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SMART-AG User Manual

1. rennonrrrnnrnnrrrnrrnnnrnnrrnnrnnnrnnnnnnrrnnnnnnrrnnnnnnrnnnnnn 24 Available CAN Signals on the SMART AG 0 ccccecceceeeeeceeeeeeeeeeeeeeeeeeeseeeeseneeeees 26 NovAtel Logs for Rinex Conversion ssrrrvvvnrvvvnrrnvanrnvrnnnvrnrnvrnrenvnrevenenvrernvrnsrnrevensesen 47 SMART AG Development Kit Cable Pinouts rrrnnrnnrrnnrrnnrrnrrnnnrnnrrnnnnnnrrnnnnnnrnnnnnn 63 SMART AG Mating Connectors ccccceeeeceeeceeceeeeeeeeeeeeeeeeeeeecaeeeeeecaeeeeseneeeeesenees 64 Recommended Fuse and Fuse Holders cccceeecceeeeeeeeeeeeeeeeeeeeeeeesenaeeeeesenees 65 SMART AG Commands in Alphabetical Order cccccecceeeeeeceeeeeeeeeeeeeeeeeesenees 66 COM Serial Port Identifiers cccccecesecceeeenceeeeeeeeeeeeeneeeeeeeeeeeeecaeeeeeseeeeeeseneeeeesaees 68 Pam 68 H ndshakng aS 68 PRESET laget eee cca te esate ee ee ate te eter See ea 70 Detailed Serial Port Identifiers cccccccececceceeeeeceeeeeeceeeeeeeeeeeeeeaeeeeeseeeeeessneeeeeeeaees 75 Response Modes ccceeeeceeeeeeceeeeeeeeeeeeeneeeeeeaaeeeeseaeeeeeseaeeeesecaeeeeesneeeeessneeeeesenees 79 SMART AG Logs in Alphabetical Order srrnnrnnnnnnnrnnrrnnrrnnrnnnrnnnnnnnrnnnnnnrrnnnnnnrnnnnnn 82 Position or Velocity TypPe cc ccccceeseeceeeeeeeeeeeeseeeeeeeeaceeeeseaeeeeeeaeeeesseaeeeeseneeeeesenees 84 Solution SET 85 Component Types ae e eE eea aaee AE eE EEE E 86 SMART AG User Manual Rev 4 Figu
2. SMART AG User Manual Rev 4 65 PN rd Commands The SMART AG firmware implements the commands in Table 9 in addition to the OEMV family command set The LOG command is available to all OEMV receivers but is an essential command to do any logging It is included in this appendix for your convenience Table 9 SMART AG Commands in Alphabetical Order ASCII Command Message ID Description freset 20 Factory reset Existing OEMV Command extended to SMART AG log 1 Request logs from the receiver Existing OEMV Command extended to SMART AG radarcfg 8192 Configure the ER signal output New SMART AG command reset 18 Perform a hardware reset Existing OEMV Command extended to SMART AG The arguments for each of these commands are described in the following sections For a complete listing and description of the other commands that the SMART AG an OEMV 1G based receiver is capable of processing refer to the OEMV Family Firmware Reference Manual B 1 SYNTAX CONVENTIONS The following rules apply when entering commands at the command prompt from a keyboard l Courier font is used to illustrate program output or user input References to other commands logs or any of their fields are shown in italics The commands are not case sensitive For example you could type either RESET or reset ee Except where noted either a space or a comma can separate commands and their required entries
3. Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend
4. Example auth 17cb 29af 3d74 01ec fd34 11 smrter Once the AUTH command has been executed the OEMV family receiver will reboot itself Issuing the LOG VERSION command will confirm the new upgrade model type and version number If communicating using CDU the communication path needs to be closed and re opened using the Device menu 4 4 2 Updating Using the WinLoad Utility WinLoad is required instead of the AUTH command when upgrading previously released firmware with a newer version of program and model firmware for example upgrading a SMART AG PVT firmware version 3 600 to SMART AG RT 20 firmware version 3 700 WinLoad is a Windows utility program designed to facilitate program and model upgrades Once WinLoad is installed and running it will allow you to select a host PC serial port bit rate directory path and file name of the new program firmware to be transferred to the OEMV family receiver via its COM1 or COM2 port The port chosen must have an RS 232 interface to the PC Transferring Firmware Files To proceed with your program upgrade you must first acquire the latest firmware revision You will need a file with a name such as OEMXXXX EXE where XX XX is the firmware revision level This file is available from NovAtel s FTP site http www novatel com or via e mail support novatel ca If transferring is not possible the file can be mailed to you on CD For more information on how to contact NovAtel Customer Service ple
5. Off Tracking at least one satellite but not a valid position On On Off Position valid in basic autonomous mode On On Flashing SBAS tracking but not enough data for enhanced solution On On On Position valid in an enhanced accuracy mode WAAS EGNOS MSAS DGPS or RTK Flashing means that the LED is turning on and off at a 1 Hz rate 0 5 seconds on and 0 5 seconds off Debugging e Ifthe power is on but the yellow LED doesn t flash within one minute then no satellites are 24 SMART AG User Manual Rev 4 Installation and Setup Chapter 2 tracking There may be excessive blockage or the unit may be defective Make sure the unit has an unobstructed view of the sky Try power cycling the unit e Ifthe yellow LED is flashing but doesn t progress to solid yellow within one minute then insufficient satellites are tracking or the signal quality is poor and ephemeris data can t be received Normally four satellites are sufficient for a valid position as long as they are widely distributed in the sky If it is stuck on blinking yellow there may be excessive blockage or the unit may be defective Make sure the unit has an unobstructed view of the sky Try power cycling the unit e Ifthe yellow LED is on but the green doesn t turn on within five minutes than no SBAS or DGPS positions are available If you are using SBAS make sure SBAS is available in your area and that the unit is configured to enable SBAS positions SBASCONTR
6. SMART AG User Manual OM 20000123 Rev 4 SMART AG User Manual Publication Number OM 20000123 Revision Level 4 Revision Date 2009 12 17 Firmware Version 3 710 SMART AG application 1 100 Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication AdVance NovAtel Narrow Correlator tracking technology OEMV ProPak and RT 2 RT 20 are registered trademarks of NovAtel Inc PAC and SMART AG are trademarks of NovAtel Inc The Bluetooth word mark and logos are registered trademarks owned by Bluetooth SIG Inc and any use of such marks by NovAtel Inc is under license All other brand names are trademarks of their respective holders Manufactured and protecte
7. 2 2 5 3 Leveling the Tilt Sensor The vehicle must be parked on flat ground when the level command is sent to the SMART AG Refer to Appendix B 5 PMDT Configure Tilt Compensation starting on page 77 for instructions on how to send the level command After the tilt sensor has been leveled the data must be saved to non volatile memory using the save command Instructions on using the save command are outlined in Appendix B 5 PMDT Configure Tilt Compensation starting on page 77 SMART AG User Manual Rev 4 27 Chapter 3 Operation Before operating the SMART AG for the first time please ensure that you have followed the installation instructions in Chapter 2 Installation and Setup starting on Page 21 The following instructions are based on a COM port configuration such as that shown in Figure 9 on Page 32 It is assumed that a personal computer PC or laptop is used during initial operation and testing for greater ease and versatility 3 1 Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device This could be either a terminal or PC laptop that is directly connected to the receiver serial port using a DB 9 connector on the SMART AG multi cable If you are using a radio it connects to another DB 9 connector on the same multi cable by means of the radio serial cable supplied with the radio It is recommended tha
8. National Geodetic Survey Web site at http www ngs noaa gov CORS Rinex2 html SMART AG User Manual Rev 4 45 Chapter 4 PC Utilities The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files lt Although RINEX is intended to be a receiver independent format there are many optional records and fields Please keep this in mind when combining NovAtel and non NovAtel RINEX data When converting to RINEX two files are produced a RINEX observation file and a RINEX navigation file A third GLONASS file is produced if the data contains GLONASS observations The default names of these files conform to the RINEX Version 2 10 recommended naming convention of ssssdddf yyt where SSSS 4 character station name Convert4 uses the first four characters of the lt infile gt parameter as the station ID ddd day of year f file sequence number within the day Convert4 sets this to zero t file type o for the observation and n for the navigation file Selecting the RINEX field see Figure 11 Convert4 Screen Examples on Page 45 in the Convert4 To section causes the 1 Destination File field to be replaced by the Observation File and Ephemeris File fields Note that Observation File refers to the RINEX OBS file while Ephemeris File refers to the RINEX NAV file 2 RINEX Headers buttons to appear allowing you to supply additional information that appears in the header records of the RINEX output files for e
9. 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2 31 6bf 1727 USB port 2 virtual port 31 USB3 7a0 1952 USB port 3 virtual port 0 USB3 31 7bf 1983 USB port 3 virtual port 31 AUX 8a0 2208 AUX port virtual port 0 AUX_31 8bf 2239 AUX port virtual port 31 XCOM3 9a0 2464 Virtual COM3 port virtual port 0 XCOM3_ 31 9bf 2495 Virtual COM3 port virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header b The AUX port is available on OEMV 2 based and OEMV 3 based products c SMART AG only Refer to the SMART AG Firmware Reference Manual and CDU s Help file SMART AG User Manual Rev 4 B 5 PMDT Configure Tilt Compensation Use this command to configure the Tilt Compensation function Syntax SPMDT command parameters cksum Host Description Set Field Level Command Format PMDT I cksum crif Example SPMDT 1 4D Tilt Sensor Response Response to the 1 command PMDT lt Level state set crlf Example SPMDT lt Level state set ab Set GPS Sensor Height To set the GPS sensor height in feet and inches PMDT u ff ii cksum crlf Example To set the GPS sensor height to 12 ft 6 in the command is PMDT u 12 6 4D Note Feet and inches are entered as integers You can enter feet and inches but not feet inches and metres R
10. AG cable is also a power cable The power LED on the back of the receiver glows red when the SMART AG is properly powered DI Fuse holder recommendations can be found in Table 8 Recommended Fuse and Fuse Holders on page 65 User Supplied 5A Fast Blow Fuse Emulated Radar MKI PPS COM SMART AG User Manual Rev 4 21 Chapter 2 Installation and Setup Figure 3 Simplified SMART AG Setup lt Minimum conductor size for all wiring is 0 5 mm 20 AWG 2 1 2 Installing the PC Utilities Once the SMART AG is connected to the PC laptop and a power supply install NovAtel s PC Utilities These include CDU a graphical user interface program 1 Start up the PC laptop 2 Insert the accompanying CD see Figure 4 below in the CD ROM drive of the computer 3 Select Install the OEMV GPS PC Utilities from the window that is automatically displayed lt If the window does not automatically open when the CD is inserted select Run from the Start menu and select the Browse button to locate Setup exe on the CD drive 4 Install the PC Utilities by advancing through the steps provided in the NovAtel PC Utilities setup program www novatel com ig Figure 4 OEMV CD 2 1 3 Power Supply Requirements 22 The SMART AG requires 8 to 36 VDC for the input power to the receiver See Page 60 for more power supply specifications The SMART AG cable provides power in with a BATT label and
11. FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SER VICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSE QUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the NovAtel receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase You may also visit our Web site at http www novatel com and select Support Repair Requests from the top menu 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 SMART AG User Manual Rev 4 12 The following notices apply to the SMART AG For more information on emissions testing please refer to the regulatory body in your geographic area For example in the US that is the Federal Communications Commission FCC and in Europe the Conformit Europ enne CE FCC This device complies with p
12. Logic 5V Tolerant INPUT OUTPUT CONNECTOR PROTECTION ISO 7637 2002 Survives all pulse types LED INDICATORS More details can also be found in Section 2 2 2 Status Indicators starting on Page 25 PHYSICAL 155 3 x 66 8 x 4155 mm gt Weight Operating Temperature 495 g maximum ENVIRONMENTAL 40 C to 75 C 55 C to 90 C Storage Temperature Humidity Not to exceed 95 non condensing Immersion MIL STD 810F Method 512 4 Procedure 1 Vibration Random MIL STD 810F Method 514 5 C17 Sinusoidal IEC 68 2 6 ASAE EP455 5 15 2 Level 1 Shock MIL STD 810 F Method 516 5 a When tracking GPS satellites 60 b o denotes diameter here and in the Dimensions graphic on Page 61 c See also the Notice section of this manual starting on Page 13 SMART AG User Manual Rev 4 Front of SMART AG unit 66 8 155 0 48 32 THREADED INSERT 4 PL a All dimension are in millimeters please use the Unit Conversion section of the GNSS Reference Book found at http www novatel com Support docupdates htmfor conversion to other measurements SMART AG User Manual Rev 4 61 A 2 1 SMART AG Power Communications Development Kit Cable 62 01018256 The SMART AG cable that accompanies the SMART AG Development Kit see Figure 28 below provides a means of supplying power from a battery while operating in the field The exposed wires red for positive
13. RTCMDATA1 CMRDATAOBS and more Refer also to the OEMV Family Firmware Reference Manual which describes the various message formats in more detail lt Information on how to send multiple commands and log requests using DOS or Windows can be found on our Web site at http www novatel com support knowledgedb htm 3 3 5 EGNOS EGNOS European Geostationary Navigation Overlay Service has been developed to work with existing satellite navigation systems to improve the accuracy of navigation signals The EGNOS signal is transmitted by two geostationary satellites and covers all of Europe EGNOS transmits a signal containing information on the reliability and accuracy of the positioning signals sent out by GPS ESTB EGNOS System Test Bed is a reduced version of EGNOS using dedicated monitoring stations and processing devices EGNOS and ESTB are two independent systems making use of its own SMART AG User Manual Rev 4 35 Chapter 3 Operation 3 4 3 5 36 ground segment infrastructure and different GEOs EGNOS and ESTB broadcast two different signals The ESTB is broadcasted on PRN pseudorandom number 126 and EGNOS is broadcasted on PRNs 120 and 124 Due to the experimental nature of the ESTB the signals are broadcast without any guarantee of service lt Use of the ESTB signal is not recommended by NovAtel Use this command to prevent tracking PRN 126 WAAS170101262550000000 EGNOS entered its pre operational phase
