the LCD toggles between these two screens and the shading means these screens have a flashing backlight 106 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Built In Status Test Table 49 LCD Display of a Fatal Error Event SYSTEM STAT VERSION VERSION IOM OK 7 400 7 400 SI OK 5 400 5 400 S2 OK 5 400 5 400 S3 OK 6 400 6 400 S4 OK 10 400 10 400 S5 S6 S7 S8 S9 CLK OK FANS OK Table 50 Fatal Errors Error Code Error Auth Authorization code ADCBad Slow ADC SupVol Supply voltage Therm Thermometer Temp Temperature M4Fail MINOS4 RFIPLL PLL RFI RF2PLL PLL RF2 RF1Bad RFI hardware RF2Bad RF2 hardware NVMBad NVM a Indicates FPGA failure if the board has an FPGA b RFI and RF2 indicate RF decks and not frequencies Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 8 Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnos
118. red by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range 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 if the parity known flag in the ch tr 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 multipath errors or atmospheric delays Ifa PRN is being tracked on more than one signal GPS L1 L5 Galileo L1 E5a E5b or E6 multiple entries with the same PRN will appear in the range logs As shown in Table 32 on Page 79 these entries can be differentiated by bits 21 22 of the ch tr status field which denote whether the observation is for GPS L1 LS Galileo L1 E5a or E5b This is to aid in parsing data The channel number is computed using parameters from the channel tracking status field Receiver Card x 16 SV Channel Number Log Type Synchronous Message ID 43 Binary Binary Description Bytes Offset 1 header This field contains the message header in ASCH or Binary format See H 0 Section 4 3 on Page 34 2 obs Number of data sets to follow Long 4 H 3 PRN Satellite PRN number of range measurement UShort 2
119. s Syntax FIX TYP Gl LAT LONG HEIGHT i 1 header Valid Values Description Format This field contains the Abbreviated ASCII command name See Section 4 1 on Page 30 Message ID 44 Binary Offset 2 type See Table 20 below Fix type Enum 3 lat Latitude parameter for a fixed position in degrees Only entered when the fix type is set to POSITION 90 to 90 Double H 4 4 long Longitude parameter for a fixed position in degrees Only entered when the fix type is set to POSITION 360 to 360 Double H 12 5 height Ellipsoidal height parameter for a fixed position in metres Only SU 20000000 entered when the fix type is set to POSITION Double H 20 Example FIX POSITION 51 116381983333 Table 20 Fix Type Values 114 03829231944 1048 215 ASCII Description NONE Unfix or none Clears any previous FIX commands Configures the receiver with its position fixed POSITION The receiver performs all computations based on WGS84 which is illustrated in Figure 13 on Page 54 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 53 Chapter 5 54 Commands Definitions i Origin Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as defined by the Bureau International de l
120. s a windows based program used to download firmware to GPSCards The main screen is shown in Figure 15 100 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Firmware Updates H WinLoad F Builds Aviation Alpha SWYCRR 3 0001300042013000420 hex File Settings Help Chapter 7 F Builds Aviation Alpha_SWw CRRA 3 0003000420 53000420 hex S Hun Script 217 Query Card Q Write Flash Card Properties i Put Enclosure on HWRe st Hex File Properties Platform E4G2 Type APP Version 2 000420 A Code vi Target Card ID Jo COM 1 Connect 9600 Download 115200 7 Figure 15 Main Screen of WinLoad If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct 7 2 4 Open a File to Download From the file menu choose Open Use the Open dialog to browse for your file see Figure 16 Open 2 x Look in 3 1 00 e ef EJ File name E hex Files of type Hex Files Cancel YA Figure 16 WinLoad s Open Dialog Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 101 Chapter 7 Firmware Updates Once you have selected your file the name should appear in the main display area and in the title bar see Figure 17 File Settings Help C UNZIPS2000438 hex Figure 17 Open File in WinLoad WinLoad automatically determines which
