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NAVPak-4 User Manual

1. LBS S04 S40 S47 48 Error and Event files 1 2 File name EVT TXT ERR TXT Description Heading Pitch roll BESTPOS NovAtel RANGECMP NovAtel GPGST NovAtel GPGRS NovAtel VERSION NovAtel RXHWLEVELS NovAtel TIME NovAtel BESTVEL NovAtel PSRDOP NovAtel VALIDMODELS NovAtel SATVIS NovAtel LBANDINFO NovAtel LBANDSTAT NovAtel SPGR Msg5004 Rockwell SPGR Msg5040 Rockwell SPGR Msg 5047 Rockwell SPGR Msg 5048 Rockwell Description Logs usage of admin and config menus Logs warnings and start and end fault conditions A0031 09 001 Forsberg Radix Ltd Page 29 NAVPak 4 User Manual Version 2 00 4 Configuration and Admin Menu 4 1 Overview The configuration and administration menu provides the functionality to the settings of the NAVPak 4 software for extra control and additional features such as setting differential corrections and issuing the receiver with a specific command 4 2 Configuration menu 4 2 1 QC Data intervals This menu panel allows the operator to change the data logging interval The interval may be any value in whole seconds from 10 seconds to 3600 seconds in ten second steps e g 10 20 30 3600 This setting will only affect selected data such as BIT for the OEMV and SeaSTAR VBS service All other data used for any part of the DNAV message is logged at one second intervals Logging all possible data at the maximum rate onc
2. Fi BR e BERG MY DNAY HAA Alert D 00 13 00 67 DNAV WGS84 Ellipsoidal Height N54 02 693047 W002 47 781795 90 72m M NovAtel OMNISTAR 000 0s Old dgps014 6s Rockwell SINGLE 000 Os Old dgps 000 0s Latitude N5402 693047 Longitude w002 47 781795 Hgt msl m ES Latitude N5402 689682 Longitude w002 47 783349 Hgt msl m 36 05 95 01 69 95 101 21 95 02 42 95 53 00 95 153 00 35 03 00 Figure 17 Position BIT See NAVPak 4 BIT alarms for detailed information on the alarms on this screen 3 11 Logged Data NAVPak 4 software automatically starts logging data on start up This data can be used for fault finding and post processing and it is advised that all data files are saved to the storage device and backed up continuously Logged data is saved in the following format 1 On start up the software will create a folder in D NAVPak The folder will reflect the date that the software was started in the format YYYY MM DD 2 Within this folder a new folder will be created for each time the software is started 3 Within this folder the data files shall be stored where the suffix will indicate the type of data file 4 When the software runs into a new day a new folder is created and the files will started A0031 09 001 Page 28 Forsberg Radix Ltd j An example of the data is shown below BX Exploring 2008 10 16_09 56 50 File Edit View Tools Help NAVPak 4
3. Send GNSS Command EN Send Command To IR Nov tel GPS Rockwell GPS e TO SE Figure 21 NovAtel command field Commands should be entered into the top text field and sent to the receiver by pressing the Send button The acknowledgement from the NovAtel receiver will be seen in the response field 4 3 9 Reset NovAtel GPS This reset function will reset the NovAtel receiver to its start up setting 4 3 10 Reset Rockwell GPS This reset function will reset the NovAtel receiver to its start up setting 4 3 11 Remove log drive The compact flash drive should be removed using this feature The Remove log drive selection will allow the compact flash drive to be removed safely using the installed Card Wizard software 4 3 12 Disable logging of The Disable logging of option provides the full list of logged messages which can be turned on or off using the check boxes As a default all of the messages are logged The NovAtel and Rockwell firmware manuals should be used to identify the meaning and importance of each log The screenshot below shows the Disable Logging of panel and the full selection of data A0031 09 001 Page 35 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 Log Data From xI GS Figure 22 Log Data From Panel 4 3 13 Shutdown for backup When this feature is selected the NAVPak 4 software shall save the logged data to a shared drive to allow t
4. FORSBERG NAVPak 4 User Manual A0031 09 001 Version 2 00 Monday 19 October 2009 Notice This document has been prepared by Forsberg Radix Ltd for Forsberg Services Ltd Forsberg Radix Ltd is an approved sub contractor of Forsberg Services Ltd FORSBERG RADIX LTD RICHMOND HOUSE WHITE CROSS LANCASTER LA1 4XF UNITED KINGDOM TEL 44 0 1524 383320 FAX 44 0 1524 382939 THIS DOCUMENT IS THE PROPERTY OF FORSBERG RADIX LIMITED It is issued for the information of such persons only as need to know its contents in the course of their work Any person finding this document should contact Forsberg Radix Limited for its safe return to the address on this page with particulars of how and where found NAVPak 4 User Manual Version 2 00 Distribution Name Tester Forsberg Radix Ltd Forsberg Services Ltd Related Documents Document Title Issue NAVPak 4RT ini file settings v1 00 Document No A0031 09 003 Version Record Issue Change Notes Date 1 00 Initial version 15 01 09 2 00 Output sections removed 19 10 09 Authorisation Tesu Author Authorised by Dae C Forsberg 16 01 09 O Forsberg 19 10 09 Amendment Records Amendment Details Page Signature Date Section 7 Removed not applicable for PC 57 19 10 09 A0031 09 001 Page l Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 i Proprietary Notice Information in this document is subject to change without
5. Forsberg Radix Ltd Page 45 NAVPak 4 User Manual Version 2 00 5 1 4 2 NovAtel Info This version of NAVPak 4RT introduces BIT information for the OmniSTAR correction signal When OmniSTAR corrections are being applied this panel will provide further information into the OmniSTAR signal M L Band ID 50821 OSN 786972 IW Pullin Receiver Parameters RE Met Tracking 1535153 kHz 1200 baud E Reserved02 Measured Signal amp Tracking time d a Iess kHz 40 5 dB Hz 270 Rants p Subscriptions Expiries I gt Bit Timing Lock VBS FixedTime HP Hp haxe Not Looked 07 Apr 2009 00 00 20 Apr 2008 23 59 V DC Offset Unlocked L vV AGC Unlocked Bytes Fed to VBS Tracking Reservedi0 Re YBS 151833836 BS BIT Re HP BIT jp Re HP xP 151837519 Additional HP bei Tor Updates 525773 Missed o My E Figure 23 OmniSTAR BIT Alert Description Information p Signal BIT AMBER Provides BIT information on the OmniSTAR signal and the status VBS BIT AMBER Provides VBS information D E up BIT AMBER Provides BIT information on the OmniSTAR HP signal 3 and the status zZ Additional HP AMBER Additional HP information This information has been provided to allow quick fault finding with Fugro OmniSTAR in the event of a fault with the corrections signal A0031 09 001 Page 46 Forsberg Radix Ltd
6. current almanac data is downloaded from the first acquired satellites rather than from NVM and takes up to 12 minutes Software Resource AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Model not valid AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Remote Loading AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Export Restriction AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Component H W AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 A0031 09 001 Forsberg Radix Ltd Page 42 5 1 3 Rockwell This display shows the BIT information for the Rockwell receiver Rockwell GNSS Alert Receiver Failure Fault colour RED NAVPak 4 User Manual Version 2 00 Description Either set to Good or Bad Bad is a r
7. A DARK GREY oar ee PRN in ua Satellite is below but inside 30 degrees of the N A horizon brackets The position of the satellite is shown against the bearing with respect to True North where True North is O degrees on the indicator around the plot The elevation above the horizon is marked on the centre crosshair A0031 09 001 P 1 Forsberg Radix Ltd age 19 NAVPak 4 User Manual Version 2 00 When a PRN number is wrapped by brackets it represents a satellite that is below the horizon but is close to the sky view Once in sky view the brackets will no longer display and the satellite will be coloured accordingly This information has been provided on screen to give an indication of the satellites possibly approaching the sky view When SBAS differential corrections are being used the SBAS satellite in use will display an asterisk besides its PRN number The C No of the SBAS satellite will also be displayed in the lower right corner of the panel When L Band corrections are being used the C No of the L Band satellite is displayed in the lower right hand corner of the panel A0031 09 001 Page 20 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 7 4 Attitude Plot The attitude plot displays the data output from the inclinometer unit 1g Services Ltd Heading 000 00 H 0 0 kn Graphics ss SystemBIT HAA 154m 15 Jan 2009 11 05 54Z For SBERG ox M DNAY WGS
8. EE 25 3 9 GNSS Quality EE 27 S10 A TO 28 3 11 Logged Dala on da riada 28 A0031 09 001 Page iii Forsberg Radix Ltd g NAVPak 4 User Manual Version 2 00 4 Configuration and Admin MenNU mccccccnnnnnnnnccnnnnncnnnnnnnnannncnnnnrnnnnnnnnnnnaccnnnrnnnnn 30 4 1 GETT AA 30 4 2 Configuration MS E 30 42 1 QC Data Ievas oraren aiea i dit atte 30 422 PMA CP Sada A AE add 30 4 23 Differential COMOCCUONS eearri ivecueecdeesclvicedsucaclessulvicesedensdesseotidedsucdstessseti o 30 4 3 Admin NON sete fe deve Teva ea a A ada loaned ae tele 30 4 31 CHANGO DASS WO EE 30 4 3 2 US E 30 4 3 3 Unlock Warning checkboxes A 32 4 3 4 Differential corrections oooooccccnninonicicinnnnconcnnrcccnononcnnnnnnrrncnnnnnnnnnnnnr nn cnn nn nn na mann n nn nana nnnannnnns 32 4 3 5 Enable the CRPA antenna ois cnn cnnn rn n rra rn n rn rr rrnn nr rr rn rr nanannnos 34 4 3 6 NovAtel GPS using CRPA antenna ooocccincconicicnnncncnocncnancncnnnnnnannn canon narnia rara r cnn 34 4 3 7 Rockwell GPS using CRPA Ante riind u esccccccccceeceteneneteneeceeeesaeeseneneseneeseaeessnateneneseseeenaas 34 4 3 8 NovAtel command ek it a A A ENNER 35 43 9 Reset NovAtel OPS ivi iii airada 35 4310 Reset Rockwell GPS tege ege di id iaa AAA Ada da 35 4 3 11 EQUINA AA bie tegivis stay cds V O TE OEA O deeded 35 43 12 DISADIC re ee Oficialia Pia 35 4 3 13 Shutdown for backup 1 ccccecccceeceeesceteneneseneeceneeecaaeeseneeeseneeseaeessaaeesenen
9. Latitude IN5402 689067 Longitude 002 47 782671 Hot msl m 37 85 95 101 67 95 01 20 95 02 39 a5 1 00 95 11 00 95 11 00 Figure 6 NAVPak 4 with Rockwell position output Position This is given in WGS84 datum coordinates as a default state Values shown are Latitude Longitude and Height Height This is given as a modelled height above the geoid Mean Sea Level except for the DNAV output where ellipsoidal height is shown Ellipsoidal height is absolute and the difference between the two is known as undulation which is modelled within the receiver Datum used WGS84 The datum used for all positions output by CPUPak 4 to display data storage NAUTIS and NAVPAK 4 is WGS84 The Rockwell GPS receiver defaults to this setting The user must refrain from selecting other datums and geodetic systems through keyboard interaction A0031 09 001 Page 14 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 95 Probability These values are quoted for the latitude longitude and height coordinates of the computed positions and is given in metres This value is stated as the half axis dimension centred on the computed position within which there is a statistical 95 probability level of the position being re observed These values also represent the Estimated Horizontal Error EHE output from the Rockwell GPS However the Rockwell GPS approximates the values for one of the fields at least as the EHE values for lat