14. Table 10 Port to configure Enum 4 H COM Serial Port default THISPORT Identifiers on Page 68 3 bps baud 300 600 900 Communication baud rate ULong 4 H 4 1200 2400 4800 bps 9600 19200 Bauds of 460800 and 921600 38400 57600 are also available on COM1 of 115200 or 230400 OEMV 2 based products 4 parity See Table 11 on Parity Enum 4 H 8 Page 68 5 databits 70r8 Number of data bits ULong 4 H 12 default 8 6 stopbits 1or2 Number of stop bits ULong 4 H 16 default 1 7 handshake See Table 12 on Handshaking Enum 4 H 20 Page 68 8 echo OFF 0 No echo Enum 4 H 24 default ON 1 Transmit any input characters as they are received 9 break OFF 0 Disable break detection Enum 4 H 28 ON 1 Enable break detection default SMART AG User Manual Rev 4 69 B 3 FRESET Clear Selected Data from NVM and Reset The OEMV freset command is extended to include SMART AG features An additional target field userdata value 10 resets only the SMART AG user data NVM thereby resetting all parameters indicated in this document as Stored in NVM to factory defaults Issuing the freset command with the target field set to standard resets the userdata NVM as well as OEMV parameters as indicated in the OEMV Family Firmware Reference Manual Issuing the FRESET command affects Tilt as follows e Tilt sensor level is restored to the factory default e Tilt enable disable will not be affected lt If you iss
15. WAAS 0 0139 0 00 0 00 0d580ca ASCII Example 2 moving SMART AG RADARSIGNALA COM1 0 42 5 FINESTEERING 1428 206179 600 00000000 baa8 3349 SOL COMPUTED WAAS 0 3315 2 0 3152 473 97 29 62 c1479c20 82 SMART AG User Manual Rev 4 Binary Binary Field Field type Data Description Format Bytes Offset 1 RADAR Log header H 0 SIGNAL header 2 sol status Solution status see Table 18 Solution Status on Enum 4 H Page 85 3 vel type Velocity type see Table 17 Position or Velocity Enum 4 H 4 Type on Page 84 4 speed Speed over ground m s Double 8 H 8 4 varf freq External VARF output frequency Hz Double 8 H 16 5 radar freq Radar signal frequency Hz as output by the Double 8 H 24 Emulated Radar Out signal See SMART AG Development Kit Cable starting on Page 62 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 7 CR LF Sentence terminator ASCII only SMART AG User Manual Rev 4 83 Table 17 Position or Velocity Type Type binary Type ASCII Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED P
16. and black for negative can then be connected to a 12 or 24V vehicular power circuit or equivalent protected by a 5A fast blow fuse user supplied The cable also has two DB 9 connectors One can accommodate a PC laptop serial RS 232 communication port and the other can connect to a modem or radio transmitter to propagate differential corrections please refer to your user supplied modem or radio transmitter user guide for more information on its connectors In addition there are a number of bare wires where the outer insulation is cut away but the wires beneath are intact See Table 6 on Page 63 for their pinouts For more information on mating connectors and part numbers see Zable 7 on Page 64 This cable is RoHS compliant and its part number is 01018256 5A Fast Blow Fuse User Supplied EG BLACK ATT p BLUE BATT ER_OUT WHT BLK ER GND SEE DETAIL A EO O O O WHITE MKI e m HT BLK PI MKI GND E 12 com 1 Oo WHT BLK SEEDETAIL p PES END a ene YELLOW D CANT DETAIL A SCALE 1 000 REEN CAN1 SCALE 0 500 DETAIL C SCALE 1 000 DETAIL B SCALE 1 000 Figure 28 SMART AG Development Kit Cable SMART AG User Manual Rev 4 Table 6 SMART AG Development Kit Cable Pinouts Color Signal Name J1 J2 J3 Label Red COM1_TXD 1 2 White COM1_RXD 2 3 Red COM2_TXD 3 2 White COM2_RXD 4 3 Black COM1 GND 5 5 Black COM2 GN
17. and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howso ever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other li
18. for communications protocol or to write special software The Convert utility is a windows based utility that allows you to convert between file formats and strips unwanted records for data file compilation See also Page 22 3 2 1 Starting the Receiver When first powered the SMART AG undergoes a 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 Refer to the chapter on Messages in the OEMV Family Firmware Reference Manual for header information If a persistent error develops please contact your local NovAtel dealer first If the problem is still unresolved please contact NovAtel directly through any of the methods listed in the Customer Service section at the beginning of this manual on Page 16 SMART AG User Manual Rev 4 29 Chapter 3 Operation 3 22 Communicating with the Receiver Using CDU 30 Launch the CDU program and select Device Open from its main menu The Open Configuration window appears Figure 8 below shows an Open Configuration window with two possible configurations already set up Your configurations may be different or you may have none at all in which case the Open Configuration window is empty _ Available device configs FlexPakGG COM1 at 115200 Baud COM2 at 115200 Baud COM1 at 115200 Baud Figure 8 Open Configuration Window Refer to CDU s help file by
19. group has added some new messages called PGNs or Parameter Group Numbers and added a new additional transport protocol called FastPacket NMEA2000 compliant for all intents and purposes means J1939 compliant plus support for new NMEA2000 messages In other word one cannot have NMEA2000 without J1939 support as well J1939 is additionally harmonized with ISO 11783 a standard for the agriculture industry SMART AG User Manual Rev 4 25 Chapter 2 Installation and Setup The CAN module is generally not user interactive It is activated when a SETCANNAME command is entered and after a SAVECONFIG the CAN module is activated immediately on all subsequent start ups The module supports the following NMEA2000 Parameter Group Message PGN e PGN 129029 GNSSPositionData e PGN 129025 GNSSPositionRapidUpdate e PGN 129026 COGandSOGRapidUpdate Table 4 Available CAN Signals on the SMART AG CAN Pins CANI Pin 6 CANI Pin 7 2 2 5 Tilt Compensation To fully install and set up tilt compensation 1 Mount the SMART AG on the vehicle 2 Measure set and save the height of the SMART AG from the ground 3 Level the tilt sensor and save the data 2 2 5 1 Physical Installation The SMART AG must be mounted as close to the center of the vehicle as possible as illustrated in Figure 6 SMART AG Figure 6 SMART AG Installation 26 SM
20. hgt enter your own lat lon and hgt values com com2 9600 N 8 I N off interfacemode com2 none rtca off log com2 rtcaref ontime 10 log com2 rtcaobs2 ontime 1 log com2 rtcal ontime 5 optional enable code DGPS coverage saveconfig optional save configuration to non volatile memory Rover Station com com2 9600 N 8 1 N off interfacemode com2 rtca none off log coml bestposa ontime 1 optional view position information saveconfig optional save configuration to non volatile memory 3 3 4 Configuration Notes 34 For compatibility with other GNSS receivers and to minimize message size it is recommended that you use the standard form of RTCA RTCM RTCMV3 or CMR corrections as shown in the base and rover examples above This requires using the INTERFACEMODE command to dedicate one direction of a serial port to only that message type When the INTERFACEMODE command is used to change the mode from the default NOVATEL you can no longer use NovAtel format messages SMART AG User Manual Rev 4 Operation Chapter 3 If you wish to mix NovAtel format messages and RTCA RTCM RTCMV3 or CMR messages on the same port you can leave the INTERFACEMODE set to NOVATEL and log out variants of the standard correction messages with a NovAtel header ASCII or binary variants can be requested by simply appending an A or B to the standard message name For example on the base station interfacemode com2 novatel novatel fix position
21. in 2006 and at the time of writing is still in test mode and so the signal broadcast by the EGNOS satellites via PRNs 120 amp 124 should be used with caution By default NovAtel receivers will not use SBAS signals in test mode If you wish to use these signals you must issue the following command sbascontrol enable egnos 0 zerototwo More information on the ESTB can be found at http www esa int estb More information on EGNOS can be found at http www esa int egnos GL1DE SMART AG contains NovAtel s GLIDE which is a positioning algorithms for single frequency GPS and GPS GLONASS applications GLIDE produces a smooth position output tuned for applications where optimal time relative pass to pass accuracy is more important than absolute accuracy Because of this it is well suited for agricultural applications Multipath signals tend to induce time varying biases and increase the measurement noise on the L1 pseudorange measurements Carrier phase measurements are much less susceptible to the effects of multipath The GL DE algorithm fuses the information from the L1 code and the L1 phase measurements into a Position Time Velocity PVT solution GLIDE includes settings for a dynamic mode a static mode and an auto mode where the filtering parameters are automatically adjusted as vehicle velocity varies between stationary and dynamic states Refer to the NovAtel white papers at www novatel ca products whitepapers htm fo
22. mrrnrrrnnrnnrrnnnrnnnrnnrrnnnnnnrnnnnnnnrnnnnenrrnnnnenrnnnnnerrnnnnenrnnnnnnnrnnnnnnnnnnnn 51 15 Open File in WinLoad eennnnnrnrnonnnrnnnrnnrnnnnrnnnnennnnnnnnnnnnnnnnnennnnnnnrnnnnennnnnnnenrnnnnnnnrnnnnennnnnnn 51 16 COM Por Selp sa EE 52 17 Searching for Card savner 52 18 Authorization Code Dialog rrrrnrrnrrrnnrnnrrnnnrnnrnnnrrnnnnnnrnnnnnnrrnnnnnnrrnnnnenrnnnnnerrnnnnnnrrnnnnnnnn 52 19 Upgrade Process Complete ccccccccceeeeeeeeeeeeceeeeeeaeeeeeeaeeeeeeaeeeeeeeeeeeeseeeeeesneeeeeesaees 53 20 Bluetooth Adapter for PC Laptop 0 cccccecccceeeecceeeeeeeeeeeeeeeeeeeceeeeeeseaeeeeeeneeeeeeeneeeeeseaees 54 21 Bluetooth Standby White eiiiai neins a e anat eann iiaa 54 22 Bluetooth Error Red 2 nansermn auetrestsetet avadeet Hpnded o a a aaa anan CREE 54 23 My Bluetooth Places Window ccccccccceeeecceeeeeeceeeeeeeeeeeeeneeeeeeaeeeeseeaeeeeecseeeeeseneeeeeeeaees 55 24 Bluetooth PIN Code Request rnnnrnnnnnnnnnnrnnnnnnvnnnnrnnnnnnnnnnnnnnrnnnnnnnennnnnnnennnnenrnnnnnnnennnnen 56 25 PC Laptop COM3 Port Assignment mnrnnnnnnnrnnnnnnnrnnnnnnrrnnnnenrnn raneren nnnnrrnnnnnnrnnnnnnnrnnnnnn 56 26 Bluetooth Connected Green rrnrnnnrnnrnnnnrnnrnnnrnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnntrnnnnnnnnnnnnnnennnnen 57 27 COM3 Disconnect unndratt susen e eaa aaa a e aa A a a aa ea E Eae 57 28 SMART AG Development Kit Cable mmnnnnnnrnnnnnrrrnrrnnnnrnnrnnnnnnrrnnnnnrrrnnnnenrnnnnnnrrnnnnnnrnnnnn
23. operation in the specific environment Typical installation is the tractor cab roof ideally close to the pivot point of the tractor See 2 2 5 1 Physical Installation on Page 26 for additional requirements 2 1 6 Connecting Data Communications Equipment To communicate with the receiver by sending commands and obtaining logs a connection to data communications equipment is required See the SMART AG Cable Pinouts table on Page 63 for more SMART AG User Manual Rev 4 23 Chapter 2 Installation and Setup information 2 2 Additional Features and Information This section contains information on the additional features of the SMART AG which may affect the overall design of your receiver system 2 2 1 MKI and PPS Strobes An input MKI and output PPS strobe provide status and synchronization signals PPS is a 3 3V CMOS output MKI is a SV logic tolerant input Pin out information can also be found on Page 63 2 2 2 Status Indicators LED indicators on the SMART AG provide the status of the receiver They represent these categories Position Status Position Type Power Table 3 shows the meaning of the LED states in the expected sequence after power is applied Table 3 SMART AG LED Status Indicators Yellow Green id W4 Condition Off Off Off Power is not available Red indicator may also not be lit if a boot failure has occurred On Off Off Power available but no satellites are tracking yet On Flashing
24. or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffered by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SMART AG User Manual Rev 4 11 Warranty NovAtel Inc warrants that its products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time from the date of sale SMART AG One 1 Year Antenna One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location or in the case of software
25. power ground with a BATT label bare wires for connections from the SMART AG to a 12 to 24V vehicular power system or equivalent protected by a 5A Fast Blow Fuse user supplied See its cable details starting on Page 64 A WARNING The SMART AG power source must be protected by a 5A Fast Blow Fuse or damage to wiring may result not covered by warranty If the voltage supplied is above or below the specified range the receiver will suspend operation If the voltage supplied is above 48V the receiver may be permanently damaged voiding your warranty SMART AG User Manual Rev 4 Installation and Setup Chapter 2 2 1 4 Mounting Plate A mounting plate is available to facilitate mounting the receiver to a surface Figure 5 SMART AG Mounting Plate lt All measurements are in inches unless specified otherwise To install the mounting plate provided with the SMART AG Development Kit use the adhesive tape attached or the mounting holes at each corner of the plate 2 1 5 Mounting the SMART AG The SMART AG is a single frequency GNSS receiver and antenna When installing the SMART AG do the following e Choose a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For more information refer to the GNSS Reference Book found at http www novatel com support docupdates htm e Mount on a secure stable structure capable of safe
26. provision of a software revision for implementation by the customer Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLA TION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMI TIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL IID NOR MAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PER SON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PROD UCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WAR RANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS
27. returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity
28. said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is con veyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect it