121. s spelled out Two separate formats that depend on whether the output is requested in Binary or GPSec 4 an ASCII format For Binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type A packed fixed length n array of bytes in Binary but in ASCII or Abbreviated Hex ASCII is converted into 2 character hexadecimal pairs A variable length array of bytes that is null terminated in the Binary case The String n maximum byte length for the field is shown in the row in the log or command table Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 39 Chapter 4 Using Commands and Logs Table 7 shows the arrangement of bytes within each field type when used by IBM PC computers All data sent to or from the receiver however is read least significant bit LSB first opposite to what is shown in Table 7 Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 Table 7 Byte Arrangements 7 0 char C address n 15 7 0 short n 1 address n 31 23 15 7 0 long two s compliment n 3 n 2 n 1 address n 63 62 52 51 0 double n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 31 30 23 22 0 float n 3 n 2 n 1 address n 40 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs Chapter 4 4 42 Commonly Used Fields Some of the more commonly used fiel
122. s with the HOLD attribute use the UNLOG command Syntax Message ID 38 UNLOGALL PORT Binary Binary Bytes Offset Valid Values Description Format This field contains the Abbreviated ASCII command name See Section 4 1 on 1 header Page 30 Serial port at which logging is to 2 port See Table 8 on Page 41 disabled If a value is not provided Enum 4 H COM is assumed 3 Reserved always 0 Enum 4 H 4 Example UNLOGALL Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 63 Chapter 6 6 1 Functional Listing of Logs Data Logs Table 25 lists the logs by function and provides the type of each log The valid types are discussed in Section 4 2 1 on Page 33 Table 25 Logs By Function Description GENERAL RECEIVER CONTROL AND STATUS TIME CLOCKMODEL RANGE Receiver time information Range bias information Satellite range information AGCSTATS Automatic gain control status Synch RKCOMMANDS Receiver configuration information Polled RXSECSTATUS Receiver section status Synch SYSTEMLEVELS System hardware levels Synch VERSION Receiver hardware and software version numbers Polled POSITION PARAMETERS AND SOLUTION FILTERING CONTROL PSRPOS Position data Synch Synch Synch Synch CLOCK INFORMATION STATUS AND TIME POST PROCESSING DATA SATELLITE TRACKING AND CHANNEL CONTROL ALMANAC Current decoded almanac data Asyn
123. scription 0 Jam Detected Jamming Not Present Jamming Present 1 AGC Calibrated Coarse Calibration 0 Fine Calibration 1 2 3 RF Type 1 L1 2 Reserved 4 3 L5 E5a 4 E5b 5 5 E6 6 Analog to Digital Convertor ADC Range 0 Bits 7 6 5 indicates which 3 bits of the 8 bit ADC output 1 Bits 7 5 4 7 are currently being used by the receiver 2 Bits 7 4 3 3 Bits 7 3 2 8 4 Bits 7 2 1 9 Method of Noise Floor Calculation 1 AGC 2 Post Correlation 10 3 11 12 0 E5a E5b N 1 L1 E5a I e Receiver Card 2 L1 ESa H 3 L1 E6 14 Reserved 15 Reserved 16 Reserved 17 Reserved 18 Reserved 19 Reserved 20 Reserved 21 Reserved 22 Reserved 23 Reserved 24 Reserved 25 Reserved 26 Reserved 27 Reserved 28 Reserved 29 Reserved 30 Reserved 31 Reserved Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 67 Chapter 6 Data Logs Recommended Input LOG AGCSTATSA ONTIME 10 Example Output AGCSTATSA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 8 25A 3618 1318 8000 0 0600 0 1456 0 2394 0 2568 0 1857 0 1125 1312854 000000 0 000000 0 000000 262 4088 1788 8000 0 0554 0 1281 0 2321 0 2692 0 1934 0 1218 1317006 875000 0 000000 0 000000 128A 7127 2527 8000 0 0750 0 1452 0 2442 0 2528 0 1739 0 1089 1318117 000000 0 000000 0 000000 129A 6644 2044 8000 0 0772 0 1404 0 2433 0 2546 0 1762 0 1082 1343828 250000 0 000000 0 000000 228A 7153 2553 8000 0 0996 0 1748 0 2468 0 2483