10. false True highlights 9 HAA gt 10m RED in amber The HAA is the Horizontal Accuracy H Assessment and will only highlight if the computed HAA is higher than 10 metres Due to the Rockwell receiver s output of identical SD lesan AMBER values for both latitude and longitude this test is invalid w test gt Xm AMBER The suggested default value is seven point five metres a SES AMBER The suggested default value is five metres This value is either true or false True highlights in DNAV HAA AMBER amber The HAA is the Horizontal Accuracy Assessment Warning and will only highlight if the computed HAA is higher than o 5 metres HAA is a 95 probability level figure ES This value is either true or false True highlights in red 5 DNAV HAA RED The HAA is the Horizontal Accuracy Assessment and will Alert only highlight if the computed HAA is higher than 10 O metres A0031 09 001 O Forsberg Radix Ltd Page 51 NAVPak 4 User Manual Version 2 00 6 Further Information 6 1 Overview The following section provides more information on various system states and alarms 6 2 COM port over runs information On the CPUPak 4 system if used there is one external GPS port available for monitoring and maintenance This is COM1 of the OEMV GPS and it may report an overflow depending on what the COM port is being asked to transmit and receive If the CPUPak 4 is operational as this occurs performance will be jeopardized as the
11. from the master copy Insert the back up copy in the computer transfer drive Open up Windows Explorer on the external PC Copy all data from the NAVPak 4 CA directory to a backup directory on the external computer Access the NAVPak 4 master directory for NAVPak 4 This is CA Clear the onboard directories completely By using Windows Explorer copy a complete new copy of NAVPak 4 and its supporting operating system to the CA drive or similar on the computer Create a shortcut for the NAVPak 4 executable file and place it on the desktop Click on the shortcut and your new copy of NAVPak 4 should now be running correctly 2 5 Starting NAVPak 4 NAVPak 4 should start automatically on system start up If the software fails to load navigate to CANAVPak 4 and open the NAVPak exe file A0031 09 001 Page 5 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 NAVPak 4 Software 3 1 Main screen The NAVPak 4 main screen is shown below This will be the default display that is shown on start up Cor Sea Soe Hep HAA 1 42m Graphics RI systemBit Heading 090 00 TD O 1kni 17 Nov 2008 13 31 01Z FORSBERG b Time FINESTEERING Pitch F Test 02 76 W Test 02 64 Semi Maj 0176 Semni Min 01 06 T 066 25 opiy 21 00 63 gt DNAV WGS84 Ellipsoidal Height N54 02 693161 W002 47 781507 90 59m NovAtel OMNISTSR 000 0s Old I dg
12. is in or has experienced a cautionary condition GREEN The system is OK A0031 09 001 Page 7 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 3 System Status and Error States 3 3 1 Traffic light The traffic light is used to show any current alerts for the system The traffic light will only display positional alerts that are occurring and will not show latched errors Latched errors are those errors which have continued for more than a period of time set by an Expert User Conversely other errors can be called transitory When an error is in a transitory warning state it is displayed through the traffic light The transitory warnings are displayed beside the menu buttons for the associated BIT and each individual alarm To open the log of errors double click on the traffic light This will display the errors that have occurred in the system and the time stamp of their occurrence After reading the errors they can be acknowledged by selecting Acknowledge or Acknowledge All to remove the need for doing each in turn 3 3 2 Transitory warning current state The current state of an alarm is represented using a coloured box to the side of the alarm or menu button During a transitory alarm the box will colour to indicate the state of the equipment When an error occurs it will remain in a transitory state for 10 seconds default before becoming a latched state A transitory state is used as some errors may b
13. maintenance authority The actual value is monitored on the main display as CPU O load AMBER Idle Time at the top right of the screen The value here will most probably be between 40 and 50 this means the OEMV processor has between 40 and 50 capacity left See Further Information CPU Overload information section for more detail Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance COM1 O run AMBER authority This is the most common reason for a CPU overload alarm As the NAVPak 4 software is preset to certain operating parameters this condition should never arise but a reported condition is due to the com ports being unable to transmit or receive data at the pre programmed rates causing the com port FIFO first in first out buffers to overflow COM2 O run AMBER Restarting the CPUPak 4 may clear the problem Any buffer overruns are almost certainly caused by COMS O run AMBER outside intervention through COM1 See Further Information COM port over runs information section for more detail Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Restarting the CPUPak 4 may clear the problem USB O run AMBER Either set to Good or Bad Bad is an amber failure RF1 AGC AMBER state and should be reported to the maintenance authority Either set to Good or Bad Bad is an amber failure RF2 AGC AMBER
14. not do this until you have fully researched the implications with ourselves FSL 95 Probability These values are quoted for the latitude longitude and height coordinates of the computed positions and are given in metres This value is stated as the half axis dimension centred on the computed position within which there is a statistical 95 probability level of the position being re observed A0031 09 001 P 1 Forsberg Radix Ltd age 13 NAVPak 4 User Manual Version 2 00 IMPORTANT NOTE In the event of the antenna being disconnected from the CPUPak 4 system the NovAtel receiver will display the last known position and probability levels The position solution and DNAV Failure will flag as a red alarm to indicate that the position is no longer reliant You will also see the solution age increasing in seconds to indicate the time since the last known position 3 5 3 Rockwell GPS receiver 4AT v0 00utt Copyright orsberg Services Ltd Configuration Admin Help HAA 1 42m Graphics My System BIT A i Heading 000 Der mn Oik 14331012 FORSBERG r DNAV WGS84 Ellipsoidal Height Pi F Test 02 16 Wi Test 02 64 Semi Maj Ot Te Set Min OL 06 CH 066 25 00 18 NovAtel OMNISTAR 000 Os Old dgps008 25 GAMER y Rockwell SINGLE Su Os Oid dgps 000 0s gd Latitude M tt 02 693161 Longitude 00247 781507 Hat msl m 38 19
15. notice and does not represent a commitment on the part of Forsberg Radix Limited The material in this document is furnished under a non disclosure agreement The material may be used or copied only in accordance with that agreement It is against the wishes of Forsberg Radix Limited to copy the material on any medium except as specifically allowed in the non disclosure agreement No part of this document may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying or recording for any purpose without the express written permission of Forsberg Radix Limited The information within this document is understood to be true and correct at the time of publication 2008 Forsberg Radix Limited All rights reserved A0031 09 001 Page ii Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 ii Contents T Chang s Overview esseuSNNEEEEENKEENEKESRERNEEEEESNEKEKEEENEKAEEEEENKEEVESESREREKEKEEENEKEEREENEENEN 1 1 1 e rege eeben 1 1 2 Trail EEN 1 1 3 Introduction of the graphics Dame 1 1 4 SINT 1 1 5 Logged data tilSnames voii ainia aia ata 1 CT e e e d secs sccccecciseasceacncaiantensatiedhccevncdbacinantenee tactcacevandacesuedeceiareteasdenetsadeumedens 3 2 1 SN 3 2 2 Purpose of NAVPak 4 and CPUPak A 3 22 1 Navigati n Strategy EE 3 2 2 2 Hardware Strategy macia aida 4 2 2 3 Fault Reporting amp Data Analysis ccccccseceeeeeneeeeeenneeeetenneeeeteeneeeesenaeeeeseeaeeee
16. onboard processor may treat the COM port as a priority activity Careful reading of the NovAtel Vol 2 Users Guide in conjunction with the messages you are sending and receiving will allow the operator to define a sensible flow rate The external COM1 port of CPUPak 4 has default settings of 115200 kbaud and is explained fully in the CPUPak 4 Operators Manual Note Other COM ports can be programmed through COM and could report a buffer over run Normally power cycling the CPUPak 4 should clear this problem and reset the unit to it s default state You can perform a simple calculation in a few minutes should you wish to verify the baud rate throughput your messages require on AUX GPS by the following method Count the number of characters CH to be output in the message Vol 2 Users Guide including symbols punctuation spaces etc for the whole message Multiply the number of characters CH by ten 10 one start bit eight data bits one stop bit to get the number of bits in the message CH x 10 Take the frequency of the message e g 2 if the message is transmitted twice a second and multiply it by the number of bits at b above CH x 10 x 2 Take the product of c above ensuring it does not exceed the 115200 baud rate bits sec See the example below for a better operational understanding and how best to use baud rate throughput Example CH 300 Bits CH 10 Message output rate 20Hz Throughput baud rate 3
17. transitory and latched status indicator to display alerts relevant to the associated BIT 3 1 4 Date amp UTC Time A display of the date and UTC time as read from the primary GPS receiver UTC time has a variable offset in whole seconds from GPS time 3 1 5 Output Position The WGS84 position and ellipsoidal height of the primary receiver as output in the DNAV message When lever arm offsets have been added to the system this position will be corrected 3 1 6 NovAtel GPS Position The WGS84 position and Mean Sea Level MSL height of the NovAtel GPS receiver The MSL height is derived from a scaled down version of the OSU89B model on a 1 x 3 degree grid The MSL value shown will show some variance from the actual MSL value in your locality It is important that this height is noted as being significantly different in most locations to WGS84 ellipsoidal height 3 1 7 Rockwell GPS Position The WGS84 position and Mean Sea Level MSL height of the Rockwell GPS receiver The MSL height is again derived from a model defined by the Defence Mapping Agency The MSL value shown will show some variance from the actual MSL value in your locality It is important that this height is noted as being significantly different in most locations to WGS84 ellipsoidal height 3 2 Colour schemes NAVPak 4 uses three colours throughout the software to indicate status RED The system is in or has experienced an unacceptable condition AMBER The system