29. selecting the Help Contents menu Ensure you can see the Console and ASCII Messages windows by selecting them from the View menu When the receiver is first turned on no data is transmitted from the COM ports except for the port prompt The console window displays a port name COM1 ifconnected to COMI port or COM2 ifconnected to COM2 port Any of the above prompts indicate that the receiver is ready and waiting for command input lt 1 You may also have to wait for output from receiver self tests For example on start up the OEMV family receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports Refer to the OEMV Family Firmware Reference Manual for more details 2 Ifyou find that CDU is unable to locate your OEMV family receiver it may be that you have previously used the SAVECONFIG command In this case try using a different COM port to communicate to the receiver Once communication has been established issue the command FRESET STANDARD You should now be able to use your original communication port again SMART AG User Manual Rev 4 Operation Chapter 3 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 as COM2 fix position 51 11635 114 0383 1048 2 carriage return lt OK where COM
30. that channel the Signal to Noise Ratio Pseudorange measurements Doppler values Residuals measurements and Lock Time from the satellite The TRACKSTAT log provides the data for many of the fields listed in this window The number of channels displayed depends on the model of your receiver and the bars are color keyed to indi cate the frequency type on the channel gi Open these windows by selecting Tracking Status Window GPS GLONASS from the View menu or by selecting the American and Russian flag buttons in the Window Tool bar Position Window The Position window displays The receiver s latitude longitude and height The Solution Type also known as Position Type The solution or differential age number of seconds the current solution has been SMART AG User Manual Rev 4 41 Chapter 4 PC Utilities 42 valid Normally this represents the latency in the correction data The number of satellites used in the solution The Solution Status The receiver s date and time GMT and local a Open this window by selecting Position Window from the View menu or its button in the Window Toolbar Right click in the Position window to that enables you to set the PC clock to the receiver s time change the font used to display the position data or set the units through the Options dialog box Velocity Window The Velocity window displays vertical and horizontal speed and direction The numeric displays within the dial and the
31. them to ASCII Binary or Rinex format The application also allows the user to screen out particular logs by selecting the desired logs from the list of available logs This feature is useful for screening particular logs out of large data files in either ASCII or Binary formats NovAtel OEM4 Convert ME EI Source File D inject OEMVP4 gps Open Destination File D inject OEMVP4 asd Save As Convert To I Selected Edit ASCII Time Edit C Binary it z in Convert File I RangeB Log Compression NorAtel I RangeCmpB Log Expansion Help Exit NovAtel OEM4 Convert Me EI Source File D inject OEMVP4 gps Open Observation File D inject OEMVP4 01 o Save As Ephemeris File D inject OEMVP4 01 n Save As Glonass File D inject OEMVP4 040 Convert To I Selected Edit a I Time Edit I RangeB Log Compression NorAtel I RangeCmpB Log Expansion RINEX Headers Nav File Help Obs File Exit Figure 11 Convert4 Screen Examples Convert File 4 3 1 Rinex Format The Receiver Independent Exchange RINEX format is a broadly accepted receiver independent format for storing GPS data It features a non proprietary ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers For further information on RINEX Version 2 10 file descriptions you may wish to consult the U S
32. these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta SMART AG User Manual Rev 4 Terms and Conditions 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in each case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be
33. want to disconnect RO Do you want to close the COM3 connection with the device w SMART AG C Do not display this message again Figure 27 COM3 Disconnect 5 Click on the Yes button in the COM3 dialog and the SMART AG s Bluetooth is unpaired from SMART AG User Manual Rev 4 57 Chapter 5 Bluetoothe Configuration your PC laptop When the SMART AG and PC laptop Bluetooth are unpaired the Bluetooth icon in the task bar appears white see Figure 21 on page 54 58 SMART AG User Manual Rev 4 hDg Technical Specifications A 1 SMART AG Receiver Performance PERFORMANCE 14 GPS L1 Channel Configuration 12 GLONASS L1 optional 2 SBAS Absolute P2P Autonomous 1 2m 25 cm Horizontal Position Accuracy RMS SBAS 0 8 m 18 cm DGPS 0 4m 23 cm RT 209 optional 0 2m 2 cm Measurement Precision L1 C A Code TOOM RMS L1 Carrier Phase 1 5 mm RMS A Measurements 20 Hz Maximum Data Rate Position 20 Hz f Time to First Fix Gold Start 653 Hot Start 35s Signal Reacquisition L1 0 5 s typical Time Accuracy 20 ns RMS Velocity Accuracy 0 03 m s RMS a Satellite Based Augmentation Systems SBAS include WAAS North America EGNOS Europe and MSAS Japan b Typical values Performance specifications subject to GPS system characteristics US DOD operational degradation ionospheric and tropospheric conditions satellite geometry baseline length multipath effects and the presence of in
34. 2 Figure 9 Basic Differential Setup Reference Description 1 SMART AG receiver User supplied 5A fast blow fuse User supplied power supply for example a battery User supplied device to COM1 User supplied radio device to COM2 User supplied PC laptop for setting up and monitoring to COM1 oun WN System biases can introduce errors refer to our GNSS Reference Book found on our Web site at http www novatel com support docupdates htm for more information In most cases you need to provide a data link between the base station and rover station two NovAtel receivers in order to receive corrections SBAS corrections can be accomplished with one receiver and are exceptions to the base rover concept Generally a link capable of data throughput at a rate of 9600 bits per second and less than 4 0 s latency is recommended Once your base and rover are set up you can configure them as shown in the configuration examples that follow in Sections 3 3 1 3 3 2 starting on Page 33 SMART AG User Manual Rev 4 Operation Chapter 3 3 3 1 Base Station Configuration At the base station enter the following commands interfacemode port rx_type tx_type responses fix position latitude longitude height log port message trigger period Examples of these commands include the following RTCA interfacemode com2 none rtca off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcaobs ontime I log c
35. 2 is the port prompt followed by the command you enter from your keypad or keyboard and carriage return indicates that you should press the lt Enter gt key The example above illustrates the command input to the base receiver s COM2 port which sets the position of the base station receiver for differential operation Confirmation that the command was actually accepted is the appearance of lt OK If a command is entered incorrectly the receiver responds with lt INVALID MESSAGE ID or a more detailed message A WARNING Ensure the Control Panel s Power Settings on your PC laptop are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session 3 3 Transmitting and Receiving Corrections RTK or DGPS corrections can be transmitted from a base station to a rover station to improve position accuracy The base station is the GNSS receiver which is acting as the stationary reference It has a known position and transmits correction messages to the rover station The rover station is the GNSS receiver which does not know its exact position and can be sent correction messages from a base station to calculate differential GNSS positions The SMART AG can be used as a base receiver to transmit RTK or DGPS corrections or a rover to receive the same corrections An example of a differential setup is given in Figure 9 on Page 32 SMART AG User Manual Rev 4 31 Chapter 3 Operation 3
36. 51 11358042 114 04358013 1059 4105 log com2 rtcmlb ontime 2 DI Using the receiver in this mode consumes more CPU bandwidth than using the native differential messages as shown in Section 3 3 1 Base Station Configuration on Page 33 At the rover station you can leave the INTERFACEMODE default settings interfacemode com2 novatel novatel The rover receiver recognizes the default and uses the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the base stations from which to accept pseudorange or RTK corrections respectively They are useful commands when the rover station is receiving corrections from multiple base stations Refer to the GNSS Reference Book for more information on SBAS available from our Web site at http www novatel com support docupdates htm lt All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility At the base station it is also possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful if you wish to modify the format of the corrections for a non standard application or if you wish to look at the corrections for system debugging purposes These variants have DATA as part of their names for example RTCADATA1
37. 62 6 SMART AG User Manual Rev 4 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELEC TRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELEC TRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copyrighted material except that you may make one copy of the Software solely for backup or archival purposes one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of
38. ART AG User Manual Rev 4 Installation and Setup Chapter 2 The SMART AG must be mounted with the connector facing the rear of the vehicle as shown in Figure 7 Orient towards gt front of vehicle Route cable towards rear of g vehicle Figure 7 SMART AG Orientation The SMART AG must be rigidly secured to the vehicle to minimize errors due to vibration and motion 2 2 5 2 Height Measurement and Configuration The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard packed and level surface The measurement should be made from the ground to the bottom of the SMART AG connector The measurement accuracy should be within I to 2 inches 2 5 to 5 0 cm Once the measurement has been made in feet and inches or metres refer to Appendix B 5 PMDT Configure Tilt Compensation starting on page 77 for instructions on how to set the height in the SMART AG The height must be saved after the height command is sent This must be done so the height data is saved between power cycles Instructions on sending the save command are outlined in Appendix B 5 PMDT Configure Tilt Compensation starting on page 77 Note that changes in tire pressure over time can potentially cause errors in tilt compensation This is because the height of vehicle can vary with tire pressure The SMART AG is shipped from the factory with the height set to 0 0 metres
39. Bluetooth adaptor Locate a Bluetooth enabled SMART AG in range e Communicate with the SMART AG using Bluetooth e Stop communicating with the SMART AG using Bluetooth 5 1 Bluetooth on the SMART AG Receiver Bluetooth is automatically configured on the SMART AG receiver s COM3 port Once your PC laptop is configured for Bluetooth operation see the next section use HyperTerminal or CDU to communicate through COM3 5 2 Set Up a PC Laptop with a Bluetooth Adaptor If your PC laptop is already Bluetooth equipped and ready proceed to Section 5 3 on Page 55 1 With the PC laptop powered on install the driver s from the disc that came with your Bluetooth adapter 2 Connect the Bluetooth adapter An example of a D Link USB adapter is shown in Figure 20 Figure 20 Bluetooth Adapter for PC Laptop Within two minutes of connecting the USB adapter the Bluetooth icon appears in the Windows task bar as shown in Figure 21 on page 54 4 3 24PM Figure 21 Bluetooth Standby White Continue on to the next section when you see the white Bluetooth icon If the Bluetooth Icon is red see Figure 22 below then the Bluetooth installation is on your PC laptop is incorrect and you should return to Step 1 Figure 22 Bluetooth Error Red SMART AG User Manual Rev 4 54 Bluetooth Configuration Chapter 5 5 3 Locate a Bluetooth Enabled SMART AG in Range lt Ensure that your PC laptop is equipped with a built in or externa
40. Configure Tilt Compensation starting on page 77 and information about installation and setup can be found in Chapter 2 Installation and Setup on page 20 SMART AG User Manual Rev 4 37 Chapter 3 Operation 3 7 Recommended Configuration The following command is recommended to enable CAN setcanname 305 The following command is recommended to enable SBAS WAAS EGNOS MSAS corrections sbascontrol enable The following commands are recommended to enable GL IDE pdpfilter enable pdpmode relative auto NovAtel has registered manufactured ID code 305 with J1939 When complete your configuration can be saved with the SAVECONFIG command Refer to the OEMV Family Firmware Reference Manual and APN 050 SMART AG Firmware Release for further details on these commands 38 SMART AG User Manual Rev 4 Chapter 4 PC Utilities 4 1 Visit http www novatel com support fwswupdates htm for the most recent versions of the PC software and receiver firmware CDU Convert4 Installation The CD accompanying this manual contains the Windows applications CDU Control and Display Unit and Convert4 The DL Explorer is part of CDU They are installed via a standard Install Shield set up application Also included on the CD is sample source code to aid development of software for interfacing with the receiver and product documentation These applications utilize a database in their operations so the necessary components of the Borland Database E
41. D 5 5 White Black MKI GND 5 MKI GND White Black ER GND 5 ER GND White Black PPS GND 5 PULSE PER SECOND GND Yellow CANI 6 CANI Green CANI 7 CANI RESERVED 8 Black PWR RET GND 9 BATT Blue EMULATED 10 ER_OUT RADAR OUT White EVENT MARK IN 11 MKI Orange PPS 12 PPS RESERVED 13 Red PWR INPUT 14 BATT SMART AG User Manual Rev 4 63 A 2 2 SMART AG Connector and Cable Requirements Custom cables for installing your SMART AG can be created using he following guidelines Wire size must be 0 5 mm 1 25 mm 20 16 AWG Batt connection must be protected by 5A fast blow fuse e Serial data signals TxD RxD signal ground must be run in shielded cable Connect shields to ground at SMART AG end only e CAN signal conductors must be twisted 40 twists m 12 twists ft e Use only the recommended mating connectors listed below Use only gold plated pins A WARNING Failure to observe the given cable construction guidelines in this section will result in damage to the wiring not covered by warranty The connector used in the SMART AG is an AMPSEAL dust and water sealed type produced by Tyco The following part numbers pertain to the mating connector required to make connections to the SMART AG These numbers are provided for information only and are not available from NovAtel as separate parts Table 7 SMART AG Mating Connectors Product Part Description Company Part Number SMART AG m