124. srrrnnnnnnnvrrnnnnvnnnrrnnnnnvnvrrrnnenrrnrrrnnnnrrnrrrnnneenn 103 T 3 WRequired Flles IA hi eee aaea dolida da bike aia 103 7 3 2 Updating the Firmware osn i AE E den den de 104 8 Built In Status Test 105 8 1 Receiver Statis Word uaaa as RA E EEE A A RREA Rea 108 8 2 LCD Status Display cnnan e a i den a aid 108 4 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Table of Contents A Technical Specifications 109 B Acronyms 117 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 5 Figures OONDOABRWDN Galileo Test Receiver oea ici dit 13 BlOCK Dig oA a A EEE aay 17 POS ii A A A ee lea ee ie 18 Typical Gontiguration ita di edie hartley 20 J15 10 MHZ Porton idol 21 Data Polito at KAME AWE A A E AA AA 22 USB Porte ii A A ETT ATA 22 MMS POM titi id des tanec ta atthe KAMA KA KENA 22 Antenna Poms iii AE de Maw fi easel va andel eae a Lage ne ad eee 23 Power Politica 23 CPPS POM KAA KE AKAA AAA AAA nee tei ee ee es he eee 24 Front Panel with LCD Status Display lt wwwawanawumanaamunananaumananaumawananimanaanimanananimanzanezaaaaaza 24 The WGS84 ECEF Coordinate System ooononccccccnnocccccccononccnncnnnonnnncnnanoncnnnnnnnnnnnnnnnn nana ncnnnnanancnccinns 54 Serial Number and Version Label oooooocccnnncnccococoncncccnonccnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnninnannes 99 Main Screen of WinLoad A 101 VWinLoad s Open Dialog hum ni oia 101 Open File in AYA La Ua Ya
125. st header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data 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 1234ABCD CR LF This value is a 32 bit cyclic redundancy check CRC of all bytes in the message excluding the identifier and the asterisk preceding the checksum digits See Section 4 4 2 5 on Page 43 for the algorithm used to generate the CRC An ASCII string is one field and is surrounded by double quotation marks e g ASCII string Ifseparators are surrounded by quotation marks then the string is still one field and the separator will be ignored e g xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it will return an error response message Please see Section 4 1 4 on Page 31 for a list of response messages from the receiver Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 35 36 Chapter 4 Using Commands and Logs The ASCII message header is formatted as follows Table 4 ASCII Message Header Structure Description Ignored on Input Sync character The ASCII message is always preceded by a l syne Char single symbol N
126. t e Maintenance The GTR is in power up mode after receiving a reset signal While in this mode all sections of the receivers for example encoders correlators and so on are disabled except for the clock generators and microprocessor interface During this mode firmware FW is transferred from Flash to RAM the 32 bit CRC is verified on the FW load and the Initiated Built In Test IBIT is exercised to determine whether the receiver is usable This mode ends when the functional blocks of the receiver have been enabled initialized and the IBIT has been successfully executed The GTR is in operational mode following power up mode During operational mode if a fault is discovered by the Continuous Built In Test CBIT the GTR goes into fault mode When the RESET command is used the entire receiver resets and starts again in power up mode The GTR is in maintenance mode when it is loading firmware Maintenance mode can only be entered via the power up mode Once you are connected commands can be entered as explained in Section 3 3 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Chapter 3 Operation 3 3 Communicating with the GTR Communication with the receiver consists of issuing commands through the communication ports from an external serial communications device This could be either a PC or laptop that is directly connected to the receiver serial port using a null modem cable The commands and logs used by the
127. ta the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary format messages follows the general conventions as noted here 1 Basic format Header 3 sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Parameters Variable length binary data CRC 4 bytes 2 The 3 Sync bytes are always Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit cyclic redundancy check performed on all data including the header See Section 4 4 2 5 on Page 43 for the CRC algorithm 4 The header is in the format shown in Table 5 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 37 Chapter 4 Using Commands and Logs Table 5 Binary Message Header Structure Ignored Description Binary Offset Input 1 sync Char Hexadecimal Oz AA 1 0 2 sync Char Hexadecimal 0x44 1 1 3 sync Char Hexadecimal 0x12 1 2 N 4 header Uchar Length of the head 1 3 N length ar ength of the header RE Message ID The message IDs for logs are 3 ID UShort given in Table 26 on Page 65 2 4 N message Message type indicator as explained in 6 type Char Section 4 2 1 on Page 33 l 6 N port The port from which the log was generated 7 address ia See Table 8 on Page 41 l 7 Al ease The length in by