18. 00 x 10 x 20 60 000 bits sec Baud rate set 115 200 bits sec Throughput baud rate as a of maximum 60 000 1 15 200 x 100 52 08 This would be a safe throughput rate for all the messages Remember if you output more than one message each must be computed in the same style and the results added together to get the total baud rate throughput i e two messages of 150 characters each would be the equivalent of one message with 300 characters in it Problems may start to occur with data latency and integrity once a baud rate throughput level equivalent to 60 of the baud rate is reached Be A0031 09 001 Page 52 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 aware that the upper baud rate limit on the AUX GPS Com port is 921 600 baud and this can be easily reset temporarily Finally note that there is an 8Kb data buffer on the AUX GPS Com port where data already prepared for transmission can be queued for release when the baud rate allows The time of buffered data measurement will not be changed but it just might take a fraction of a second to be released from the COM port The standard CPUPak 4 and NAVPak 4 settings ensure that there are no COM port overflow messages on the system lf any occur on COM2 or COM3 then shutting down the CPUPak 4 system and re starting will clear them If there are no other faults on the system a COM2 or COM3 buffer overrun will be due to operator changes made to the configuration If they occu
19. 5 2 GNSS Quality NAVPak 4 User Manual Version 2 00 This display shows the quality of the GNSS signal being received by the NovAtel and Rockwell receiver Clock Time Fault Colour AMBER Description The clock time is either set to Good or Bad Bad is an amber state and reflects that the internal receiver clock has failed or been disabled Bad is a failure state and should be reported to the maintenance authority If recycling the power or re starting NAVPak 4 does not fix the problem then it is almost certainly a TCXO failure on the OEMV board lt 3 Satellites AMBER Satellite observations are below 3 This value is either true or false True highlights in amber lt 5 Satellites AMBER Satellite observations are below 5 This value is either true or false True highlights in amber lt 4 L1 Ranges AMBER Number of tracked L1 Ranges is below 4 This value is either true or false True highlights in amber If it is true the position will not be over determined and other errors may occur such as Position Solution Invalid lt 4 L2 Ranges AMBER Number of tracked L2 Ranges is below 4 This value is either true or false True highlights in amber If it is true the position will not be over determined and other errors may occur such as Position Solution Invalid NovAtel Soln Age gt 2x AMBER This value is either true or false True highlights in red as it c
20. 84 Ellipsoidal Height N54 02 693371 W002 47 781502 91 26m Time FINESTEERING Roll 19 061 Nov tel OMNISTAR 000 0s Old dgps011 0s HEME Rockwell SINGLE 000 0s Old dgps tel Latitude IN5402 693371 Longitude w00247 781502 Hgt msl m 38 86 Latitude N5402 693575 Longitude w002 47 782056 Hgt msl m 36 27 95 0191 95 01 17 95 0191 95 08 00 95x 08 00 95 09 00 Figure 10 Attitude Plot Roll The Roll in degrees is represented using the level contained inside the compass image The roll value is illustrated as a semi circle marker on the right hand side of the inner display The exact roll value is displayed as text within the panel Pitch The Pitch in degrees is represented using the red diamond and red line inside the compass The pitch of the vessel is value lined up beside the red diamond and the red line represents the level line The exact pitch value is displayed as text within the panel Heading The Heading in degrees true is represented as the red arrow on the compass ring that surrounds the display The exact heading value is displayed as text within the panel Speed The speed is represented as text inside the panel and is displayed as Knots This display gives actual pitch roll and gyro heading of the vessel Comparison of the gyro heading and Track Made Good True will give the yaw angle or set due to tide
21. 95 02 39 Figure 4 NAVPak 4 with DNAV Output display 95 MMO Ca F 95 Itt o A0031 09 001 P 12 Forsberg Radix Ltd age NAVPak 4 User Manual Version 2 00 3 5 2 NovAtel GPS receiver K 4RT vO 00u Copyright 19 Services Ltd a Admin Help HAA 142m Used Graphics My System BIT Heading 000 E D Dikri Time FINESTEERING 17 Nov 2008 13 31 01Z FORSBERG Pitch 0014 20 DNAY WGS84 Ellipsoidal Height 420 N00 92247 781507 90 59m Rockwell SINGLE 000 0 Old ldgps Oe 15402693161 247 781 Latitude N5402 689067 Longitude w002 47 782671 Hat msl m 37 85 95 0167 95 RS 95 ae 95 M00 95 11 00 95 11 00 Figure 5 NAVPak 4 with NovAtel position Position This is given in WGS84 datum coordinates as a default state Values shown are Latitude Longitude and Height Height This is given as a modelled height above the geoid Mean Sea Level except for the DNAV output where ellipsoidal height is shown Ellipsoidal height is absolute and the difference between the two is known as undulation which is modelled within the receiver Datum used WGS84 The datum used for all positions output by CPUPak 4 to display data storage NAUTIS and NAVPAK 4 is WGS84 The system under special non standard conditions can be configured so that the NovAtel receiver uses alternative datums including a user entered datum Do
22. FORSBERG o 4 DNAV WGS84 Ellipsoidal Height N54 02 693286 W002 47 81368 90 94m Pitch 00 13 00 68 Nov tel l OMNISTAR 000 Os Old dgps0t 2s EG Rockwell SINGLE 000 Old dgps 000 0s ___ Latitude N5402 693286 Longitude w00247 781368 Hat msl m 54 Latitude N5402 692141 Longitude W002 47 782299 Hgt msl m 38 49 95 101 67 95 101 19 95 02 40 95 118 00 95 8 00 95 113 00 Figure 11 System BIT panel See NAVPak 4 BIT alarms for detailed information on the alarms on this screen A0031 09 001 P 22 Forsberg Radix Ltd age NAVPak 4 User Manual Version 2 00 3 8 1 GNSS NovAtel This display shows the BIT information for the NovAtel receiver The information is broken down into two groups Receiver Status and Receiver Errors both of which can be accessed from the tabs at the top of the display NAVPak 4AT vO 00u Copyright C 2008 Forsberg Services Ltd Configuration Admin Help HAA 1 45m E io m7 NovAtel BY Rockwell E7 Info Mi Status Mv Errors MY Receiver Err BI Reserveats E Temperature MV RF2 acc Graphics MV voltage MY Almanac mit EE MY Ant Powerd I Pos Solution BR Reservedos By Pos Fixed v Ant Open v Clk Steering a Ant Shorted BY Clock Model Heading 090 00 T O1kn Y CPU O load 4 Ext Oscillator Y COM1 Oirun Y Software Res Y COM2 Oirun IB R
23. User Manual All Folders Contents of 2008 10 16_09 56 50 Version 2 00 My Computer 2 Name Swelt Sep 0 les 2008 10 16_09 56 50 001 _PR 23KB E My Documents ss 2008 10 16_09 56 50 001 BPS 99KB BF C NavPak el 2008 10 16_09 56 50 001 BWL 72KB BN z NAVPak_4AT el 2008 10 16_09 56 50 001 DOP 57KB DI SC Program Files el 2008 10 16_09 56 50 001 LBI 72KB LE ii fa 2008 10 16_09 56 50 001 LBS 76KB LE GEI Winn las 2008 10 16_09 56 50 001 RCP 387KB RI te 0 las 2008 10 16_09 56 50 001 RHW 69KB RI H Dist la 2008 10 16_09 56 50 001 540 178KB Se G E NavPak las 2008 10 16_09 56 50 001 547 201KB S a 2008 10 13 fa 2008 10 16_09 56 50 001 548 201KB S 0 23 2008 10 14 fa 2008 10 16_09 56 50 001 5VS 1 289KB SN GC 2008 10 16 a 2008 10 16_09 56 50 001 TIM 72KB TI 2008 10 16_09 40 40 fa 2008 10 16_09 56 50 001 TRK 16KB TF 3 2008 10 16_09 56 21 2008 10 16_09 56 50 001 VMD 1KB Vt Stoen 56 50 2008 10 16_09 56 50 001 VAS 1KB VE A 2008 10 16_10 13 03 2008 10 16_09 56 50 ERR 7KB Te A Shared z said 17 objects 2 74MB Disk free space 181MB YA Figure 18 Windows explorer showing logged files Logged data files O D JO um PWN E de PIP PIP o BIR RP RB o D d DU P D H o File name Trk pR BPS RCP EEL GRS MRS RHW Tim BVL DOP VMD SVS LBI
24. a Valero type and OmniSTAR and Current readings E x information S lt A lt lt A0031 09 001 Page 16 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 7 Graphical display The graphical display is the main screen and will display on start up 3 7 1 Panels The panel display is a new feature to this version of NAVPak 4 that allows a graphical representation of data to be shown on screen The information displayed in the main panel can be swapped with one of the sub panels by clicking on the sub panel Configuration Admin Help HAA 142m e Graphics Time FINESTEERING 17 Nov 2008 13 31 01Z FORSBERG DNAY WGS84 Ellipsoidal Height N54 02 693161 W002 47 781507 90 59m Pre F Test 02 76 w Test 02 64 Semi Maj 01 76 Semi flin 01 06 T 066 25 5 150 00 69 NovAtel OMNISTAR 000 0s Old dgps008 2s Yi Rockwell SINGLE 000 De Old dgps 000 05 gt Latitude N5402 693161 Longitude w00247 781507 Hat msl m Ers Latitude N5402 689067 Longitudelw00247 782671 Hat msl m 37 85 95 01 67 95 01 20 95 02 39 95 11 00 95 11 00 95 11 00 Figure 7 Panel switching A0031 09 001 P 47 O Forsberg Radix Ltd age NAVPak 4 User Manual Version 2 00 3 7 2 Error Ellipse A o a Seet 1 Fem IR fent Ford Mg GIO Fore Me TENT Figure 8 Error Ellipse graphic Flee W Tent Tm Lem TAS The er
25. adix Ltd R NAVPak 4 User Manual Version 2 00 2 Introduction 2 1 Scope The manual has been developed as one part of a two manual set describing in this case the NAVPak 4 software and another manual describing the optional CPUPak 4 system For information about the CPUPak 4 environmental standards electrical parameters and connectivity please refer to the CPUPak 4 Operators Manual Additional documentation is supplied by NovAtel which details the GPS devices and peripherals in greater detail than necessary for the operation of NAVPak 4 If operators read these manuals they will become aware of a far greater range of functionality available for the receivers and not currently used to meet this requirement This extra functionality can be accessed through the auxiliary serial port or USB ports 2 2 Purpose of NAVPak 4 and CPUPak 4 The NAVPak 4 software suite has been developed with the aim of letting the user assess quality and integrity of navigation data in an easy intuitive manner 2 2 1 Navigation Strategy CPUPak 4 utilises two GPS receivers and two different antenna types at all times to monitor position accuracy and system integrity The two receivers a NovAtel dual frequency OEMV and a Rockwell SPGR P Y code unit complement each other in performance and positioning integrity The antenna are a Raytheon CRPA anti jamming antenna and a NovAtel 600LB Pinwheel unit Rockwell s SPGR P Y code receiver has the ability to navi
26. aised check the Antenna Open or Shorted alarm is not set or check that the Internal or External LNA Voltage alarm is not set The first warning would suggest a cable failure most commonly while the second warning would suggest an antenna power supply failure either on the receiver card or within the antenna You can also manually check that the center core of the antenna cable has 5VDC on it by using a voltmeter with ground to the outside of the TNC connector and positive to the inner core If this gives a reading between 4 and 18 VDC then the antenna should work Check the antenna connectors and if OK it suggests there may be an antenna failure Ant Open AMBER Ant Shorted AMBER It is either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This fault suggests an antenna cable failure or disconnection Assuming the antenna cable is damaged cut out the damaged section as short a section as possible in order gain losses are not jeopardised and reconnect with TNC connectors or similar A0031 09 001 Forsberg Radix Ltd Page 38 NAVPak 4 User Manual Version 2 00 See Further Information Antenna open or shorted information section for more detail This relates to the OEMV processor and is shown on the CPUPak 4 in the NAVPak 4RT display It is either set to Good or Bad Bad is an amber failure state and should be reported to the