42. For example you could type either fix position 51 11358042 114 04358013 1059 4105o0rfix position 51 11358042 114 04358013 1059 4105 5 At the end of a command a carriage return is required For example press lt Enter gt or lt Return gt on your keyboard 6 Responses are provided to indicate whether or not an entered command was accepted The format of the response depends on the format of the command Refer to the OEMV Family Firmware Reference Manual for more information 7 Optional parameters are indicated by square brackets For commands that contain optional parameters the value used if the optional parameter is not specified is given in the syntax table for the command 8 Data format definitions as specified in the Format field are detailed in the OEMV Family Firmware Reference Manual Note that all binary data is little endian byte ordered SMART AG User Manual Rev 4 66 B 2 COM Configure COM Port This command permits you to configure the receiver s asynchronous serial port communications drivers The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each spaced by fifteen hundred milliseconds 1 5 seconds with a pause of at least 250 milliseconds following the second break This will e Stop the logging of data on the current port see UNLOGALL command in the OEMV Family Firmware Reference Manual e Clear the tran
43. LONASS L1 receiver a high performance GPS GLONASS L1 antenna emulated radar output e a CAN port two 2 RS 232 COM ports e three 3 LED status indicators a water and dust tight enclosure Bluetooth optional e tilt compensation optional 18 SMART AG User Manual Rev 4 Introduction Chapter 1 The SMART AG is available in several different firmware models whose configurations may include other additional features Some possible configurations can be seen in Table I below Table 1 SMART AG Controller Models Model Name Firmware Feature SMART AG PVT GPS L1 only Autonomous SBAS or DGPS 20 Hz positions with emulated radar output SMART AG PVT G As above with GLONASS L1 SMART AG PVT S GPS L1 only Autonomous SBAS or DGPS 5 Hz positions without emulated radar output SMART AG RT20 GPS L1 only Autonomous SBAS DGPS or 20 cm RT 20 positions SMART AG PVT U GPS L1 only Autonomous SBAS or DGPS 5 Hz positions with emulated radar output Refer also to the OEMV Family Installation and Operation User Manual for information on receiver communications and operation SMART AG User Manual Rev 4 19 Chapter 2 Installation and Setup This chapter contains instructions and tips to set up your SMART AG to create a GNSS receiver system 2 1 Additional Equipment Required In order for the receiver to perform optimally the following additional equipment is required e A PC la
44. OL ENABLE For DGPS make sure the unit is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working e The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled The LED will stay dark if SBAS is not detected 2 2 3 Emulated Radar ER The SMART AG outputs an emulated RADAR signal via the bare wires labeled ER GND and ER_OUT on the SMART AG cable See Zable 7 on Page 64 for the pin out details of this cable The ER outputs a logic high of supply voltage minus 0 5V minimum and logic low of 0 5V maximum with a rise and fall time of less than I ms Its output references signal GND and provides logic low output until its speed is greater than km Hr ER can be configured to operate at one of three distinct frequencies 26 11 28 12 or 36 11 Hz km Hr with 26 11 Hz km Hr being the default value and with an effective range from 1 km Hr to 55 km Hr for near horizontal applications See B 4 RADARCFG Configure the ER Output starting on Page 71 for more information 2 24 Controller Area Network CAN NMEA 2000 is a CAN standard created by the National Marine Electronics Association and designed to support networking in marine applications It functions over a longer physical distance and supports more physical nodes than ISO 11783 The relationship between NMEA2000 and SAE J1939 is that J1939 is the standard while the NMEA 2000
45. RT AG Receiver 8 USERINFO User application information component 981073925 DB_USERAPPAUTO Auto starting user application Ox3A7A0005 firmware a Unused numbers are reserved for future use For the SMART AG the BT MAC address field has been added in hexadecimal format to the USERINFO block 002166000001 in the following example COM1 lt VERSION COM1 0 94 5 UNKNOWN 0 156 357 004c0001 3681 5010 lt GPSCARD lt USERINFO COM1 N1GA DHC09401037 MCAGTP 1 00 22B 3 710 3 002 2009 Nov 30 11 08 19 lt DB USERAPPAUTO SmartAg O 1 100 2009 Nov 27 13 22 29 LMX9830 0212 002166000001 wm un nn In the above example the firmware is shown as 3 710 and the SMART AG application is shown as 1 100 86 SMART AG User Manual Rev 4 Nenea Replacement Parts The following are a list of the replacement parts available for your NovAtel SMART AG receiver Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service representative D 1 SMART AG SMART AG 01018203 Cable 14 pin socket to 2 DB 9 connectors twisted CAN I O pair and other bare wire 01018256 connectors see Section 25 SMART AG Development Kit Cable starting on Page 60 Mounting Plate 70023072 D 2 Accessories OEMV Family Compact Disc with PC utilities including CDU 01018235 OEMV Family Installation and Operat
46. abilities or any kind whatsoever direct con sequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement defi ciency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRAN TIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MER CHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the Software covered by this Agreement and all other perfor mance or non performance by NovAtel under or related to this Agreement are to the reme dies specified by this Agreement 8 SMART AG User Manual Rev 4 Software License 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocabl
47. aes 55 5 4 Communicate with the SMART AG Using Bluetooth 56 5 5 Stop Communicating with the SMART AG Using Bluetooth ee 57 A Technical Specifications 59 SMART AG Receiver Performance c cccceeeeeeeeeeeeeeeneeeeeeeeaeeeeeeeenaeeeeseeniaeeeeenenaaes 59 SMART AG Specifications 2 0 20 cccceeeceeeecececcecceceeeeeeeeeeeeeeceeeaaeaeeeeeeeeeeeseeseesenneaaeess 60 B Commands 66 Syntax GOnventions innan redd AT IATA hdd geni dm dd 66 COM Configure COM Port rnnnnrnnvrrvenervrvrnnnnervvnrnnenersrnvrnnesssnnnrnesssennnrneessennnrnenssennnnne 67 FRESET Clear Selected Data from NVM and Reset mrsnnnnrnnnnnnnvvrnnnnrnnrrrnnnnrnrrrnnnnnnr 70 LOG Request Logs from the Receiver mmmmnnmvvrreerrrrvererrrrrvnerrrrrrrennrersrrenessrsrrentens 72 PMDT Configure Tilt Compensation arernnrnnnrnrnnrnrnnnnnnnnnnnnnnnnnrnnrrnnnnrnnerrnnrrnnnrnnn 77 RADARCFG Configure the ER Output urrsrrrnnnrrvrvrvnnnervvrrnnnnerrrrrennrernrrrnnnrersrrreneeenn 78 C Logs 80 Position LOJ Sorres ra aA AAEREN lagune 80 Other LOGS ee A E EE RE EEN 82 D Replacement Parts 87 SMARTAG he 87 ACCOSSONOS eik desiderte dekade ad geek 87 4 SMART AG User Manual Rev 4 Tables OMNAUPRLVLN SMART AG Controller Models cc ccceeeeeeeeeeeeceeeeeeeceeeeeeneeeeecaeeeeescaeeeeseneeeetsnaaes 19 SMART AG Connector Pin Out rrrrnnrrnnnrnnrnnnrnnrnnnnrnnnrnnrrnrnnnnrnnnnnnrrnnnnenrnnnnnenrnnnnnn 21 SMART AG LED Status Indicators
48. art 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SMART AG PVT SMART AG PVT G SMART AG PVT S and SMART AG PVT RT20 have been tested and found to comply with the emission limits for a Class A digital device The SMART AG B and SMART AG TB comply with the emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the SMART AG Increase the separation between the equipment and the SMART AG e Connect the equipment to an outlet on a circuit different from that to which the SMART AG is connected e Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintai
49. ase see Page 16 at the beginning of this manual SMART AG User Manual Rev 4 49 Chapter 4 PC Utilities 50 You will need at least I MB of available space on your hard drive For convenience you may wish to copy this file to a GPS sub directory for example C GPS LOADER The file is available in a compressed format with password protection Customer Service will provide you with the required password After copying the file to your computer it must 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 Example oem1001 12345678 A windows based dialog box is provided for password entry The self extracting archive will then generate the following files WinLoad exe WinLoad utility program HowTo txt Instructions on how to use the WinLoad utility WhatsNew txt Information on the changes made in the firmware since the last revision XXXX hex Firmware version upgrade file where XXXX program version level for example 1001 hex Using the WinLoad Utility WinLoad is a windows based program used to download firmware to OEMV family cards The main screen is shown in Figure 13 on Page 50 RK WinLoad OF x File Settings Help Gi Wite Flesh Card Properties PSN Enclosure G OSN Hm t Ebart HW Rev mm Hen File Propertie
50. ating connector 14 pin sealed Tyco 776273 1 Figure 28 on Page 62 receptacle AMP housing black SMART AG mating connector 14 pin sealed Tyco 776273 2 Figure 28 on Page 62 receptacle AMP housing natural SMART AG mating connector 14 pin sealed Tyco 776273 4 Figure 28 on Page 62 receptacle AMP housing grey SMART AG mating connector 14 pin sealed Tyco 776273 5 Figure 28 on Page 62 receptacle AMP housing blue Gold plated pins for SMART Pins loose piece Tyco 770854 3 AG connector loose AMP Gold plated pins for SMART Pins strip reel Tyco 770520 3 AG connector strip AMP Table 9 details the part numbers for recommended fuses and fuse holders These numbers are provided for information only and are not available from NovAtel as separate parts 64 SMART AG User Manual Rev 4 Table 8 Recommended Fuse and Fuse Holders Fuse Recommended Fuse Fuse Holder 12 V Fuse standard size blade ATO Blade Fuse 5A Littelfuse 0257005 Or Equivalent 12 V Fuse mini size blade Mini Blade Fuse 5A Littelfuse 0297005 Or Equivalent 24V Fuse standard size blade TAC ATO Blade Littelfuse 142 6185 450 Fuse 5A Or Equivalent 24V Fuse mini size blade Mini Blade Fuse Littelfuse 0997005 58V 5A Or Equivalent Fuse Holder standard size blade In line ATO fuse Littelfuse FHACO0001 holder Or Equivalent Fuse Holder mini size blade In line mini fuse Littelfuse OFHMO0001 holder Or Equivalent
51. ctly overhead respectively The azimuth is mapped on a compass relative to true North The colored rings indicate the lowest elevation cut off angles at which satellites are tracked and can be changed or viewed via the g button Each of the satellites being tracked are represented with icons according to their satellite system as follows e Circular for GPS Square for GLONASS Hexagon for SBAS There are also information icons and values at the bottom of the window The number of GPS GLONASS satellites used in the solution verses the number being tracked For example 0 5 next to the Russian flag means that while the receiver is tracking 5 GLONASS satellites none are currently used in the position solution e Satellite PRN number Azimuth and elevation angle values Signal to Noise Ratio SNR value and indicator The PRN of the satellite is displayed on the icon and color coding is used to indicate the status of the satellite or the tracking channel Click on a satellite to display information on that satellite When a valid position has been achieved dilution of precision DOP values can be viewed in the DOP window Open this window by selecting Constellation Window from the View menu or by clicking its button in the Window Toolbar e Channel Tracking Status Window The Channel Tracking Status window displays key information for each of the receiver s processing channels including the PRN of the satellite being tracked by
52. d under U S Patent PAC Correlator Dual Frequency GPS 6 243 409 BI 5 736 961 5 414 729 Position for Velocity Kalman Filter Narrow Correlator 6 664 923 B1 5 101 416 Anti Jamming Technology 5 390 207 5 734 674 5 495 499 RTK Positioning 5 809 064 6 728 637 B2 GLONASS 6 664 923 B1 6 608 998 BI GALILEO 6 184 822 B1 Ory EG 2 SMART AG User Manual Rev 4 O Copyright 2009 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable Table of Contents Software License 7 Terms and Conditions 10 Warranty 12 Notice 13 Foreword 16 1 Introduction 18 1 1 Models nd FOAtUneS ginari E A 18 2 Installation and Setup 20 2 1 Additional Equipment Required rnrnnnnnranonnnnnrnnrrnrnnnrnnnnrnrrrnnrnnn ann nnnnnnennnennernnnnnn 20 2 1 1 SMART AG Setup 00 c ceecccececeececeeeeeeaeeeeeeceeceaeeeecaeesseaeeesaeeseceeessaeessaees 20 2 1 2 Installing the PC UNGES assii aiaa aA 22 2 1 3 Power Supply Requirements ccccccceeceeeeeeeeeeencceeeeeeeeeeeeeeteeeeeeeeseeaeeas 22 2 1 4 Mounting Pl teu innlemmet tian hae eis 23 2 1 5 Mounting the SMART AG mueennnrrrvnrennnrrennrennnrrererennnrrennrensrrresssensrrseessennnnne 23 2 1 6 Connecting Data Communications Equipment mrrrnrrnnnonnrnnrnnrnnrnnnnnnnnnn 23 2 2 Additional Features and Information rsronnnnannnvvrnnnnnnnvrnnnnnnnnvvnnnnnnnrrrnnnner
53. e position which is used as the center of the grid system The receiver s SMART AG User Manual Rev 4 PC Utilities Chapter 4 subsequent positions shown with a yellow marker are given relative to this initial starting point The current position is shown with a red marker The buttons at the top of the window provide options for controlling the plan display Zoom in or out of the Plan window View all configurations or center in on the active configuration e Select a grid or circular display e Show Hide history Delete all history no undo EG To open this window select Plan Window from the View menu or select its button in the Window Toolbar fr Doppler Window A value representing the uncertainty of the position solution based on the current satellite geometry The lower the value the greater the confidence in the solution In the DOP window DOP is displayed in the following forms GDOP Geometric DOP Uncertainty of all parameters latitude longitude height clock offset PDOP Position DOP Uncertainty of the three dimensional parameters latitude longitude height HDOP Horizontal DOP Uncertainty of the two dimensional parameters latitude longitude e VDOP Vertical DOP Uncertainty of the height TDOP Time DOP Uncertainty of the clock offset e Console Window This window allows the user to communicate directly to the receiver through the serial port It is essentially a terminal emulator wit