128. tains the pseudorange position computed by the receiver along with three status flags Data Logs Message ID 47 Binary Binary Description Format Offset 1 eger This field contains the message header in ASCII or Binary format 0 See Section 4 3 on Page 34 2 sol status Solution status See Table 30 on Page 75 Enum H 3 pos type Position type See Table 31 on Page 75 Enum H 4 4 lat Latitude percentage degrees Double H 8 5 lon Longitude percentage degrees Double H 16 6 hgt Height above ellipsoid m Double H 24 7 Reserved Float H 32 8 datum id Datum ID number This will always be 61 for the WGS84 Enum H 36 coordinate system 9 lato Latitude standard deviation m Float H 40 10 lon o Longitude standard deviation m Float H 44 11 hgt o Height standard deviation m Float H 48 12 Char 4 H 52 13 Reserved Float H 56 14 Float H 60 15 obs Number of observations tracked UChar H 64 16 obs comp Number of observations used in computation UChar H 65 17 UChar H 66 18 UChar H 67 19 UChar H 68 Reserved 20 UChar H 69 21 UChar H 70 22 UChar H 71 23 32 bit CRC ASCII and Binary only Hex H 72 74 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 Recommended Input LOG PSRPOSA ONTIMI E E Example Output PSRPOSA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 SOL
129. tervals If these logs were collected on a regular schedule there would be a delay in capturing the new data The result is that changes to the data are not captured the moment they were available e Polled The data in polled logs is generated only when requested Typically the data in these logs such as configuration settings does not change 4 2 2 Log Triggers Each log can be configured for output when a certain condition or trigger is met The possible triggers are ONNEW Output a new log whenever the message is updated not necessarily changed ONCHANGED Output a new log whenever the message has changed ONTIME Output a new log at a specified interval in seconds ONCE Output the current existing message Only a single log will be generated For each log type described in Section 4 2 1 only certain triggers are valid For example the VERSION log is a polled log because it does not change Therefore it would not make sense to log this kind of data using the ONCHANGED or ONNEW triggers The following table outlines the valid triggers for each log type Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 33 Chapter 4 Using Commands and Logs Table 3 Log Triggers for Each Log Type Type Recommended Triggers Illegal Triggers Synchronous ONTIME SE Asynchronous ONCHANGED Polled ONCE as 4 2 3 Specifying Log Formats 4 3 34 Logs can be requested in two formats ASCII or
130. tes of the body of the 8 leh ie UShort message This does not include the header 2 8 N 8 nor the CRC For multiple related logs A number that counts down from N 1 to 0 where N is the 9 sequence UShort number of related logs and 0 means it isthe 2 10 N last one of the set Most logs only come out one at a time in which case this number is 0 The time that the processor is idle in the last second Take the time 0 200 and divide by 19 idle time Char two to give the percentage of time 0 a p 100 time The quality of the GPS time as described in b i status Enum Section 4 4 2 4 on Page 42 1 13 N 12 week UShort GPS week number 2 14 N milli Milliseconds from the beginning of the GPS b 13 seconds er week 16 N 32 bits representing the status of various 14 receiver ULong hardware and software components of the 4 20 Y status receiver This number is described in Table 40 Receiver Status on Page 87 15 UShort 2 24 Y Reserved Reserved for internal use 16 UShort 2 26 Y a This ENUM is not 4 bytes long but as indicated in the table is only 1 byte b These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 38 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Using Commands and Logs Chapter 4 4 4 Fields The comm