27. and wind A0031 09 001 P EEN O Forsberg Radix Ltd age NAVPak 4 User Manual Version 2 00 Pitch and roll are read from pitch roll sensors Positive pitch in a ship for example is bows down stern up Positive Roll is starboard right side down port left side up The CAL figures are the alignment figures for the pitch roll sensor when the ship is trimmed up level The values should never change once set for a particular ship unless the system is moved Heading comes from a heading sensor and in a ship this might be the ship s gyrocompass possibly through a synchro to serial converter and on to the CPUPak 4 The heading is in degrees with valid value being between 0 and 359 9 read in a clockwise direction as per standard compass practice 3 8 System display The system display shows the BIT information relating to the CPUPak 4 system and its peripheral devices The system BIT should be used with other alarms to diagnose a fault D O0uH Copyright rg Services Ltd Configuration Admin Help eric mr Novatel 7 Rockwell 7 SS Input Systems MY Hov iel GNSS 15 Obs MY Rockwell GNSS MY Heading System Graphics IV PitchiRoll System i GNSS Quality Storage System pene i Log Drive Space lt 50MB tens we m mm Wi Position Mv Log Drive Failure Full IVY storage Disk Out Time m o 7 Mow 200 13 r Output Systems MY bnav Failure 13 32 30 W NMEA Failure
28. ave sufficient data to create a DNAV Di DNAV Failure RED output If a DNAV alarm is raised then check 5 other peripheral alarm states to help find the ES fault An NMEA fault will occur if the software 2 does not have sufficient data to create a O NMEA Failure RED NMEA output If an NMEA alarm is raised then check other peripheral alarm states to help find the fault A0031 09 001 Forsberg Radix Ltd Page 37 5 1 2 NovAtel NAVPak 4 User Manual Version 2 00 This display shows the BIT information for the NovAtel receiver The information is broken down into two groups Receiver Status and Receiver Errors both of which can be accessed from the tabs at the top of the display All Reserved fields have been added to the system to allow for future upgrades to the system Receiver error RED Description This alarm indicates a fault with the NovAtel receiver Try to reset the receiver using the reset function and power cycling the system If this fails report to the maintenance authority Temperature AMBER It is either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Voltage AMBER The voltage being supplied to the receiver The voltage should be between 9 and 15VDC and is typically around 12VDC Anything above or below these values will trigger an alarm state Ant Power d Status AMBER If an antenna powered alarm is r
29. cc nonccccononancnnononcnnnononcnnnnnnn cnn RNAAR NAAA ONEONE ANNAE AREA E ARNA FERAE E AARAA 8 Figur e 3 Latched alarm SIOS irina aTa sete E R ATE A A EN E Eege 9 Figure 4 NAVPak 4 with DNAV Output deplay nan ncnnnnnccannnnnns 12 Figure 5 NAVPak 4 with NovAtel poetion cnn nano n cnn nan nnr aran nc rara nn nn 13 Figure 6 NAVPak 4 with Rockwell position out 14 AA AS Ire ll Te EE 17 Figure 8 Error Ellipse graphiC ooocnnnncccnnnnccccnonnccnononnonccnonnennnnnnnernn none rre rre 18 Figure SKY Plotter lil lali 19 Figure LR E E e ia 21 Figure 11 System BIT pDanel A 22 Figure 12 GNSS NovAtel BIT screen 23 Figure 13 GNSS Rockwell BIT screen 24 Figure 14 CPUPak 4 info panel oooconcccnccconococoncccnonoconononconnnnnnncnnnnn ccoo c arm n crm cnn anna rana n cara n nn nannn arman 25 Figure 15 NovAtel info panel cnn cnn nn e Aar Aare AAAA AN E nra eaaa E r rra 26 Figure 16 GNSS Oud ENEE 27 Figure 17 Position EE 28 Figure 18 Windows explorer showing logged ies 29 Fawet Aet ThresholdS iii titi llana 31 Figure 20 Differential Corrections Panelwith L Band drop down 33 Figure 21 NovAtel command feld 35 Figure 22 Log Data Fromm Panel iioa ia A eee 36 Figure 23 OMAISTAR BIT Seege eet eege ed alee ie din io Ee Ee 46 A0031 09 001 Page v Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 1 Changes Overview Welcome to the new version of NAVPak 4RT This version of NAVPak 4RT has introduced a number of new
30. ct the appropriate icon beside the desired correction This activates the settings for the chosen configuration 6 Where applicable select the required settings from the drop down boxes or input fields 7 Once the correction has been selected and configured select OK The following corrections are available through NAVPak Please consult with the NovAtel family firmware manual for more information L Band This command will ensure that the receiver searches for a specified L Band satellite at the specified frequency and baud rate When AUTO is selected under OmniSTAR the receiver will automatically look for the best satellite When setting the receiver to use SBAS corrections ensure that the Omni Sea STAR option has been selected to obtain an OMNISTAR position Once the OMNISTAR position has been received Omni Sea STAR default Use the OmniSTAR correction system O S STARAUTO Freq Hz When selected the receiver will Baud 1525000 to 1560000 automatically select the best 300 600 Or OmniSTAR beam to track base on 1200 2400 1525000000 to 1560000000 the receiver s position or 4800 This mode should be selected after Default 1535153 Omni sea STAR has been initialised CDGPS Use the Canadian DGPS system L Band SBAS A Satellite Based Augmentation System SBAS is a system that supports wide area or regional augmentation e g EGNOS and WAAS through the use of additional satellite broadcast messages NAVPa
31. cted from the position computation is still logged in the NovAtel messages 6 6 3 L1 and L2 Ranges and Carrier Phase Data for all Visible Satellites This data is stored in the NovAtel OEMV message logs and gives sufficient data to generate actual measured pseudoranges and carrier phase cycle counts from each satellite for L1 and L2 where available to the GPS antenna 6 6 4 Standard Deviations for Pseudoranges and Carrier Phase Measurements These are statistically derived qualitative measurements of the estimated errors in range measurements and carrier phase cycle counts They are computed as single state standard deviations 6 6 5 Satellite Lock Duration since Acquisition This is the time in seconds since the NovAtel receiver acquired lock on a satellite s L1 or L2 signal and in the case of OmniSTAR s VBS that signal too Values of ten seconds or less will provide noisy L1 and L2 GPS data that can result in a worsening of positional accuracy In the case of the VBS signal that does not require carrier phase tracking to get the broadcast signal then the recovery times are shorter For a ship these values should anyway be continuous times from when the satellite rose above the horizon to when it sets below the horizon and might be as large as 21600 seconds 6 hours For a geostationary satellite the figures will ideally be continuous from switch on to switch off If at any time the antenna satellite path is blocked by anything that is not
32. d FINEADJUSTING Time is adjusting to fine precision FINE Time has fine precision FINESTEERING Time is fine set and is being steered In the case of the Rockwell SPGR receiver when UTC is selected the time will be within 100 ns of UTC 1 second rollover when the Time Figure of Merit TFOM is 3 or less The receiver outputs TFOM values that relate to precision shown in the table below TFOM Value Estimated Time error 1 lt 1 nsec 2 gt 1 nsec lt 10 nsec 3 gt 10 nsec lt 100 nsec 4 gt 100 nsec lt 1 usec 5 gt 1 psec lt 10 usec 6 gt 10 psec lt 100 usec 7 gt 100 usec 1 msec 1 msec lt msec gt 10 msec A0031 09 001 Page 11 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 5 Position Information 3 5 1 Output position The output position is the WGS84 position and ellipsoidal height as output through the DNAV message The text will change to amber or red to show the current state of the DNAV message and if there are any cautionary affects on the DNAV position When the system is ok the text is black This position is lever arm corrected 08 Forsberg Services Ltd NAVPak 4RT v0 00u Copyright C Configuration Admin Help HAA 142m Graphics mas Time FINESTEERING 17 Mow 2008 ESA atitude 5402 693161 Ge WO02 47 781507 Hat msl EEE 13 95 DEI 95 01 20
33. data AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Zeroized AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority A0031 09 001 Forsberg Radix Ltd Page 44 5 1 4 Info 5 1 4 1 CPUPak 4 Info NAVPak 4 User Manual Version 2 00 This display shows the information relating to the CPUPak 4 NovAtel GNSS receiver and Rockwell GPS receiver Alert Information Description This is either true or false and depends on whether the IO AMBER value sits between the thresholds False is shown in Internal antenna amber This is either true or false and depends on whether the CPU Core AMBER value sits between the thresholds False is shown in Voltage amber This is either true or false and depends on whether the lt RF Deck Supply AMBER value sits between the thresholds False is shown in D Voltage amber 2 This is either true or false and depends on whether the O AMBER value sits between the thresholds False is shown in Int LNA Voltage amber This is either true or false and depends on whether the AMBER value sits between the thresholds False is shown in Ext LNA Voltage amber This is either true or false and depends on whether the General Purpose AMBER value sits between the thresholds False is shown in amber A0031 09 001
34. do not use MSAS and continue Receiver will only use corrections from the MSAS system Important Note If using SBAS corrections for extended periods of time ensure that an expert users disables the OmniSTAR BIT information under the NovAtel Info panel These alarms are specific to the OmniSTAR signal and can be disabled by the operator 4 3 5 Enable the CRPA antenna This will apply power to a connected CRPA antenna 4 3 6 NovAtel GPS using CRPA antenna Select enable or disable from the menu if the NovAtel receiver is using the CRPA antenna This information is important for lever arm corrections The software must know which antenna to use so that it applies the correct lever arm corrections 4 3 7 Rockwell GPS using CRPA antenna Select enable or disable from the menu if the NovAtel receiver is using the CRPA antenna This information is important for lever arm corrections The software must know which antenna to use so that it applies the correct lever arm corrections A0031 09 001 Page 34 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 4 3 8 NovAtel command The NovAtel command provides a field to enter commands directly to the NovAtel GPS receiver Use the NovAtel firmware reference manual for references to commands and be aware that NAVPak 4 uses commands from NovAtel when processing the display data Modifying this data may affect the output This feature should only be used by an expert user