54. eeeeeeeeeeeeeaaeeeseeeaeeeeeeeenaeeeeeeenaeeeeeeeaaas 34 3 3 5 EGNOS itiscesiebiatcreisteberdedesiehcedeceadsazecsganereds Ee A a OEA Eaa EAEEREN 35 34 GDE rimore a a E E A ed E a a eee 36 3 5 Emulated Radar ER erennrornnnnonnrrrnnnennnrrrnnnnnnnrrnnnnrnsrrrnnseensrrrenssnnnrrrensennrrrenseennnn 36 3 6 Tit COMPENSAUNON sainia a E aE 37 3 7 Recommended Configuration arsrrnnnrannvrrnnnnonnvrnnnnnnnnrrnnnnnnsrrrnnnennnrrennnrensrrennsennn 38 4 PC Utilities 39 4 1 CDU Convert4 Installation srorerersorrrnrnrrorrrrrnnnnrnnvrrnnnvrnnrrrnnrrnnrnnennrennnrnenerennnne 39 42 CDU sinian Beeches ater slid dani isa einen al denied ae 40 4 3 CONVEM4 SE 45 SMART AG User Manual Rev 4 Table of Contents 4 3 1 Rinex Format a needed et Ma r d dace ere and r 45 4 3 2 Convert4 Command Line Switches wrrsrrnnnnanavvrnnnnnvnnvrnnnnnnnsvrnnnnversrrnnnnenn 47 4 4 Firmware Upgrades un de dikene ae 48 4 4 1 Upgrading Using the AUTH Command eennnnnnnvrrnnnnnrsrrrnnnnersrrrnnnnersrrenerenn 48 4 4 2 Updating Using the WinLoad Utility sooonnnnennrrrnnnnnrnrrrnnnnnrnrrrnnnnnrsrrrnnnennn 49 5 Bluetooth Configuration 54 5 1 Bluetooth on the SMART AG Receiver 00 0 eee eeeeeceee enter ee eeeeneeeeeeenaaeeeeeeeaaeeeeeeeaaes 54 5 2 Set Up a PC Laptop with a Bluetooth Adaptor ccccccceceeeeeeeeeeeeeteeetneeeees 54 5 3 Locate a Bluetooth Enabled SMART AG in Range scceeeeeeeteeeeesteeeeeeee
55. el receiver by providing a series of windows whose functionality is explained in this section A help file is included with CDU To access the file select Contents from the Help menu The rest of this section shows the CDU windows from the View menu and their descriptions Signal Noise Ratio Ui a 233 11 13 PRN21 Az 114 2 Elev 65 1 LIC 0 05 dB Hz 0 6 SNR50 1 Good L2E 0 05 dB Hz Latitude 51 092915139 4 0 52m Longitude 114 039498995 0 63m Height MSL 1058 606m 0 61m EJ 7 an Hind DI HE Average gt 35 Poor lt 35 Solution type Single Ins Solution age Osecond Differential age Osecond of satellites 11 Solution Status Computed Fri Apr 21 18 12 11 2006 GMT ieeod Nonik Gest Vertical Fri Apr 21 12 12 11 2006 Local 30 435 30 279 3 0522 0 3548 Most windows have a popup menu accessible by right clicking on the window with the mouse They provide a way to customize the window by changing the font or to print the window contents Some of the windows have access to the Options dialog which contains further settings for certain windows e Constellation Window The Constellation window displays each satellite being tracked by the receiver When you select a satellite the window shows details of its PRN Signal to Noise Ratio SNR azimuth and elevation Concentric circles from 0 to 90 represent elevations from the SMART AG User Manual Rev 4 PC Utilities Chapter 4 horizon to dire
56. ert4 Command Line Arguments loj x Syntax convert4 lt infile gt a b l r batch Where lt infile gt Names the input file a Generate ascii output b Generate binary output t Generate rinex output batch Run in batch mode convert4 bina0750 r batch Figure 12 Convert4 Command Line Arguments SMART AG User Manual Rev 4 47 Chapter 4 PC Utilities 4 4 The name of the output file is the same as the input file when converting to ASCII or binary formats The file extension however is altered to indicate the format of the data asc for ASCII bin for binary When converting to RINEX the output files are named according to the RINEX Version 2 10 naming convention see Section 4 3 1 Rinex Format on Page 45 The batch arguments suppress the window display and convert the specified file automatically XY When converting to RINEX in batch mode the navigation and observation file header information from the most recent interactive Convert4 session is used Firmware Upgrades The receiver stores its program firmware in non volatile memory which allows you to perform firmware upgrades without having to return the receiver to the distributor New firmware can be transferred to the receiver through COM1 and the unit will immediately be ready for operation at a higher level of performance The first step in upgrading your receiver is to contact your local NovAtel dealer Your dealer will assist you i
57. esponse to the u command PMDT lt GPS sensor height inches nnnnn crif where nnnnn is a five digit integer sensor height in inches In this example the Tilt Sensor response is SPMDT lt GPS sensor height inches 00150 To set the GPS sensor height in metres PMDT u mmm mmm cksum crif Example To set the GPS sensor height to 3 5 metres the command is SPMDT u 3 5 5C Response to the u command PMDT lt GPS sensor height inches nnnnn crif where nnnnn is a five digit integer sensor height in inches In this example the Tilt Sensor response is SPMDT lt GPS sensor height inches 00137 Update Flash Values To update flash values needs to follow any height or level command that is not done each time you power Up PMDT x cksum crlf Example SPMDT c 59 Response to the x command PMDT lt Flash updated crif Example PMDT lt Flash updated SMART AG User Manual Rev 4 If all fields in the u command are zero or null the current height is transmitted without change with the format shown above If an invalid entry is received gt 500 inches the response is PMDT lt Max legal height exceeded nnnnn and will be ignored clrf For example if you enter 42 ft 6 in you will get the following response SPMDT lt Max legal height exceeded SPMDT lt GPS sensor height inches 00150 00510 and will be ignored 77 B 6 RADARCFG C
58. g properly a COM port service appears 2 Double click the COM3 icon To use the serial COM port the SMART AG must be paired with the PC laptop to use the COM3 port The Bluetooth PIN Code Request dialog appears 3 Enter the SMART AG default pin number of four zeroes 0000 as shown in Figure 24 Bluetooth PIN Code Request Device Name SMART AG Before a connection can be established this computer and the device above must be paired The Bluetooth pairing procedure creates a secret key that is used in all future connections between these two devices to establish identity and encrypt the data that these devices exchange To create the paired relationship enter the PIN code and click OK Bluetooth PIN Code esoe Figure 24 Bluetooth PIN Code Request If the code is correct a new COM dialog opens showing the PC laptop COM port that has been assigned to the Bluetooth link For example in Figure 25 the PC laptop port is COM21 y The Bluetooth serial port COM21 is now configured to connect to the device VY SMART_AG The Application that will use this connection must be configured to use COM21 The application may be started at any time I Do not display this message again Figure 25 PC Laptop COM3 Port Assignment 4 Open a terminal program HyperTerminal for example and configure it to the serial port specified in the Bluetooth configuration utility In the above example the term
59. gation Satellite Systems GNSS receiver design We believe that our SMART AG will meet your high expectations and are working hard to ensure that future products and enhancements maintain that level of satisfaction This is your primary hardware and software reference Scope This manual provides sufficient detail on the SMART AG to allow you to effectively integrate and fully operate it The information in this manual is a companion to the OEMV family information in the OEMV Firmware Reference Manual and the OEMV Installation and Operation User Manual After the addition of accessories and a power supply the SMART AG is ready to go SMART AG utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual describes the SMART AG specific commands and logs see Commands starting on Page 64 and Logs starting on Page 73 Other supplementary manuals available on the accompanying CD and on our Web site at http www novatel com support docupdates htm aid you in using the other commands and logs available in the OEMV family of receivers PC Utilities are also described see Chapter 4 starting on Page 37 Integrated with the Control and Display Unit CDU software these utilities provide graphical user interfaces for logging to a PC laptop upgrading and converting data types Prerequisites The installation chapters of this document provide information concerning t
60. h added receiver functionality Commands can be issued to the receiver via the command editor at the bottom of the window and sent by pressing the Enter button or simply pressing lt Enter gt on the keyboard The command editor has recall functionality similar to DosKey whereby pressing the up arrow on the keyboard will move backward through the previously issued commands and pressing the down arrow will move forward through the previously issued commands This allows the user to scroll through previously issued commands and then press the lt Enter gt key to issue that command again Feedback from the receiver is displayed in the ASCII Messages or Console window depending on the format of the message ASCII or Abbreviated ASCII respectively WARNING Ensure all other windows are closed in CDU when entering the A SAVECONFIG command in the Console window SMART AG User Manual Rev 4 43 Chapter 4 PC Utilities a This window automatically opens when CDU is first connected to a receiver To bring the window to the front select Console Window from the View menu or click its button in the Window Toolbar e Logging Control Window The Logging Control window provides a graphical interface for Initiating data logging to a file Initiating logging to the receiver s serial ports e Specifying a time window for data logging Stopping logging Editing log settings s To display the Logging Control window select Logging Control Wind
61. he FIX POSITION command is not valid 20 UNAUTHORIZED Position type is unauthorized HP or XP on a receiver not authorized for it a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely SMART AG User Manual Rev 4 85 C 2 2 TILT Compensation Tilt Compensation affects existing logs as follows e NovAtel logs that provide the Extended Solution Status field BESTPOS and BESTXYZ both documented in OEMV Family Firmware Reference Manual use the 0x80 bit to flag the fact that Tilt Compensation is being applied e For NMEA GPGGA GPGGARTK and GPGGALONG logs the precision of various fields indicates whether the Tilt Compensation is being applied C 2 3 VERSION HW amp SW Versions and Serial Numbers The Component Type of the VERSION log refer to the OEMV Family Firmware Reference Manual is extended to include SMART AG information as in Table Table 19 Component Type Binary Value ASCII Value Description 0 UNKNOWN Unknown Component 1 GPSCARD OEMV GPSCard Component 3 ENCLOSURE SMA
62. he installation requirements and considerations for SMART AG To run the PC software supplied your personal computer must meet or exceed this minimum configuration e Windows compatible mouse or pointing device and SVGA display Although previous experience with Windows is not necessary to use CDU familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows What s New in Rev 4 of this Manual This manual has been revised to include information on the following Tilt compensation see Tilt Compensation on page 26 16 SMART AG User Manual Rev 4 Foreword Bluetooth see Bluetooth on the SMART AG Receiver on page 54 Conventions Conventions used in this manual are the following lt This is a notebox that contains important information e The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log Refer to the OEMV Family Firmware Reference Manual for ASCII and binary header details e The number following 0x is a hexadecimal number e Command descriptions brackets represent the optionality of parameters e In tables where values are missing they are assumed to be reserved for future use e Status words are output as hexadecimal numbers and must be converted to binary format and in
63. inal program must be configured to connect through COM21 56 SMART AG User Manual Rev 4 Bluetooth Configuration Chapter 5 5 Configure the port settings as follows 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off 6 Through the terminal program connect to the Bluetooth serial port and verify the connection 7 Type the following VERSION log request into the command prompt to ensure that the connection works LOG VERSION The Bluetooth icon in the task bar turns green when it is connected see Figure 26 below Figure 26 Bluetooth Connected Green 5 5 Stop Communicating with the SMART AG Using Bluetooth 1 Double click on the Bluetooth icon in the task bar see Figure 21 on page 54 or select Programs My Bluetooth Places from the Start menu in Windows The My Bluetooth Places window opens 2 Click on the Search for devices in range option from the Bluetooth Tasks side bar on the left of the My Bluetooth Places window Bluetooth enabled devices within range appear in the Entire Bluetooth Neighborhood folder see Figure 23 on page 55 3 Double click on the SMART AG device icon in the Entire Bluetooth Neighborhood window see Figure 23 on page 55 The PC laptop searches for available services If Bluetooth is working properly COM port service appears 4 Right click on the COM3 icon and select the Disconnect Serial COM Port option A COM3 dialog box appears see Figure 27 on page 57 to confirm that you
64. ion User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 lt The accessories above are also available from www novatel com 87 SMART AG User Manual Rev 4 PMDT command 77 A accuracy position 31 59 velocity 59 almanac 70 antenna internal 18 mounting 23 single frequency 23 specifications 60 ascil 45 AUTH command 48 authorization 49 AUX port 76 identifier 68 B base station 35 baseline 31 baud rate 28 baud rate see bps BESTPOS log 81 BESTXYZ log 81 bidirectional communication 29 bit rate see bps Bluetooth 22 configuration 54 58 bps 69 break 67 69 buffer 28 72 C cable serial 28 warranty 12 CAN See Controller Area Network Caution 28 CDU software 39 73 87 CMR 34 SMART AG User Manual Rev 4 cold start 59 COM command 67 COM port 73 command 66 CDU 30 communication 28 error message 31 example 31 in CDU 43 48 interface 34 multiple 35 note 30 port 28 pre configure 33 prompt 30 RTK 35 communication bidirectional 29 Bluetooth 54 CDU 30 getting started 29 notice 13 operation 28 PC laptop 29 physical 20 port 23 28 remote terminal 29 COMVOUT command 67 configuration additional equipment 20 base station 33 Bluetooth 54 58 CDU 30 model 19 port 28 67 rover station 34 RTK 35 typical hardware 28 configuring 37 connector input output 60 mounting bracket 23 specifica
65. ion to NMEA logs NovAtel supports a range of non NMEA position logs described in the OEMV Family Firmware Reference Manual including e BESTPOS This log contains the best available combined GPS and interial navigation system INS if available position computed by the receiver for example log bestposa ontime 0 5 e BESTXYZ This log contains the receiver s best availalbe position and velocity in ECEF coordinates for example log bestxyza ontime I SMART AG User Manual Rev 4 81 C 2 Other Logs The SMART AG firmware generates the logs in Table 16 in addition to those of the OEMV Family log set Refer to the OEMV Family Firmware Reference Manual which also contains procedures and explanations related to data logging and is available from our Web site at http www novatel com support docupdates htm Table 16 SMART AG Logs in Alphabetical Order Message ID ASCII Log Description 8193 RADARSIGNAL Radar signal and position information New SMART AG log 37 VERSION Hardware versions software versions and serial numbers Existing OEMV log extended to SMART AG C 2 1 RADARSIGNAL ER Signal and Position Information This log contains position and Emulated Radar ER signal information Message ID 8193 Log Type Asynch Recommended Input log radarsignala onchanged ASCII Example 1 stationary SMART AG RADARSIGNALA COM1 0 61 5 FINESTEERING 1501 248381 628 00000000 8alc 3723 SOL COMPUTED