131. the status display screen only displays the software version of the receiver card If one error exists for the I O Master system clock or cooling fans the third column of the 11th row I O Master system clock or 12th row cooling fans of the status display screen displays the error message If multiple errors exists in this case the third column of the 11th row I O Master system clock or 12th row cooling fans cycles through at 0 5 Hz through each error If no errors exist for the I O Master system clock or cooling fans the third column of the 11th row I O Master system clock or 12th row cooling fans of the status display is blank If one error exists for the I O Master card the third column of the 1st row of the status display screen shall toggle at 0 5 Hz between the software version and the error on the I O Master card until the I O Master card is reset or the errors are corrected If multiple errors exist on the I O Master card the third column of the 1st row of the status display screen shall cycle at 0 5 Hz through each I O Master card error and toggle the software version on the I O Master card until the I O Master card is reset or the errors are corrected If no errors exist for the I O Master card the third column of the Ist row of the status display shall only display the software version on the I O Master card If one cooling fan fails the error message in the third column of the status display is FANI 0 or FAN2 0 and the
132. ts Notice 77 Chapter 6 78 Data Logs 18 0 23213833 497 0 233 121989516 277 0 008 2859 917 45 0 2087 500 00105c84 22 0 20974251 108 0 107 110220432 556 0 003 1649 832 51 9 2086 150 00105ce4 9 0 22948411 726 0 226 120594715 003 0 006 2453 190 45 3 2098 720 00105d04 32 0 24060920 270 0 186 126440997 956 0 006 2965 209 47 0 1913 830 00105d24 11 0 22913825 477 0 193 120412969 613 0 007 2375 712 46 7 2094 820 00105d44 6 0 25469785 009 0 819 133844606 635 0 020 3172 542 34 1 2028 630 00105d64 11 0 72593160 039 0 042 309642554 388 0 006 375 892 51 5 2058 000 04bb3c04 12 0 73392126 530 0 041 313050505 572 0 006 304 696 51 8 2056 080 04bb3c24 5 0 70026994 368 0 041 298696705 762 0 006 346 924 51 7 543 180 04bb3c44 25 0 73151794 072 0 041 312025389 692 0 003 1967 088 51 6 1953 000 04bb3c64 4 0 72969726 236 0 042 311248787 327 0 004 1786 392 51 4 1792 240 04bb3c84 30 0 73717629 476 0 042 314438915 136 0 004 859 282 51 4 716 300 04bb3ca4 10 0 73698971 337 0 040 314359339 638 0 006 193 197 51 9 2073 480 04bb3cc4 19 0 74308510 867 0 041 316959299 301 0 004 1009 474 51 8 1438 180 04bb3ce4 d978acbc Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Data Logs Chapter 6 Table 32 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x0000000 I 1 0x00000002 NO 0 to 22
133. uld be applied E sigchan re to this signal channel Ulong a H Noise eguivalent bandwidth of 3 bw 0 001 0 5 DLL filter in Hz Float 4 H 4 Example SDLLBW 0 0 01 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 59 Chapter 5 Commands 5 3 10 SPLLBW Configure Phase Lock Loop Bandwidth 60 MI 1 This command can fundamentally change the way that the receiver operates Do not alter the default settings unless you are confident that you understand the consequences 2 When you change this command the selected channel loses lock and the locktime for its tracking satellite is reset to zero 3 The log orders for C A signals are 3rd order This command sets the PLL low pass filter bandwidth for one channel A time filtered square of the L1 carrier phase tracking loop error signal is used to track the performance of this tracking loop This value is used as the variance of L1 carrier phase measurements The threshold specified by this command is compared with the loop variance to determine when the signal tracking lock time is reset The resetting of the signal lock time is used to indicate that conditions exist in which a cycle slip might occur The time filtering that is performed on the loop variance determination is controlled using the third argument of this command This value is used to compute the first order time constant that provides a noise equivalent bandwidth for the specified bandwidth The filtering equatio