35. e caused very briefly and therefore do not require immediate attention When the error becomes latched they require attention form the system administrator Latched Input Systems Alarm has Current State alarm state Transitory warning Reserved16 MY NovAtel GNSS RF2 AGC zegin atche Y Rockwell G Almanac EBV Heading System Pos Solution ixed BV Pitch Roll System Pos Fixe MY Clock Model System is OK Transitory warning is occuring but has not latched Figure 2 Transitory alarm states The figure above shows an example of a transitory warning that has not latched 3 3 3 Latched errors A latched error will occur once a warning has been flagged consistently for more than 10 seconds default Once latched the error will require acknowledging before it is cleared A latched error is shown by the applicable field text turning amber or red Before acknowledging the error the source of the error should be investigated and fixed When the fault is no longer occurring the transitory warning will disappear and turn green At this point the error can be acknowledged either by clicking the alarm text or through the traffic light A latched alarm can always be acknowledged However it may latch again once acknowledged if the condition has not gone away A0031 09 001 Page 8 Forsberg Radix Ltd Transitory warning Latched Error Alarm has latched and error is still occuring NAVPak 4 User Manua
36. e every ten seconds will cause data to be logged at a volume 0 610Mb hour greater than if all possible data logs were logged at the slowest rate of once every 3600 seconds one hour 4 2 2 Primary GPS Set either the NovAtel or Rockwell receiver as the primary receiver Selection will affect the information displayed on screen and the output in the DNAV message The DNAV message contains the position of the primary receiver 4 2 3 Differential Corrections Set to enable or disable differential corrections The default is enable to allow for differential corrections to be received Corrections may need to be configured to ensure that the receiver is set up correctly This is controlled under the admin menu 4 3 Admin menu 4 3 1 Change password The password can be changed by the expert user using this feature 4 3 2 Alert thresholds The menu is accessed from the Admin drop down menu After entering a System Administrator password the user will be able to change the levels at which alert thresholds are triggered To close the panel without change use the keyboard ESC key A0031 09 001 Page 30 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 NAVPak 4RT v1 00u Copyright C 2008 Forsberg Services Ltd xj Configuration Admin Help IA A Hen ae ca mm Wen 00 hed Thresholds EN HAA Amber UL m Log Drive Space LL 50 00 MB HAA Red UL jooo m Intemal Antenna Current UL 100 00 m z Age Of DGPS Correcti
37. e or false True highlights in amber However this could result in an output navigation message failure which will highlight in red If secondary navigation or dead reckoning devices are incorporated then this will be the time at which they may cut in if set to switch as a default setting This label refers to the age of the computed position in seconds i e how long it is since the measurements were taken from the satellites that the displayed position was computed For example times equal or in excess of two seconds twice the default fix interval trigger an amber level alarm in this case of positioning at 1Hz C NO Ratio AMBER Value is either true or false with respect to the paragraph below True highlights in amber This is a figure measured in dB Hz relating the satellite signal strength to the background noise It is displayed on the main NAVPak 4RT display for each received satellites L1 frequency Data for both L1 and L2 if available is stored in the logged data L1 GPS figures should be within the bracket 40 50 to get best results Low figures will be experienced when interference jamming is present while high figures may be seen when spoofing is present Intermittent jumps in the figure for single observations or short periods may suggest multi path and intermittent jamming and or spoofing A0031 09 001 Forsberg Radix Ltd Page 49 NAVPak 4 User Manual Version 2 00 L1 Jamm
38. e sensible to remain with the OEMV LB receiver as primary navaid even if alternative navigation is available 6 6 Ephemeris Raw Range and Carrier Phase Related Information All of this data is exclusive to the NovAtel OEMV and not supplied by the Rockwell GPS receiver With the correct software not supplied this data can be used to post process real time computed positions for a direct comparison and QA QC of navigational quality This data can be used for re computation of the navigational data at System Administrator set logged data intervals for the elimination of operational gross blunders systematic and random errors This navigation data could then be re inserted into new DNAV messages for the MW or Survey Database A0031 09 001 Page 5A Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 6 6 1 Satellites used for computation This data is identical to that described in the Number of Satellite Observations used in the Position for the Position Related Information described previously 6 6 2 Other Satellites Available This data gives a specific tally of satellite L1 and L2 data that was not used for a number of reasons Those reasons include but are not limited to low elevation below the elevation cutoff angle set to eight degrees recently acquired but noisy data bad data due to intermittent interference which may be physical obstruction of the satellite or simply signal interference This data although reje
39. ection Red UL 60 00 Fix Interval 1 00 Minimum Number of L1 Ranges 4 00 L1 C No Density Ratio LL 30 00 L2 C No Density Ratio LL 30 00 L1 Range Data SD UL 2 00 L2 Range Data SD UL 2 00 L1 Phase Data SD UL 0 76 L2 Phase Data SD UL 1 00 Semi major error ellipse axis UL 5 00 Log drive space LL 50 00 Internal Antenna Current UL 100 00 Internal Antenna Current LL 0 00 CPU Core Voltage UL 1 38 CPU Core Voltage LL 1 22 RF Deck Supply Voltage UL 5 25 RF Deck Supply Voltage LL 4 75 A0031 09 001 Page 31 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 Internal and External LNA Voltage UL 5 25 Internal and External LNA Voltage LL 4 75 GPA Voltage Level UL 2 75 GPA Voltage Level LL 0 00 FTest UL 25 00 WTest UL 7 50 Sky plot L1 35 46 55 Sky plot LB 38 40 45 These default values should work in all instances to meet the system overall requirements However frequent activation of any alarm such as the HAA lower threshold alarm may encourage the System Administrator to take a view that the threshold should be raised or lowered to minimise repeated alarm conditions C No Density Ratio can be exceeded when satellites are moving in and out of view or are close to the horizon The same applies to the Range and Phase Data SD values The CPU Core Voltage varies between OEMV cards as several different processor models and settings have been used by NovAtel Centre voltages have in the past be
40. ed AMBER Reserved for future use L2 Jammed AMBER Reserved for future use DGPS age gt LL AMBER This value is either true or false True highlights in amber It gives the time in seconds since the last differential correction used in the positioning process was received at the CPUPak 4 See DGPS age information section for more detail DGPS gt UL RED If alarm is raised consideration should be given to disabling the DGPS corrections as being potentially worse than no corrections at all A look at the HAA values will confirm the need for this L1 psr sd gt 1 0m AMBER This value is either true or false True highlights in amber These are statistically derived qualitative measurements of the estimated errors in range measurements and carrier phase cycle counts They are computed as single state standard deviations Levels greater than those stated suggest the GPS signal is not of the best quality due to some environmental condition which may just be low elevation Check HAA and error ellipse values to see if this is important This value is most useful for tracking data quality at base station sites and in open sky environments Don t pay too much attention to this field if the GPS is fitted to a vehicle as the values will be skewed if satellites are constantly in and out of view e g behind trees buildings bridges etc L2 psr sd gt 1 0m AMBER See above L2 cp sd
41. ed AMBER Reserved for future use L2 Jammed AMBER Reserved for future use This value is either true or false True highlights in amber It gives the time in seconds since the last differential correction used in the positioning process was received at the CPUPak 4 DGPS age gt S AMBER When using OmniSTAR corrections check the System gt Info gt NovAtel Panel for an indication to a fault in the OmniSTAR signal See Further Information DGPS age information section for more detail If the alarm is set consideration should be given to disabling the DGPS corrections as being potentially worse than no corrections at all A look at the HAA DGPS age gt values will confirm the need for this ULs RED When using OmniSTAR corrections check the System gt Info gt NovAtel Panel for an indication to a fault in the OmniSTAR signal L1 pseudorange standard deviation is greater than 1 00 meter This value is either true or false True highlights in amber These are statistically derived qualitative measurements of the estimated errors in range measurements and carrier phase cycle counts They are computed as single state standard deviations Levels greater than those stated suggest the GPS signal is not of the best quality due to some L1 psr sd gt AMBER environmental condition which may just be low 1 0m elevation Check HAA and error ellipse values to see if this is important This value is most useful for tracking da
42. ed failure state and should be reported to the maintenance authority UTC Time unavailable RED Either set to Good or Bad Bad is a red failure state and should be reported to the maintenance authority Invalid Almanac AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This can be caused if the almanac data stored in the receiver is out of date and cannot be used by the receiver Time reference is not UTC RED Either set to Good or Bad Bad is a red failure state and should be reported to the maintenance authority Time has been set to another time reference In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user Ground Speed is not Knots RED Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Ground Speed has been set to different units than knots In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user Track units are not Degrees RED Either set to Good or Bad Bad is an amber failure state and should be reported to the mainte