66. irements and other relevant provisions of the R amp TTE Directive 1999 5 EC and with the EMC Directive 2004 108 EC WEEE If you purchased your OEMV family product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label KD 1 RoHS The SMART AG is compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC 1 Please visit the NovAtel Web site at http www novatel com support weee htm for more information on WEEE and RoHS 14 SMART AG User Manual Rev 4 Customer Service OEMV Firmware UPGRADES Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nomina
67. l service charge WINLOAD Please refer to the OEMV Family Installation and Operation User Manual for instructions on how to use the WinLoad program to upgrade your OEMVcard Contact Information Model upgrades are accomplished through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL U S amp Canada or 403 295 4900 international Fax 403 295 4901 E mail support novatel com Web site http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue a FRESET command 2 Log the following data to a file on your PC laptop for 30 minutes RXSTATUSA once BESTPOSA ontime I RXCONFIGA once VERSIONA once 3 Send the file containing the logs to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel com incoming or the support novatel com e mail address SMART AG User Manual Rev 4 15 Foreword Congratulations Congratulations on your purchase of the SMART AG a GPS L1 plus GLONASS L1 receiver and antenna with exceptional flexibility and performance NovAtel is an industry leader in state of the art Global Navi
68. l plug in Bluetooth adapter and is already configured with the appropriate Bluetooth driver 1 Power on the SMART AG 2 Double click on the Bluetooth icon in the task bar see Figure 21 on page 54 or select Programs My Bluetooth Places from the Start menu in Windows The My Bluetooth Places window opens 3 Click on the Search for devices in range option from the Bluetooth Tasks side bar on the left of the My Bluetooth Places window Bluetooth enabled devices within range appear in the Entire Bluetooth Neighborhood folder see Figure 23 below P My Bluetooth Places Entire Bluetooth Neighborhood Ele Edit View Bluetooth Favorites Tools Help Qx ep 3 J gt search 1 Folders ia Address My Bluetooth Places Entire Bluetooth Neighborhood Bluetooth Tasks AG41334 4 SMART AG ersonal Computer Unknown Major 0 I 3 Bluetooth Setup Wizard bl view My Bluetooth services Search for devices in range e View or modify configuration Other Places 8 desktop p My Computer Bluetooth Exchange Folder My Bluetooth Places GY my Network Places Sy Printers and Faxes Figure 23 My Bluetooth Places Window SMART AG User Manual Rev 4 55 Chapter 5 Bluetoothe Configuration 5 4 Communicate with the SMART AG Using Bluetooth 1 Double click the SMART AG device icon in the Entire Bluetooth Neighborhood window as shown in Figure 23 on page 55 The PC laptop searches for available services If Bluetooth is workin
69. luetooth 54 communication 29 graphical 22 serial 28 introduction 18 L laptop power settings 73 LED front 18 power 21 24 light emitting diode LED see LED log 34 72 73 82 LOG command 72 logs tilt compensation 86 logs in CDU 44 M memory 72 message trigger 74 model 19 N NMEA logs 80 note logging 72 Notices 13 NovAtel Inc 2 15 NovAtel position logs 81 O operation 28 optionality 17 output connector 60 convention 17 log 72 74 status 29 30 syntax 66 overload 72 90 P parity 28 68 69 PC power settings 73 period 72 74 port Bluetooth 56 COM 20 28 30 34 configuration 67 69 identifier 68 75 76 interface mode 33 34 log 72 74 output 74 prompt 30 31 serial 28 settings 28 position accuracy 31 base 31 33 best 82 command 31 35 position logs 81 power 21 22 pseudorange 35 R RADARCFG command 77 RADARSIGNAL log 82 receiver outputs 80 receiver status 72 replacement parts 87 reset FRESET command 30 70 option 70 target 70 RESET command 77 revision firmware 1 48 Rinex 45 rover station 35 RTCA 34 RTCM 33 34 RTCMV3 33 34 S satellite 23 28 self test 29 72 serial SMART AG User Manual Rev 4 Index cable 28 number 48 port 34 75 standby mode PC 73 status receiver 72 support 12 15 syntax 66 T technical specifications 59 terrain compensation See tilt compensati
70. n compliance as a Class A or Class B digital device shielded cables should be used for the RS 232 serial data ports Belden 1036A or equivalent and twisted pair cable should be used for the CAN port shielded twisted pair will improve CAN performance in electrically harsh environments I O signals should be referred to signal ground connector pin 5 and not power ground connector pin 9 If I O signals route to different areas of the vehicle dedicated signal grounds for I O should be spliced into a common connection to connector pin 5 at a point close to the SMART AG WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of the FCC rules and void the user s authority to operate this equipment SMART AG User Manual Rev 4 13 Notice Industry Canada SMART AG PVT SMART AG PVT G SMART AG PVT S and SMART AG PVT RT20 Class A digital apparatuses all comply with Canadian ICES 003 SMART AG PVT SMART AG PVT G SMART AG PVT S et le SMART AG PVT RT20 appareils num rique de la classe B sont conforme la norme NMB 003 du Canada SMART AG B and SMART AG TB Class B digital apparatues comply with Canadian ICES 003 SMART AG B et SMART AG TB appareils num rique de la classe B sont conforme la norme NMB 003 du Canada CE The enclosures carry the CE mark Hereby NovAtel Inc declares that this SMART AG is in compliance with the essential requ
71. n selecting the best upgrade option that suits your specific GPS needs If your needs are still unresolved after seeing your dealer then you can contact NovAtel directly through any of the methods described in the Customer Service section Page 6 at the beginning of this manual When you call have your receiver model number serial number and program revision level available This information can be found by issuing the LOG VERSION command at the port prompt After establishing which new model revision level would best suit your needs and having described the terms and conditions you will be issued an authorization code auth code The auth code is required to unlock the new features according to your authorized upgrade model type To upgrade to a higher performance model at the same firmware revision level for example upgrading from a SMART AG to a SMART AG ER on firmware version 3 600 you can use the AUTH command with the issued auth code If you are upgrading to a higher firmware revision level for example upgrading a SMART AG PVT firmware version 3 600 to SMART AG RT 20 firmware version 3 710 you will need to transfer new program firmware to the OEMV family receiver using the WinLoad utility program As WinLoad and the upgrade file are generally provided in a compressed file format you will also be given a decompression password WinLoad and the upgrade files can be found on NovAtel s FTP site at http www novatel com or can be
72. ngine BDE are installed as well as the necessary database tables and an alias for the database The install set up application does all this automatically so you have only to select where you would like the applications installed on your PC It is strongly recommended that you close all applications before installing CDU and Convert4 You must close any applications that may be using the BDE before installing The install set up modifies the BDE configuration so that it can recognize the new CDU and Convert4 The software operates from your PC s hard drive You will need to install the software from the CD supplied by NovAtel or from our Web site 1 Start Microsoft Windows 2 Place the NovAtel CD in your CD ROM drive If the setup utility is not automatically accessible follow these steps a Select Run from the Start menu b Select the Browse button c Locate Setup exe on the CD drive and select Open d Select OK to run the setup utility 3 Advance through the steps provided by the setup utility When the installation is complete click on a program icon to launch the application lt The latest CDU is available to download from our Web site at http www novatel com support fwswupdates htm SMART AG User Manual Rev 4 39 Chapter 4 PC Utilities 42 CDU 40 CDU is a 32 bit Windows application The application provides a graphical user interface GUI to allow you to set up and monitor the operation of the NovAt
73. om2 rtcaref ontime 10 log com2 rtcal ontime 5 optional for rtk log com2 rtcaephem ontime 10 I optional RTCM interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 required for RTK log com2 rtcm22 ontime 10 1 optional log com2 rtcm1819 ontime I log com2 rtcm1 ontime 5 RTCMV3 interfacemode com2 none rtcmv3 off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm1006 ontime 10 log com2 rtcm1003 ontime I CMR interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime I log com2 cmrplus ontime I important to use ontime I with cmrplus CMR interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime I log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 I SMART AG User Manual Rev 4 33 Chapter 3 Operation 3 3 2 Rover Station Configuration At the rover station enter interfacemode port rx type tx type responses For example RTCA interfacemode com2 rtca none off RTCM interfacemode com2 rtcm none off RTCMV3 interfacemode com2 rtcmv3 none off CMR interfacemode com2 cmr none off CMR interfacemode com2 cmr none off same as CMR 3 3 3 GPS GLONASS Base and Rover Configuration This section shows you how to set up your base and rover OEMV GPS GLONASS enabled receivers for GPS GLONASS RTK operation Base Station fix position lat lon
74. on tilt compensation 26 37 PMDT command 77 logs 86 operation 37 time 72 74 transmit 69 trigger log 72 73 U upgrade firmware 15 48 49 USB port 68 A4 velocity limit 85 version 49 W Warning CE 14 FCC 13 voltage 22 warranty 12 website 15 windows in CDU 40 44 WinLoad 49 WRITE command log 86 SMART AG User Manual Rev 4 91 NorAtel OM 20000123 Rev 4 2009 12 17
75. on Page 67 To set COM port 2 as follows Bit Rate 9600 Parity none Data Bits 8 Stop Bits 1 Handshaking None Echo Off Break On enter the following string com com2 9600 n 8 1 n off on 2 Select and configure the NMEA string that you want to output The information is described in Chapter 3 Data Logs of the OEMV Family Firmware Reference Manual in the section for the particular log For example to log gpgga position system fix data and undulation at 2 Hz enter the following string log gpgga ontime 0 5 SMART AG User Manual Rev 4 80 You can configure the log to output at various frequencies as described in Appendix B 4 LOG Request Logs from the Receiver on Page 72 The above command line operations can also be carried out through the CDU Information about configuring the communication port can be found in the CDU online help in Contents gt Getting Started gt Connecting to the receiver Information about logging data can be found in Getting Started gt Logging Data The procedure for adding a NMEA log through the CDU is summarized as follows 1 In the Logging control window click Logging to one or more of the receiver s serial ports The Add Log window displays 2 Beside Select list select Complete List or NMEA List 3 Beside Log to file select the NMEA log you want to add 4 Select the port 5 Configure the remaining fields then click Add C 1 2 NovAtel Position Logs In addit
76. on off using the COM command to stop the port from resetting because it is interpreting incoming bits as a break command SMART AG User Manual Rev 4 67 Table 10 COM Serial Port Identifiers Binary ASCII Description 1 COM1 COM port 1 2 COM2 COM port 2 3 COM3 COM port 3 6 THISPORT The current COM port 8 ALL All COM ports 9 XCOM1 2 Virtual COM1 port 10 XCOM2 2 Virtual COM2 port 13 USB1 USB port 1 14 USB2 gt USB port 2 15 USB3 P USB port 3 16 AUX AUX port 17 XCOM3 2 Virtual COM3 port The XCOM1 XCOM2 and XCOM3 identifiers are not available with the COM command but may be used with other commands b The only other field that applies when a USB port is selected is the echo field A place holder must be inserted for all other fields to use the echo field in this case Table 11 Parity Binary ASCII Description 0 N No parity default 1 E Even parity 2 O Odd parity Table 12 Handshaking Binary ASCII Description 0 N No handshaking default 1 XON XON XOFF software handshaking 2 CTS CTS RTS hardware handshaking 68 SMART AG User Manual Rev 4 ASCII Binary Deception Binary Binary Value Value p Bytes Offset 1 COM header This field contains the H 0 command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 port See
77. onfigure the ER Output Use this command to configure the Emulated Radar ER output ER is available through the SMART AG multi cable see Page 63 for pin out details Syntax radarcfg switch freq step update rate resp mode threshold Message ID 8192 Field Data 1 Header Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Bytes Format Units Offset 2 switch Enable or disable radar emulation 0 ENABLE 1 DISABLE default enable Enum none H 3 freq_step Frequency step per kilometer per hour Range 26 11 28 12 or 36 11 default 36 11 Double Hz kph H 4 4 update_rate Specify how often to update radar output Range 1 2 5 10 20 default 10 Integer Hz H 12 5 resp_mode Specify the time response mode over which to average velocity samples see Table 15 Default 500 Integer none H 16 6 threshold The threshold is only applicable when the response mode is set to 2 The response time is 1000 ms when the velocity is greater than this value otherwise it is 500 ms Range 2 50 kph default 5 kph Double kph H 20 78 a The number of samples used for smoothing depends on both the update_rate and resp_mode parameters For instance if the update_rate is 5 Hz and the resp_mode is 2000ms the number of sample
78. ow from the Tools menu or select its button in the Window Toolbar A WARNING Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session Refer to CDU s online Help for more information e ASCII Messages Window This window displays ASCII formatted NovAtel logs A 48 To display the ASCII Messages window select ASCII Messages Window from the View menu or select its button in the Window Toolbar e Wizards There are two wizards available RTK and SPAN The Real Time Kinematic RTK wizard takes you through the steps needed to set up your RTK system You must have an RTK capable receiver model or the wizard does not continue past its opening page The SPAN wizard takes you through the steps needed to set up your Synchronized Position Attitude Navigation SPAN system You must have a SPAN capable receiver model or the wizard does not continue past its opening page The SPAN wizard can help with the alignment or calibration of a SPAN system t To display a wizard window if you have the necessary receiver model select SPAN Wizard or RTK Wizard from the Tools menu or select one of their buttons in the Window Toolbar 400 0CO0 0 SMART AG User Manual Rev 4 PC Utilities Chapter 4 4 3 Convert4 Convert4 is a 32 bit Windows application and is shown in Figure 11 Convert4 will accept GPS file formats and convert