134. w elevation cut off angle Float 4 H 8 5 chans Number of hardware channel data sets to follow Long 4 H 12 6 PRN Satellite PRN number of range measurement Short 2 H 16 7 Reserved Short 2 H 18 8 ch tr status Channel tracking status See Table 32 on Page 79 ULong 4 H 20 9 psr Pseudorange m Double 8 H 24 10 Doppler Doppler frequency Hz Float 4 H 32 11 C No Carrier to noise density ratio dB Hz Float 4 H 38 12 tock a de seconds of continuous tracking no Float 4 H 42 13 psr res Pseudorange residual from pseudorange filter m Float 4 H 46 14 reject KA Wa Dig pseudorange filter See Gal 4 H 50 15 psr weight Pseudorange filter weighting Float 4 H 54 16 Next hardware channel data set offset H 16 previous chans x 40 variable 32 bit CRC ASCII and Binary only Hex 4 awa x 40 Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 93 Chapter 6 Data Logs Recommended Input LOG TRACKSTATA ONTIME 1 Example Output TRACKSTATA COM1 0 46 5 FINE 494 345320 000 00000000 0000 0 INSUFFICIENT OBS NONE 0 000 64 12 0 05433c04 73392150 510 280 328 52 383 1989 530 0 000 GOOD 0 000 25 0 05433c24 73151818 188 1809 716 52 367 1110 730 0 000 GOOD 0 000 11 0 05433c44 72593184 134 345 818 52 396 1987 510 0 000 GOOD 0 000 4 0 05433c64 72969747 944 1643 476 52 425 2044 510 0 000 GOOD 0 000 19 0 05433c84 74308534 984 928 721 52 370 1662 790 0 000 GOOD 0 000 26 0 05433ca4 70845868 61
135. with the unit using external data communications equipment The JO and GPS Data ports are bi directional and allow you to send commands to and receive data from applicable receiver sections They are configured as COM1 The Time ports are bi directional from either section to the other and are synchronized to the clock signal available at the 1PPS connector The data transfer rate is fixed at 115200 bps with one stop bit For your initial testing and communications you will probably be using either a remote terminal or a personal computer that is directly connected to COM by means of a serial cable Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice 21 Chapter 2 Installation The serial ports have a DE9P connector as shown in Figure 6 and Figure 8 Figure 7 shows a USB port used for the USB Data ports Table 54 on Page 112 in Appendix A provides technical specifications on these ports See Appendix B starting on Page 117 for acronym meanings DCD RXD TXD DTR GND DSR RTS CTS NC Figure 6 Data Port Figure 7 USB Port NC NC TXD DTR GND Figure 8 Time Port 2 1 2 1 Configuring the Data Communications Equipment for Communications Because the GTR communicates with the equipment via serial ports both units require the same port settings The serial port settings of the data equipment should match these on the receiver e RS 232C protocol e 115200 bits per second bps the default is 115200
136. xceeds that specified by the window parameter of the ASSIGN command the satellite may never be acquired or re acquired If a PRN has been assigned to a channel and the channel is currently tracking that satellite when the channel is set to AUTO tracking the channel will immediately idle and return to automatic mode To cancel the effects of ASSIGN you must issue the following The ASSIGN command with the state set to AUTO This will return SV channel control to the automatic search engine immediately lt 1 Assigning a PRN to an SV channel does not remove the PRN from the search space of the automatic searcher only the SV channel is removed i e the searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs I to 32 To track the Galileo GIOVE A experimental satellite use PRN 51 To track the Galileo GIOVE B experimental satellite use PRN 52 2 Assigning an SV channel sets the Channel Assignment bit to 1 for forced assignment in the Channel Tracking Status field of the RANGE log The RANGE log is specified in Section 6 3 5 on Page 76 3 Channels 44 47 cannot be assigned These channels are always idled Galileo Test Receiver GTR User Manual Rev 5 Limited Rights Notice Commands Syntax ASSIGN CHANNEL STAT m i E E w DOPPLI WINDOW wu PRN header Valid Values Description Format

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