43. en either 1 5V or 1 3V Later models have a 1 1V option It is recommended that electrical thresholds are set after consulting the NovAtel OEMV User s Manual The CPUPak 4 should be delivered with the correct value set 4 3 3 Unlock warning checkboxes Once selected the BIT screen shall activate the check boxes to allow the expert user to de select and select the error conditions that they require A disabled warning will have no effect on the latched or transitory states It may be desirable to disable inapplicable warnings 4 3 4 Differential corrections The user can select which differential corrections to receive via the NAVPak 4RT software The software provides the user with an option for each type of corrections or to have no corrections at all 1 Click Admin at the top of the screen to open the drop down menu 2 Select Configure Differential Corrections from the menu 3 Enter password and select OK 4 The differential corrections configuration box will pop up on the screen A0031 09 001 Page 32 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 Differential Corrections x Correction to use when corrections are enabled L Band 0 S STARAUTO el Baud fi 200 Freg Hz fi 535153 Cosy Omni SeaSTAR 0 5 STARAUTO C ALA CDGPS C SBAS AauTO y PRN 0 ZEROTOTWO y Cancel Figure 20 Differential Corrections Panelwith L Band drop down 5 To nominate a correction sele
44. equency caused by relative motion of satellite and vessel antenna The satellite s orbital movement at about 6500 mph normally causes by far the largest part of this frequency shift However when a satellite approaches overhead the Doppler shift will reduce towards zero The Doppler frequencies are used by the NovAtel OEMV receiver to compute vessel velocity normally to an accuracy of lt 0 1m sec RMS in DGPS mode or lt 0 02m sec RMS in RTK mode requires upgrade in your model In the event of Inertial Navigation integration these instantaneous Doppler frequencies are essential for loose or tight coupling A0031 09 001 Page 56 O Forsberg Radix Ltd
45. eseaeeseneeeseaeessnenenes 36 5 NAVPak 4 BIT mmiormmaton seen 37 5 1 EE ee Ee ee OO 37 SAT VO Bl A EE 37 Oil NEE at tn A a a E 38 ALIS ROCK EE 43 O e O EE 45 5 2 EI Ee e tito cre 47 5 3 POSI NEE 51 6 Further Informations Keesebericht daci n 52 6 1 e EE 52 6 2 COM port over runs Iniormation corr cc narco 52 6 3 CPU Overload sisi dad bi lili 53 6 4 Antenna Open or Shorted information cccccccceseeeeeeeceeeeeeeeeeeeseaeeseeeeseaeeseaeeeeeaeeeeneeesaes 53 6 5 DGPS age information E ia 54 6 6 Ephemeris Raw Range and Carrier Phase Related Information 54 6 6 1 Satellites used fOr computation cccceececeneeeeeeeeeeneeceneneneneeceseeesaeessneseseneeteeeeteneeeseateneaes 55 6 6 2 Other Satellites Available 1 ccccccccececetecceeneeeeneeceneeeteneecsaeeseneeseseneseneeesaaeeseneeeseateteeeesaees 55 6 6 3 L1 and L2 Ranges and Carrier Phase Data for all Visible SatelliteS 55 6 6 4 Standard Deviations for Pseudoranges and Carrier Phase Measurements 2 002120021 55 6 6 5 Satellite Lock Duration since Acquisition 1 cc ccccscceeeneteneeteneeteeeceeaeeteneeteneseteneaeseateneaes 55 6 6 6 Carrier to Noise Density Hato rara rana narran rn 56 6 6 7 Instantaneous Doppler Freouenchk nn nana nn r naar cnn canarias 56 A0031 09 001 Page iv Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 Figures Figure 1 NavPak 4d Ruina E 6 Figure 2 Transitory alarm States oooocoonncc
46. eserved25 Time FINESTEERING Y COM3 Oirun MT Reserved26 17 Nov 2008 Y USB O run QM Reserved27 13 33 57Z MT Reserved12 MT Reserved23 z S PI Reservedt3 BY Aux3 Status ee Ge MT Reservedi4 E Aux2 Status gt 0d F RSBERG MP rriace MV Auxt Status e Pitch 210 Roll 00 14 DNAV WGS84 Ellipsoidal Height N54 02 693254 W002 47 81467 91 46 s m M NovAtel OMNISTAR 000 0s Old dgps003 2s Rockwell SINGLE 000 0s Old dgps 000 05 Latitude IN5402 693254 Longitude w00247 781467 Hgt msl m 39 06 Latitude 5402 693985 Longitude w00247 782619 Ho msl m 37 80 95 01 68 95 0121 95 102 41 95 18 00 95 118 00 95x 113 00 Figure 12 GNSS NovAtel BIT screen Note All Reserved fields have been added to the system to allow for future upgrades to the system See NAVPak 4 BIT alarms for detailed information on the alarms on this screen A0031 09 001 P oe Forsberg Radix Ltd age 3 3 8 2 GNSS Rockwell NAVPak 4 User Manual This display shows the BIT information for the Rockwell receiver Version 2 00 Out Copyright J Configuration Admin Help 8 Forsberg Services Ltd P 10 BY NovAtel BEI Rockwell BY Info HAA 143m MY Receiver Failure IVY UTC Time Unavailable BV Invalid Almanac MY Time Reference is not UTC Sit IVY Ground Speed Units are not Knots MY Track Units are not Degrees w Les MY North Reference is not T
47. features to enhance the operability of the software visual indicators 1 1 Alarm States The alarms benefit from the introduction of transitory and latched warning states Each alarm shows the current state of the BIT to the left of the alarm text If a fault continues past the designated latching time the alarm will latch and therefore will require the operator to acknowledge the fault before the system shows as being clear 1 2 Traffic light The traffic light has been redesigned to only display a fault on the failure of the DNAV output or the primary position exceeding the HAA thresholds The traffic light has also been modified to show current alarm states rather than alarms that have occurred 1 3 Introduction of the graphics panel The graphics panel introduces visual displays of the HAA satellite geometry and the attitude pitch roll and heading 1 4 BIT structure The BIT information has been structured into separate panels so not to overload the screen The side menu provides access to the BIT information and displays the latched and transitory warnings associated with each The panels have developed in a way to allow the operator to navigate through to find faults quickly 1 5 Logged data filenames The following changes have been applied to NAVPak 4RT quality control data files e Each filename three letter suffix has changed e g filename POS where POS is the suffix This ensures that NAVPak RTv3 data files are d
48. g depending on the state of the CLOCKADJUST switch qualifies this state Once a position is known and range biases are being calculated the internal clock model will begin modeling the position range biases and the receiver clock offset Modeling will continue until the model is a good estimation of the actual receiver clock behavior At this time the receiver time will again be adjusted this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag After further refinement and if CLOCKADJUST is set to ENABLE default for CPUPak 4 then the receiver will start to steer the onboard clock to minimize the receiver range bias This condition is qualified as FINESTEERING and will result in timing accuracies of around 100 nanoseconds RMS in stand alone mode and 20 nanoseconds RMS in DGPS mode If Selective Availability were to be switched on again expect the stand alone timing accuracy to degrade to a level around 250 nanoseconds RMS In summary the following statements may be seen on the CPUPak 4 display UNKNOWN Time validity is unknown APPROXIMATE Time is set approximately A0031 09 001 Page 10 O Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 COARSEADJUSTING Time is approaching coarse precision COARSE This time is valid to coarse precision COARSESTEERING Time is coarse set and is being steered FREEWHEELING Position is lost and the range bias cannot be calculate
49. gate either from L1 or L2 using C A or P and Y codes In a hostile jamming and spoofing environment the SPGR and the CRPA antenna will always give a position whereas the NovAtel unit that complements it will possibly not be able to The NovAtel unit complements the Rockwell SPGR s robust positioning with a highly precise position capability through specially tailored advanced signal processing Raytheon s CRPA antenna has the capability to detect and eliminate C A P and Y code jamming from the received signal while NovAtel s 600LB has a precise phase centre that receives not only L1 and L2 C A signals but also L band differential GPS broadcasts The combination of receivers and antenna give several modes of positioning allowing the CPUPak 4 s software NAVPak 4 to make any two statistical and redundant assessments while automatically controlling the overall system operation From the users perspective this offers a greater probability of quality positioning at all times There is no need to question system integrity as much with two receivers as long as they are in agreement With respect to hardware the NovAtel receiver will work deeper into signal jamming and spoofing environments using the CRPA antenna while the SPGR gains the benefit of comparative performance assessments with respect to a survey class satellite navigation receiver A0031 09 001 Page O Forsberg Radix Ltd age 3 NAVPak 4 User Manual Version 2 00 From a navigation a
50. gt 0 04m AMBER See above L2 cp sd gt 0 06m AMBER See above A0031 09 001 O Forsberg Radix Ltd Page 50 5 3 Position NAVPak 4 User Manual Version 2 00 This display shows the quality of position from the NovAtel and Rockwell receivers Fault 3 te EN Alert Colour Description This value is either true or false True highlights in amber The HAA is the Horizontal Accuracy Assessment de AMBER and will only highlight if the computed HAA is higher than 5 metres HAA is a 95 probability level figure This value is either true or false True highlights in red The HAA is the Horizontal Accuracy Assessment and will 2 EEN RED only highlight if the computed HAA is higher than 10 3 metres The suggested default value is twenty five at which level f test gt Xm AMBER the warning alarm will trigger indicating over eccentricity of the error ellipse w test gt Xm AMBER The suggested default value is seven point five metres i add AMBER The suggested default value is five metres The horizontal accuracy assessment is greater than 5 meters This value is either true or false True highlights in amber The HAA is the Horizontal Accuracy SE SCH Assessment and will only highlight if the computed HAA is higher than 5 metres HAA is a 95 probability level figure The horizontal accuracy assessment is greater than 10 meters This value is either true or
51. he logged data to be backed up and then the system will shut down A0031 09 001 Page 36 O Forsberg Radix Ltd 5 NAVPak 4 BIT information 5 1 System 5 1 1 1O BIT NAVPak 4 User Manual Version 2 00 The system display shows the BIT relating to the CPUPak 4 system Group Alert Fault colour NovAtel GNSS RED Description The status of the NovAtel GNSS receiver If an alarm is raised for the NovAtel receiver check under NovAtel for other fault alarms Rockwell GNSS RED The status of the Rockwell GNSS receiver If an alarm is raised for the Rockwell receiver check for other faults under Rockwell and ensure that the receiver is connected Input Systems Heading System RED The status of the Heading unit In the event of an alarm ensure that the unit is connected and powered on Pitch Roll System RED The condition of the pitch and roll sensor In the event of an alarm ensure that the unit is connected and powered on In the event of an alarm The remaining disk E capacity has dropped below the user set g SEET Space AMBER value on the D drive It will stop recording a data The threshold may be modified through the Alarm Thresholds menu E Log Drive Failure RED The D drive may be full or there is a fault Re Full and the data logging has ceased Storage Disk Out AMBER Drive D compact flash has been removed A DNAV fault will occur if the software does not h