79. ptop user supplied means of communicating with and powering the SMART AG e SMART AG cable 01018256 included with the receiver Development Kit NovAtel part number 01018257 see Figure 3 Simplified SMART AG Setup on Page 22 for COM and power connections MY Use a serial COM connection to communicate with the receiver first A fused power supply user supplied or other user equipment 2 1 1 SMART AG Setup Complete the following steps to connect and power your SMART AG 1 Mount the SMART AG on a secure stable part of the vehicle i e cab roof with an unobstructed view of the sky from horizon to horizon see Section 2 1 5 Mounting the SMART AG on Page 23 2 Establish a physical communication connection between the SMART AG and the PC laptop Connect the COM and Power port on the back of the SMART AG see Figure 2 below to a DB 9 serial port on a PC laptop or other data storage device Figure 2 SMART AG Connector 20 SMART AG User Manual Rev 4 Installation and Setup Chapter 2 Table 2 SMART AG Connector Pin Out Pin Use Pin Use 1 COM 1 TxD 8 RESERVED Do not connect 2 COM 1 RxD 9 Power Negative Return 3 COM 2 TxD 10 Emulated Radar Output 4 COM 2 RxD 11 MKI Mark Input 5 Signal Ground 12 PPS Pulse Per Second COM ER MKI PPS Output 6 CAN 13 RESERVED Do not connect 7 CAN 14 Power Positive Source 3 Turn on the power supply to the SMART AG the SMART
80. r more information on GLIDE Refer also to application note APN 038 Pseudorange Delta Phase PDP and GLIDE Filters at www novatel com support applicationnotes htm Emulated Radar ER Once it is configured using the RADARCFG command see page 78 Emulated Radar ER data is output through the SMART AG cable see Zable 6 on Page 63 and the RADARSIGNAL log see Page 82 SMART AG User Manual Rev 4 Operation Chapter 3 3 6 Tilt Compensation The SMART AG Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle The SMART AG senses the vehicle s roll angle and with the user entered height above ground compensates the position output to give the position under the vehicle rather than at the antenna As shown in Figure 10 if an agricultural implement is operating on sloped terrain the position will be in error by an amount proportional to the tilt angle SMART AG 10 slope 62 cm Level Ground Position Error Figure 10 SMART AG Tilt Compensation If tilt compensation is enabled the SMART AG determines the tilt and corrects the position data before it is forwarded to the user equipment In the above example the tilt is 10 degrees and the position correction that needs to be applied is 62 cm The BESTPOS BESTXYZ and all NMEA GPGGA logs will provide tilt compensated position logs Information about tilt compensation commands can be found in Appendix B 5 PMDT
81. res 1 SMART AG Receiver 2 ccceecccceeeeeceeeeeeeeeeeeeaeeeeteaaeeeeecaceeeeseaeeeeeseaeeeeesaaeeeeeseeeeteeeeeetees 18 2 SMART AG Connector nnrnnnnnnnrnnrrnnnrnnrnnnnrnnnnnnrrnnnnnnrnnnnnerrnnnnnnrrnnnnenrnnnnnenrnnnnnnnrnnnnnnrnnnnn 20 3 Simplified SMART AG Setup rrrrrrnnnrnnrrnnrrnrrrnrrrnnnrnrrnnnnnnrnnnnnnnrrnnnnnnrnnnnnnnrnnnnnnrrnnnnnnrnnnnn 22 4 OENV OD Hess 22 5 SMART AG Mounting Plate rrrnrrrnnrnnrrnnrrnrrrnnrrnnnrnrrnnnnnnrrnnnnnnrrnnnnnnrnnnnnerrnnnnnnrrnnnnnnnnnnnn 23 6 SMART AG Installation c ccccceeeecceceeeeeeeeeeeeeeeeeeeeeeeeecaceeeeeeaeeeeeeaeeeeeseeeeeeeeeeesseeeeeetees 26 7 SMART AG Orientation sun dausegkrdanneeriederineu dear Eanan eE Eea 27 8 Open Configuration Window cccceecceeeeeeeeeeeeeceeeeeeeeeeeeeeaeeeeseaeeeeeeaeeeseseeeeeeeneeeetees 30 9 Basic Differential Setup mrrrrrrnrnrnnrrrrrrnnrnnnrnrnnnnrnnnnnnnrnnnnnnnnnnnnnnennnnennrnnnnennnnnnnnnennnnnn 32 10 SMART AG Tilt Compensation rrnnrnnnnnnnonnrnnnnrnnnnnnrnnnnnnrrnnnnnnrrnnnnenrrnnnnenrnnnnnnnrnnnnenrnnnnn 37 11 Convert4 Screen Examples cccceseecceeeeeeeeeeeeeeeeeeeeceeeeecaeeeeeeaeeeeeeneeeseseeeeeeesneeeeeees 45 12 Convert4 Command Line Argument ccccceecceeeeeeceeeeeeeeeeeeeaeeeeeceeeseseeeeeeeseeeetees 47 13 Main Screen of WinLoad cccccccceeeecceeeeeeceeeeececeeeeeaeeeeeeaeeeeeeaceeeeceaeeeeecneeeessneeeetseaees 50 14 WinLoad s Open Dialog
82. ropagated by a Kalman filter without new observations 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE_FLOAT Floating ionospheric free ambiguity solution 34 NARROW_FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution 84 SMART AG User Manual Rev 4 Table 18 Solution Status Solution Status Description Binary ASCII 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT OBS Insufficient observations 2 NO CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km 6 COLD_START Not yet converged from cold start V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 14 17 Reserved for SPAN capable receivers 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using t
83. rrrrnnnnennn 24 2 2 1 MK nd PPS Strobesiw i033 mmunnireivruinivem individene 24 2 2 2 Status dat ip de eden fasade 24 2 2 3 Emulated Radar ER enrrrrnnnnonnrrrnnnrennrrrnnnnennrrrnnrennnrrrennnennrrnrsrsensrrressrennnne 25 2 2 4 Controller Area Network CAN rrannrrrnnnnonnrrrnnrnonnnrrnnnnennnrrnnnrennnrrennrennnnnn 25 2 2 5 Tilt Compensation issimo ai aaa a siden aa a a iiai aad a 26 3 Operation 28 3 1 Communications with the Receiver msrrrnnnrarvrrrnnrrnnvrrrnnrennnrrennrenrrrrnnsennrrrennrenenn 28 3 1 1 Serial Port Default Settings esccaine 28 3 1 2 Communicating Using a Remote Terminal cccecceceseeeeeeeeenteeeeeeenees 29 3 1 3 Communicating Using a Personal Computer rrrrrnrvnnnnnnrnrnnnnrnnnrrnnnnnnnnnnn 29 3 2 Getting Stared area vinrnurmkemunneneremmbrevlabuedlniunenradednareinie 29 3 2 1 Starting the Rece S24 soceccsevescacedeeesnecs dace vese ceueavtine dd scuvresvededees aactdcuxeessuedees 29 3 2 2 Communicating with the Receiver Using CDU rrrnnnannannnrnvnnnvnnnrrrvnnrennrnnn 30 3 3 Transmitting and Receiving Corrections urrrrrrnnnnanvrrrnnnrnnvrrrnnnennrrrennrrrnrrrnnsenenn 31 3 3 1 Base Station Configuration essien 33 3 3 2 Rover Station Configuration eraravvvrnnnnnovvrnnnnnvrvvrrrnnnennnrrrenrrnnnrrnnssennnnne 34 3 3 3 GPS GLONASS Base and Rover Configuration rursrnvrrrrnvvnnnrrrvnnnnnnnnn 34 3 3 4 Configuration NOteS ec eececeeeeeee eee
84. s Platform Type Version Code MA hi Run sciat PE Query Card ICOM 1 Connect 9600 Download 115200 Figure 13 Main Screen of WinLoad SMART AG User Manual Rev 4 PC Utilities Chapter 4 If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct Open a File to Download From the file menu choose Open Use the Open dialog to browse for your file see Figure 14 WinLoad s Open Dialog on Page 51 Lookin far gele File name hex Files of type Hex Files v Cancel Figure 14 WinLoad s Open Dialog Once you have selected your file the name should appear in the main display area and in the title bar see Figure 15 below ET WinLoad C UNZIP 1212 hex File Settings Help C UNZIP 1212 hex Figure 15 Open File in WinLoad Communications Settings To set the communications port and baud rate select COM Settings from the Settings menu Choose the port on your PC from the Com Port dropdown list and the baud rate from the Download Baudrate dropdown list The baud rate should be as high as possible the default of 115200 is preferred SMART AG User Manual Rev 4 51 Chapter 4 PC Utilities Com Por 7 Download Baudrate fii5s00 O Connect Baudrate so OK Cancel Figure 16 COM Port Setup Downloading firmware To download firmware follow these steps 1 Set up
85. s rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display SMART AG User Manual Rev 4 7 Software License visual output of the Software d transmit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel Web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft ware from unauthorized disclosure or use 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then
86. s used will be 10 SMART AG User Manual Rev 4 Table 15 Response Modes Mode Description The time period over which to smooth velocity samples Automatically switches between 1000 and 500 ms 2000 2000 ms 1000 1000 ms 500 500 ms default 2 1 Performs no smoothing Example 1 to disable radar emulation radarcfg disable 26 11 1 1 Example 2 to set the frequency step to 36 11 Hz kph update rate to 1 Hz and no smoothing SMART AG User Manual Rev 4 radarcfg enable 36 11 1 1 2 2 79 ANelo ed LOGS C 1 Position Logs C 1 1 NMEA Logs The NMEA logs receiver outputs supported by the SMART AG are summarized in Chapter 3 of the OEMV Family Firmware Reference Manual in section NMEA Standard Logs The available logs include e GPGGA which outputs a log of position system fix data and undulation There are variants of GPGGA specifically GPGGARTK which has greater precision than GPGGA but with the loss of the undulation field _GPGGALONG which has both greater precision and the undulation field e GPVTG which outputs track made good and ground speed Each of the available NMEA standard logs is described in more detail in its own section of Chapter 3 of the OEMV Family Firmware Reference Manual The steps for configuring the receiver output through the command line are 1 Configure the communication port using the COM command described in Appendix B 2 COM Configure COM Port
87. sent to you by e mail Your local NovAtel dealer will provide you with all the information that you require to upgrade your receiver 4 4 1 Upgrading Using the AUTH Command 48 The AUTH command is a special input command which authorizes the enabling or unlocking of the SMART AG User Manual Rev 4 PC Utilities Chapter 4 various model features Use this command when upgrading to a higher performance OEMV family model available within the same revision level as your current model for example upgrading from a SMART AG to a SMART AG ER on firmware version 3 600 This command only functions in conjunction with a valid auth code assigned by Customer Service The upgrade can be performed directly from CDU s Command Line Screen or from any other communications program The procedure is as follows 1 Power up the OEMV family receiver and establish communications over a serial port see Chapter 4 Operation in the OEMV Family Installation and Operation User Manual 2 Issue the LOG VERSION command to verify the current firmware model number revision level and serial number 3 Issue the AUTH command followed by the auth code and model type The syntax is as follows Syntax auth auth code where auth is a special command which allows program model upgrades auth code is the upgrade authorization code expressed as hhhh hhhh hhhh hhhh hhhh model where the h characters are an ASCII hexadecimal code and the model would be ASCII text
88. ser is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz 4 Use the ONNEW trigger with the MARKTIME MARK2TIME MARKPOS or MARK2POS logs 5 Only the MARKPOS MARK2POS MARKTIME or MARK2TIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 Ifyou do use the ONTIME trigger with asynchronous logs the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is being transmitted SMART AG User Manual Rev 4 Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log com1 rxstatuseventa onnew 0 0 hold log com rxstatuseventa onnew 0 0 hold log com3 rxstatuseventa onnew 0 0 hold log aux rxstatuseventa onnew 0 0 hold log usb1 rxstatuseventa onnew 0 0 hold log usb2 rxstatuseventa onnew 0 0 hold log usb3 rxstatuseventa onnew 0 0 hold Abbreviated ASCII Example 1 log com1 bestpos ontime 7 0 5 hold The above example shows BESTPOS logging to COM port I at 7 second in
89. smit and receive buffers on the current port Return the current port to its default settings see Factory Defaults section in Chapter 2 Commands of the OEMV Family Firmware Reference Manual e Set the interface mode to NovAtel for both input and output see INTERFACEMODE command in the OEMV Family Firmware Reference Manual lt Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 921600 bps Also some PC s have trouble with baud rates beyond 57600 bps Abbreviated ASCII Syntax Message ID 4 COM port bps parity databits stopbits handshake echo break Factory Default com com 9600 n 8 1 n off on com com2 9600 n 8 1 n off on com com3 9600 n 8 I n off on com aux 9600 n 8 1 n off on ASCII Example com com1 57600 n 8 1 n off on lt Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate In this case configure the receiving port to have break detection disabled using the COM command WARNING Use the COM command before using the INTERFACEMODE command on each port Turn break detecti
90. some cases then also to decimal For an example of this type of conversion please refer to the RANGE log in the OEMV Family Firmware Reference Manual Conversions and their binary or decimal results are always read from right to left For a complete list of hexadecimal binary and decimal equivalents please refer to the Unit Conversion section of the GNSS Reference Book available on our Web site at http www novatel com support docupdates htm See also Section B 1 Syntax Conventions on Page 64 for more syntax when entering commands SMART AG User Manual Rev 4 Chapter 1 Introduction The SMART AG is a high performance GNSS receiver and antenna capable of receiving and tracking different combinations of GPS L1 and GLONASS L1 code and carrier signals on a maximum of 36 channels SBAS Satellite Based Augmentation Systems includes WAAS EGNOS and MSAS SBAS support is standard Refer to the GNSS Reference Book for an overview of each of the above signal types available from our Web site at http www novatel com support docupdates htm The SMART AG s rear panel also features light emitting diodes LEDs for status indication Once you connect the SMART AG to a vehicle it begins operating as a fully functional GNSS system Figure I below shows the SMART AG without connecting cables Figure 1 SMART AG Receiver 1 1 Models and Features The main features of the SMART AG are the following an enhanced high performance GPS G