52. is b and as such would give a value of 36 if the eccentricity of the error ellipse was such that a 5x b This value of 25 might be viewed as being a suitable maximum for questioning whether a positioning system was up to standard for accurate positioning work Reference to the U K H O United Kingdom Hydrographic Office would help to set a useable level For a more formal F Test link this value to the number of observations for each epoch A0031 09 001 Page 18 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 7 3 Sky Plot The sky plot provides a graphical display of the satellite geometry as being received by the primary receiver PRN 24 In view but not being used in computation PRN 21 Used in solution Good signal to noise PRN 11 Below but approaching horizon PRN 120 SBAS satellite Average signal to noise Figure 9 Sky Plot The satellite systems are represented by the following PRN pseudo random noise numbers 1 32 GPS 38 61 GLONASS 100 138 SBAS The PRN number is surrounded by a colour to represent the carrier to noise ratio The table below shows the key for the sky plot Box colour Key Description Suggested C No Less than 35 dB RED m Bad signal to noise ratio Hz Between 35 45 AMBER EJ Average signal to noise ratio dB Hz b Between 45 51 GREEN g Good signal to noise ratio dB Hz WHITE Satellite is visible but not used in solution N
53. istinguishable from files created with NAVPak RTv2 and earlier The internal file format has been changed in v3 to match that used by NovAtel e The change in file format is to facilitate analysis of the files using tools other than NavPak PP and to allow files to be submitted directly to NovAtel This makes fault finding easier as the files will not need to be converted first e In some cases different log files have been used this is to make use of the newer OEM V3 card For example the NovAtel SATVIS log is used instead of GPGSV for the sky A0031 09 001 Page 4 O Forsberg Radix Ltd A NAVPak 4 User Manual Version 2 00 view e New logs from the SPGR are now stored to provide information that was not available in NAVPak RTv2 and earlier The new version of the PP software that accompanies NAVPak RTv3 will be able to cope with all NAVPak file formats e The filenames have been changed in order to allow easy identification by operators and support staff As an example An operator might want to examine data collected on 27th July 2008 The new file format shows the data file as 2008_07_27 which is easier to identify than calculating the Julian day e The use of hours minutes and seconds within the filename means that the old method of using spinners is no longer required The spinner file format ensured that no files where overwritten and this has now been replaced due to the unique time stamp A0031 09 001 Page 2 Forsberg R
54. itude and longitude is always given as the same value This EHE value should be taken as the Rockwell GPS best estimate of HAA Horizontal Accuracy Assessment according to advice from Rockwell A0031 09 001 P 21 O Forsberg Radix Ltd age 5 NAVPak 4 User Manual Version 2 00 3 6 User interface map The user interface has been restructured to allow operators to find a fault through the use of latched indicators The BIT information has been split into several panels due to the size of information that is available The following map shows how to access all of the BIT information in NAVPak d N g gt D a gt Graphics System GNSS Quality Position Di a a E Provides status on the quality a S isplays the Error Ellipse Provides status on peripheral E 2 Displays the quality of S of the GNSS signal being Ss y Sky Plot and Attitude info and devices and internal a h position for the primary and S Ee received by the primary and 3 graphics navigation components EI E secondary receivers Y J A 4 x 4 a d e EN g EN a D 10 Info E NovAtel Rockwell CPUPak 4 and in RA on BIT information for BIT information for NovAtel serial Cpe ae o eg NovAtel GNSS Rockwell GPS numbers OmniSTAR DNAV o dE t receiver receiver and version d SE J d J LG p Q information g D g N e gt a D NovAtel Receiver Status Receiver Errors GE NovAtel version Status of the NovAtel NovAtel hardware e serial number model Receiver faults mumer
55. k 4 are recommended as twenty and forty seconds for use with the OmniSTAR or SeaSTAR VBS service Exceeding either of these limits will result in an amber warning on the CPUPak 4 screen that will generate an alarm report and if a screen is present it may require operator interaction to clear the alarm If a local DGPS service is used then consideration could be given to changing these values and in particular with RTK corrections where this receiver can accept alarm levels of five and ten seconds which may be a more judicious choice With Selective Availability SA currently off then ages of differential corrections in the order of forty seconds are not going to cause a great loss in positional accuracy The NovAtel OEMV LB receiver will discontinue use of the last set of DGPS corrections received after three hundred 300 seconds With SA currently disabled DGPS correction update rates do not have to be particularly fast to achieve good quality positions Accordingly occasional delays of up to thirty seconds in between corrections will probably not have detrimental affects Normally times of five to fifteen seconds are achieved with OmniSTAR SeaSTAR VBS service However even without differential corrections the NovAtel OEMV receiver can use both frequencies L1 and L2 to compute local atmospheric tropospheric and ionospheric corrections if L2 is available some of the largest error sources in the DGPS corrections Accordingly it may b
56. k 4 can accept SBAS corrections which are set up through the differential corrections panel SBAS is set to proliferate worldwide with the addition of systems such as GRAS MSAS SNAS GAGAN and others in Australia Japan China and Australia respectively A0031 09 001 Page Forsberg Radix Ltd age 33 NAVPak 4 User Manual Version 2 00 When SBAS has been selected and the position is being corrected through SBAS corrections the position will show a WAAS solution At the moment the receiver will only displays WAAS text even though the corrections may be received from a different system This is a receiver function that may be upgraded in the future but be aware that a WAAS solution shows that the receiver is correctly receiving SBAS corrections AUTO Receiver will automatically pick the best system NONE ANY Sau PRN number Receiver interprets Type 0 Receiver will pick any messages as they are 0 Receiver uses any PRN system default used as do not use WAAS ZEROTOTWO default BE leon Receiver interprets Type 0 yu Receiver will use SBAS H yp SBAS corrections from the messages as Type 2 corrections only from the WAAS SySIEM entered PRN If this is required do lo EGNOS q IGNOREZERO a the sky plot should be used to SE Receiver will only use ees Receiver ignores the usual identify which SBAS satellite is corrections from the e interpretation of Type O EGNOS system messages as
57. l Version 2 00 Transitory warning Latched Error is no longer Can now be present acknowledged Alarm has latched and error is no longer occuring Acknowledging the error will clear the latched alarm Figure 3 Latched alarm states A0031 09 001 O Forsberg Radix Ltd Page 9 NAVPak 4 User Manual Version 2 00 3 4 Time The time is taken from the primary navigation receiver which may be a NovAtel OEMV or Rockwell receiver GPS time and receiver status are also shown The time status for the OEMV has some useful information to enable the user to understand the time quality The following explains how the NAVPak 4 system arrives at it s time statements All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known There are several distinct states that the CPUPak 4 will go through UNKNOWN e COARSE e FREEWHEELING FINE e FINESTEERING On start up and before any satellites are being tracked the receiver cannot possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN this results in an unusual set of data files representing day 0 to 366 Upon receipt of the first RTCAEPHEM message the time status will be APPROXIMATE After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds The COARSE or COARSESTEERING time status fla
58. ltage amp Current Eei IV internal Antenna 0 03 0 10A 0 03 IVY cpu core Voltage 1 22 1 38 1 36 IVY RF Deck Supply Voltage 4 75 5 25V 5 07 _ Heading 0 ve T 00kn BY int LNA Voltage 0 00 5 25W 0 00 o IVY Ext LNA Voltage 0 00 5 25 5 00 IVY General Purpose 10 0 00 2 75 0 00 Time eet 13 7 Mow 2008 13 34 55Z Pitch 0014 H FORSBERG DST Ellipsoidal Height N54 02 693151 W002 47 781536 90 77m 00 69 m NovAtel OMNISTAR 000 0s Old dgps012 6s A Rockwell SINGLE 000 0s Old dgps 000 05 Latitude NI54 02 693151 Longitude W 002 47 781536 Hgt msl m 38 37 Latitude N5402 693165 Longitude W002 47 783836 Hgt msl m 35 42 95 01 67 95 101 19 95 02 42 95 60 00 95 60 00 35 11 00 Figure 14 CPUPak 4 info panel NAVPak 4 License The license number of the NAVPak 4 software CPUPak 4 Serial The associated CPUPak 4 unit serial number CPUPak 4 Hardware Version The hardware version of the associated CPUPak 4 unit CPUPAKk 4 BIT See NAVPak 4 BIT alarms for detailed information on the alarms A0031 09 001 P 2 Forsberg Radix Ltd age 25 3 8 3 2 NovAtel Info ult NAVPak 4 User Manual Version 2 00 File Graphics il BEE aso m MEE Time FINESTEERING 15 Jan 2009 11 04 29Z FORSBERG DNAV WGS84 Ellipsoidal Height N54 02 693219 W002 47 781545 91 66m Copyright C Configuration Admi
59. n Help inci 10 IP NovAtel Iv Rockwell ly Info La CPUPAK BBP Novatel Version Model GPSCARD L12LY 04B07300004 0EMV3G 4 00 X2T 3 400 3 000 2008 A pritt 12 22 54 LI2L no expiry m L Band ID 50821 OSN 787818 Receiver Parameters i535153 kHz 1200 baud Pull In Not Trac king Measured Signal amp Tracking time E Jeezus kHe 408 de Hz J635 s a Expires Y Pe Timing Lock WBS FizedTime HP XP hase Not Locked o Apr 2008 00 00 ES Oct 2008 00 J Eo DC Offset Unlocked v AGC Unlocked WBS Tracking EE BS BIT e Bytes to J i VBS m HPIXP 23387345 A F Re HP BIT Updates Updates e0395 missed 0 MY Ero Pitch 00 77 Heading 000 00 T 210 0 0 kn 00 30 NovAtel OMNISTAR 000 0s Old dgps015 6s E Rockwell SINGLE Latitude 95 01 91 N5402 693219 Longitude w002 47 781545 Hgt msl m 39 26 35 000 0s Old dgps 000 0s Latitude N5402 693165 Longitude 95 08 00 95 01 17 95 01 91 1002 47 781300 08 00 95 Hat msl m 34 63 09 00 Figure 15 NovAtel info panel Version Model This displays the version and model of the NovAtel receiver and matches the output of the VERSION message Please see the NovAtel Firmware Manual for more information L Band The information necessa
60. n amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 ROM AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 ESN Access AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Auth Code AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Slow ADC AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Supply V AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Thermometer AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Temperature AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This should