91. t 2 USB3 ALL f 15 All virtual ports for USB port 3 AUX ALL 10 16 All virtual ports for the AUX port XCOM3 ALL 11 17 All virtual COM3 ports COM1 20 32 COM port 1 virtual port 0 COM1 1 21 33 COM port 1 virtual port 1 COM1 31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2 31 5f 95 COM port 2 virtual port 31 COM3 60 96 COM port 3 virtual port 0 COM3 31 7f 127 COM port 3 virtual port 31 USB 80 128 USB port virtual port 0 USB_ 31 9f 159 USB port virtual port 31 SPECIAL a0 160 Unknown port virtual port 0 SPECIAL 31 bf 191 Unknown port virtual port 31 THISPORT c0 192 Current COM pott virtual port 0 Continued on the following page SMART AG User Manual Rev 4 76 ASCII Port Hex Port Decimal Port Name Value Valag 4 Description THISPORT 31 df 223 Current COM port virtual port 31 FILE e0 224 User specified file destination 0 FILE_1 e1 225 User specified file destination 1 FILE_31 ff 255 User specified file destination 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 XCOM1 1 1a1 417 Virtual COM1 port virtual port 1 XCOM1 31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 XCOM2 1 2a1 673 Virtual COM2 port virtual port 1 XCOM2 31 2bf 703 Virtual COM2 port virtual port 31 USB1 5a0 1440 USB port 1 virtual port 0 USB1 1 5a1 1441 USB port 1 virtual port 1 USB1 31
92. t methods of triggering the log events Every log element can be directed to any combination of the three COM ports and three USB ports The ONTIME trigger option requires the addition of the period parameter See the OEMV Family Firmware Reference Manual and the SMART AG Firmware Reference Manual for further information and a complete list of data log structures The LOG command tables in this section show the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 The port parameter is optional If port is not specified port is defaulted to the port that the com mand was received on 1 The OEMV family of receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error Each COM port serial and USB already has RXSTATUSE VENT log associated with it This means that with 3 serial ports and no USB ports 7 logs are already accounted for as shown below e RXSTATUSEVENT on COM1 COM2 and COM3 e TRACKSTAT BESTVEL TILTDATA and PSRXYZ on XCOM1 See the example on the next page 2 Maximum flexibility for logging data is provided to the user by these logs The u
93. t you become thoroughly familiar with the commands and logs detailed in the OEMV Family Firmware Reference Manual to ensure maximum utilization of the receiver s capabilities 3 1 1 Serial Port Default Settings The receiver communicates with your PC laptop or terminal via an RS 232 serial port For communication to occur both the receiver and the operator interface have to be configured properly The receiver s COM land COM2 default port settings are as follows e 9600 bps no parity 8 data bits I stop bit no handshaking echo off Changing the default settings requires using the COM command See Appendix B 2 COM Configure COM Port starting on Page 67 for details The data transfer rate you choose determines how fast information is transmitted Take for example a log whose message byte count is 96 The default port settings allows 10 bits byte 8 data bits 1 stop bit I framing bit It therefore takes 960 bits per message To get 10 messages per second then requires 9600 bps Please also remember that even if you set the bps to 9600 the actual data transfer rate is lower and depends on the number of satellites being tracked data filters in use and idle time It is suggested that you leave yourself a margin when choosing a data rate 115200 is recommended for most applications CAUTION Although the receiver can operate at data transfer rates as low as 300 bps A this is not desirable For example if several data logs are active
94. tentional or unintentional interference sources Export licensing restricts operation to a maximum velocity of 515 metres per second c Typical values with GL1DE enabled Pass to pass or time relative position error is the one dimensional horizontal cross track position error after 15 minutes or less after an initial convergence of at least 10 minutes Expected accuracy after convergence RT 20 is independent of GL1DE Model specific Typical value No almanac or ephemerides and no approximate position or time Typical value Almanac and recent ephemerides saved and approximate time entered For more information Please refer to the SETAPPROXTIME command in the OEMV Family Firmware Reference Manual found on our Web site at http www novatel com support docupdates htm erre 59 SMART AG User Manual Rev 4 A 2 SMART AG Specifications SMART AG COM PWR INPUT OUTPUT CONNECTORS 8 to 36 V DC at 2 5 W typical while logging For the cable pinouts and drawings see Section A 2 1 SMART AG Power Communications Development Kit Cable 01018256 starting on Page 62 Serial Com Ports CAN RS 232 F Compliant Rx and Tx signals only SAE J1939 ISO 11783 ISO 11898 Compliant Emulated Radar Output High Supply Voltage 0 5V Minimum Low 0 5V Maximum Load 3K Ohm Minimum PPS Output 3 3 V CMOS Logic Compatible MKI Input Electrical Conducted Coupled disturbance tolerance Size 3 3V CMOS
95. tervals and offset by 0 5 seconds output at 0 5 7 5 14 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 log com1 bestpos once 0 000000 0 000000 nohold Refer to the Command Formats section of the OEMV Family Firmware Reference Manual for additional examples 1 In CDU there are two ways to initiate data logging to the receiver s serial ports You can either enter the LOG command in the Console window or use the interface provided in the Logging Control window Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data is lost if one of these modes occurs during a logging session 2 Only the ASCII Abbreviated ASCII log table is included in this manual Please refer to the LOG command in the OEMV Family Firmware Reference Manual for binary log details SMART AG User Manual Rev 4 73 Field ASCII ee Field Field Name Value Description Type 1 LOG This field contains the command name or ASCII the message header depending on whether header the command is abbreviated ASCII or ASCII respectively 2 port See Table 14 Output port Enum Detailed Serial Port default THISPORT Identifiers on Page 75 3 message Any valid message Message name of log to output Char name with an optional A or B suffi
96. that is a significant amount of information needs to be transmitted every second but the bit rate is set too low data will overflow the serial port buffers cause an error condition in the receiver status and result in lost data 28 SMART AG User Manual Rev 4 Operation Chapter 3 3 1 2 Communicating Using a Remote Terminal One method of communicating with the receiver is through a remote terminal The receiver has been pre wired to allow proper RS 232 interface with your data terminal To communicate with the terminal the receiver only requires the RX TX and GND lines to be used Request to Send RTS Clear to Send CTS hardware handshaking is not available Ensure the terminal s communications set up matches the receiver s RS 232 protocol 3 1 3 Communicating Using a Personal Computer An IBM compatible PC laptop can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver for example HyperTerminal or our own graphic user interface GUI program CDU All data is sent as raw 8 bit binary or ASCII characters 3 2 Getting Started Included with your receiver are NovAtel s CDU and Convert programs CDU is a windows based GUI which allows you to access the receiver s many features without the need
97. the communications port as described in Communications Settings above 2 Select the file to download see Open a File to Download on Page 51 3 Make sure the file path and file name are displayed in main display area see Figure 15 Open File in WinLoad on Page 51 4 Click on the Write Flash button to download the firmware 5 Power down and then power up the receiver when Searching for card appears in the main dis play see Figure 17 Searching for card timeout in 13 secs Figure 17 Searching for Card 6 Enter the authorization code and select OK when the Authorization Code dialog opens see Figure 18 Authorization Code x cet Figure 18 Authorization Code Dialog The receiver should finish downloading and reset The process is complete when Done is displayed in the main display area see Figure 19 52 SMART AG User Manual Rev 4 PC Utilities Chapter 4 Download Complete Resetting Card Resetting Done BOC ECCEE EEE EERE Dafa atat COM 1 Connect 9600 Download 115200 Figure 19 Upgrade Process Complete 7 Close WinLoad This completes the procedure required to upgrade an OEMV family receiver SMART AG User Manual Rev 4 53 Chapter 5 Bluetooth Configuration Bluetooth is a wireless radio communication standard designed for use over short ranges within 10 m This chapter describes how to e Enable Bluetooth on the SMART AG receiver e Set up a PC laptop with a
98. tions 60 88 Controller Area Network 25 Convert software 45 copyright 2 CPU 72 Customer Service 15 48 D data Bluetooth 54 collect 24 erase 70 format 66 L band 70 link 32 log 72 73 NVM 70 port 23 28 start 29 30 storage device 32 terminal 29 Warning 31 DC power 60 dealer 15 48 default Bluetooth 56 factory 70 interface mode 34 log 73 offset 74 period 74 port 28 72 74 reset 70 trigger 74 differential configuration note 35 corrections 31 62 operation 31 serial cable 62 setup 32 directional communication 29 distance exceeded 85 E echo 69 EGNOS 35 e mail 15 Emulated Radar ER 25 78 82 SMART AG User Manual Rev 4 Index operation 36 enable Bluetooth 54 ESTB 35 F factory default setting 67 features 19 29 48 49 firmware upgrades 48 49 FRESET command 70 G GLIDE 36 GLONASS 46 GPGGA log 80 GPS Antenna 12 GPVTG log 80 graphical user interface 40 H handshaking 28 68 69 hardware Bluetooth 54 connector 20 enclosure 18 replace 87 required 20 setup 22 32 specifications 61 header 17 height limit 85 hexadecimal 17 hibernate mode PC 73 hold 72 74 I identifier serial port 75 idle time 28 input command 30 31 connector 60 differential 33 34 mark 74 power 22 syntax 66 89 Index install 16 installation 39 integration 16 interface base or rover 33 34 B
99. ue the FRESET command without any parameters it is the same as issuing a FRESET STANDARD command Field ASCII Binary Jor Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 FRESET This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 13 Data to be reset by the Enum 4 H receiver Table 13 FRESET Target Binary ASCII Description 0 STANDARD Resets commands ephemeris and almanac default Also resets all L band related data except for subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored GPS almanac 3 GPSEPHEM Resets the stored GPS ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 10 USERDATA Reset SMART AG only commands Continued on the following page SMART AG User Manual Rev 4 Binary ASCII Description 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac SMART AG User Manual Rev 4 71 B 4 LOG Request Logs from the Receiver 72 Many different types of data can be logged using several differen
100. velocity values below the dial show the vector velocity as well as the vertical North and East velocity components If necessary the scale in the dial increases so that you have room to accelerate e Open this window by selecting Velocity Window from the View menu or its button in the Window Toolbar Compass Window The direction dial is a compass that displays the direction of motion of the receiver over ground and its elevation both in degrees The white arrow indicates the elevation value on the vertical scale down the centre of the dial The black arrow on the outer rim of the dial indicates the Track Over Ground value Both the track over ground and elevation angles are also shown at the bottom of the Compass window amp Open this window by selecting Compass Window from the View menu or its button in the Window Toolbar INS Window If applicable please refer to your SPAN User Manual for more on INS Information in the INS Position Velocity Attitude window is only available if you have an INS capable receiver model The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis e Open this window by selecting INS Window from the View menu or its button in the Window Toolbar Plan Window The Plan window provides real time graphic plotting of the current position of each connected device The latitude and longitude shown at the bottom of the window indicate the receiver s referenc
101. x 4 trigger ONNEW Output when the message is updated not Enum necessarily changed ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a pulse is detected on the mark 1 input MK11 5 period Any positive double Log period for ONTIME trigger in seconds Double value larger than the default 0 receiver s minimum raw measurement period 6 offset Any positive double Offset for period ONTIME trigger in Double value smaller than the seconds If you wished to log data at 1 period second after every minute you would set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL Enum command default HOLD Prevent log from being removed by the UNLOGALL command 74 SMART AG User Manual Rev 4 Table 14 Detailed Serial Port Identifiers ike HE al Be Port Description NO PORTS 0 0 No ports specified COM1 ALL 1 1 All virtual ports for COM port 1 COM2 ALL 2 2 All virtual ports for COM port 2 COM3 ALL 3 3 All virtual ports for COM port 3 THISPORT ALL 6 6 All virtual ports for the current port ALL PORTS 8 8 All virtual ports for all ports XCOM1 ALL 9 9 All virtual COM1 ports XCOM2 ALL 10 10 All virtual COM2 ports USB1 ALL d 13 All virtual ports for USB port 1 USB2 ALL e 14 All virtual ports for USB por
102. xample Company Name Marker Name and Marker Number For best results the NovAtel receiver input data file should contain the logs as in Zable 5 NovAtel Logs for Rinex Conversion on Page 47 46 SMART AG User Manual Rev 4 PC Utilities Chapter 4 Table 5 NovAtel Logs for Rinex Conversion NovAtel OEMV Family Log Recommended Trigger RANGEA B or ontime 15 RANGECMPA B BESTPOSA B or once PSRPOSABB or RTKPOSABB or MARKPOSA B IONUTCA B onchanged RAWEPHEMA B onchanged GLORAWEPHEMA B onchanged VERSIONA B 2 once SITEDEFA B once a Information from this log overrides data entered into the Receiver Number Type and Version fields using the OBS file button of the RINEX Headers section see Figure 11 on Page 45 b Available on DL V3 receivers refer to the DL V3 User Manual Information from this log overrides data entered into the Marker Name Marker Number Antenna Type and Antenna Delta H fields using the OBS file button of the RINEX Headers section 4 3 2 Convert4 Command Line Switches Convert4 supports several command line switches to facilitate batch processing To access its Command Line Arguments window open a command prompt window select Accessories Command Prompt from the Start menu Change directory cd to the directory on your hard drive that Convert4 is stored Type the following convert4 h The Convert4 Command Line Arguments window appears as shown in Figure 12 Conv
103. y attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 1 403 295 4900 Fax 1 403 295 4901 email to support novatel ca Web site http www novatel com or write to NovAtel Inc Customer Service Department 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 SMART AG User Manual Rev 4 9 Terms and Conditions 10 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation

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