61. n t affect the running of the CPUPak 4 and NAVPak 4 MINOS5 AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 PLL RF1 L1 AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 PLL RF2 L2 AMBER Either set to Good or Bad Bad is an amber failure HEI HAN L1 AMBER dd state and should be reported to the maintenance A0031 09 001 Forsberg Radix Ltd Page 41 NAVPak 4 User Manual Version 2 00 authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 RF2 H W L2 AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 NVM AMBER Non volatile memory status is shown It is either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This condition is not system critical due to the way the CPUPak 4 receiver has been designed Non Volatile Memory holds current almanac data ephemeris data last known position and other related information This will all be re entered anyway upon start up which may take several minutes with an NVM failure as
62. nance authority The Track data has been set to different units than Degrees In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user North Reference is not true RED Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority The reference for North is not reading as true In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be A0031 09 001 Forsberg Radix Ltd Page 43 NAVPak 4 User Manual Version 2 00 done by an expert user EHE Units are not meters RED Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority The EHE output is not set to meters In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user Position Solution Invalid RED Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority In the event of this occurrence reset the uni
63. nd survey point of view the capability of having two separately computed positions is very useful The two positions are computed by different algorithms from raw data gathered by two different signal processing regimes However the two positions are then accepted rejected and qualified based upon an identical set of internationally accepted statistical measures This is invaluable because we can now assess positioning performance on a common basis So in summary the navigation strategy is to employ two navigation methods not one using different navigation algorithms and hardware with a choice of antenna to compute two independent positions By statistically assessing and comparing the two positions and quality data using common statistical algorithms the user can then gain an additional level of confidence in the navigation accuracy and quality that far exceeds the sum of the two separate parts To make it easy for the user the NAVPak 4 software reduces navigation to a traffic light concept where green means everything is OK amber is a cautionary condition and red is an unacceptable condition However the supporting information to make this red amber green decision is present and ready for inspection so the qualified user can understand the decision 2 2 2 Hardware Strategy CPUPak 4 and NAVPak 4 make great use of the built in test capability of the GPS receivers so that fault finding is easy to understand and report with li
64. on Amber UL 25 00 secs Internal Antenna Current LL 0 00 m E Age Df DGPS Conection Red UL 60 00 secs CPU Core Voltage UL 1 38 Y Fix Interval hm secs CPU Core Voltage LL 1 22 Y Mv Las Minimum Number of L1 Ranges km RF Deck Supply Voltage UL 5 25 y E L1 C No Density Ratio LL 30 00 dB Hz RF Deck Supply Voltage LL 4 75 Y av L2 C No Density Ratio LL 30 00 dB Hz Internal And External LNA Voltage UL 5 25 Yy E L1 Range Data SD UL Gm m Intemal And Extemal LNA Voltage LL 4 75 y e L2Range Data SD UL 200m GPAI Voltage Level UL 2755 W 13 4 L1 Phase Data SD UL 076 cycles GPAI Voltage Level LL 00 Y L2 Phase Data SD UL fi D cycles FTestUL 25 00 Ten Semi Major Error Ellipse Axis UL fs 00 m WTest UL 7 50 m DNAY WGE Sky plot L1 carrier to noise thresholds dB Hz r Sky plot LB carrier to noise thresholds der N54 35 0 gt Amber lt 46 0 gt Green lt 55 0 38 0 gt Amber lt 40 0 gt Green lt 45 0 a m NovAtel See np yp ey o E To E I T Latitude N5402 693262 Longitude w00247 781637 Hgt msl m 38 60 Latitude N5402 695215 Longitude W002 47 781992 Hgt msl m 41 09 95 101 67 95 101 24 95 02 63 35 12 00 95 12 00 35 11 00 Figure 19 Alert Thresholds Thresholds that may be adjusted are HAA Amber UL 5 00 HAA Red UL 10 00 Age of DGPS correction Amber UL 25 00 Age of DGPS corr
65. ops age gt 25s MY Deps age gt 50s E Lipsr sd gt 2 0m E L2psr sd gt 2 0m W Licp sd gt 0 76m E L2cp sd gt 1 00m HAA 1 44m Dikri Heading 000 00 T 00 14 00 67 NovAtel OMNISTAR 95 01 70 95 101 22 000 0s Old daps009 2s Latitude N5402 693003 Longitude w 002 47 781800 Hgt msl m 33 22 95 02 42 Rockwell SINGLE 95 152 00 Latitude N5402 690502 Longitude w002 47 783401 Hgt msl m 36 04 95 52 00 000 0s Old dgps 000 0 95 09 00 Figure 16 GNSS Quality BIT See NAVPak 4 BIT alarms for detailed information on the alarms on this screen A0031 09 001 O Forsberg Radix Ltd Page 27 NAVPak 4 User Manual Version 2 00 3 10 Position This display shows the quality of position BIT from the NovAtel and Rockwell receivers d 0 00u Copyright 8 Forsberg Services Ltd Configuration Admin Help HAA 144m NovAtel BY haa gt 5 00m 1 45 MY haa gt 10 00m 1 45 BY ftest gt 7 50m 2 82 BY wiest gt 5 00m 2 67 Graphics Smjr Err gt 5 00m 1 78 Ei SsstemBT Rockwell BY haa gt 5 00m 53 00 EE HAAS 10 00m rr Heading 0 p T 0 0krl z y 030 BY ftest gt 7 50m 4 00 MV w test gt 5 00m 79 50 Time FINESTEERING BY smjrerr gt 5 00m 53 00 Mowv 2008 13 36 17Z DNAV BW DNAY HAA Warning 210
66. ould cause an output failure This label refers to the age of the computed position in seconds i e how long it is since the measurements were taken from the satellites that the displayed position was computed For example times equal or in excess of two seconds twice the default fix interval trigger an amber level alarm in this case of positioning at 1Hz If this fault is raised look at the antenna cable installation for recent damage by chafing cutting etc or equally likely the TNC connectors at the antenna or the CPUPak 4 connector panel Excessive antenna vibration can also cause this state C NO Ratio AMBER This is a figure measured in dB Hz relating the satellite signal strength to the background noise It is displayed on the main NAVPak 4RT display for each received satellites L1 frequency Data for both L1 and L2 if available is stored in the logged data L1 GPS figures should be within the bracket 45 51 to get best results Low figures will be experienced when interference A0031 09 001 Forsberg Radix Ltd jamming is present while high figures may be seen Page 47 NAVPak 4 User Manual Version 2 00 when spoofing is present Intermittent jumps in the figure for single observations or short periods may suggest multi path and intermittent jamming and or spoofing Value is either true or false with respect to the paragraph above True highlights in amber L1 Jamm
67. ported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Software Res AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Aux3 Status AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Aux2 Status AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Aux1 Status AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 DRAM Errors RED Dynamic Random Access Memory A failure is amber and this is probably terminal It may be associated with many other warnings such as DNAV failure and Position Solution Invalid There is no fix except for a repair to the OEMV board A0031 09 001 Forsberg Radix Ltd Page 40 NAVPak 4 User Manual Version 2 00 Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority This shouldn t affect the running of the CPUPak 4 and NAVPak 4 Invalid Firmware AMBER Either set to Good or Bad Bad is a
68. ps008 2s Rockwell SINGLE 000 as Old dgps 000 0 Latitude N5402 693161 Longitude EE 47 781507 Hot msl m EN Latitude IN5402 689067 Longitude002 47 7 782671 Hgt msl m 37 85 95 0167 95 101 20 95 02 33 95 M00 95 11 00 95 11 00 Figure 1 NavPak 4RT 3 1 1 Configuration Admin Menu The configuration and admin menu provides access to the configuration and administration settings for the software such as the alert thresholds and corrections 3 1 2 System Status The system status is a traffic light system that displays the current state of the system position as represented by the Built In Test BIT The system status traffic light can be clicked to open the log of errors and acknowledge and alarms Alternatively F6 will short cut to the error log A0031 09 001 Page 6 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 1 3 Graphical display A new feature to this version of NAVPak 4 is the introduction of graphical displays to represent the error ellipse satellite geometry and attitude data The display consists of three panels one main and two sub panels When the graphics option is selected each sub panel can be swapped into the main panel simply by clicking the sub panel The display menu on the left of the screen is used to change the information displayed in the main panel The menu provides access to the BIT screens which contain specific system information Each button has its own
69. r on COM1 either use the command UNLOGALL COM through COM1 from a remote terminal or use the same procedure as for re setting COM2 and COM3 Never use the UNLOG COM2 UNLOG COM3 or UNLOGALL commande as this will stop NAVPak 4 working and require a restart of the application software Any buffer overruns are almost certainly caused by outside intervention through COM1 6 3 CPU Overload This relates to the OEMV processor and is shown on the CPUPak 4 in the NAVPak 4RT display It is either set to good or bad Bad is an amber failure state and should be reported to the maintenance authority The actual value is monitored on the main display as Idle Time at the top right of the screen The value here will most probably be between 40 and 50 this means the OEMV processor has between 40 and 50 capacity left The prime numbers for this value are 40 or higher Problems may be encountered with some operations at values of 25 or less In the event this value drops below 20 ensure there are no alarm conditions on the display that need investigating Typical design figures for the CPUPak 4 and NAVPak 4 software combination are 45 or higher at maximum design computation and logging rates The NAVPak 4 s BIT Built In Test will help determine many of the issues that are causing this idle time value to be low Avoid COM2 with raw IMU measurement data and do not combine raw IMU measurements and processed INS data on the same COM port The o
70. ror ellipse panel shows the error ellipse around the selected primary receiver position green dot positioned on an axis The ellipse is drawn from the semi major and semi minor data To provide a quality indication the ellipse will alter its colour as an indication of the current HAA Horizontal Accuracy Assessment against the threshold The blue dot represents the secondary receiver position Data Description HAA Horizontal Accuracy Assessment F Test F Test The value is the square value of the maximum minimum ellipse axes A value of twenty five may have its acceptability questioned W Test W Test The value is the estimated 3 sigma 98 9 radius of probability within which the true reported position is likely to lie Semi Maj Semi major axis of the error ellipse Semi Min Semi minor axis of the error ellipse T Orientation of semi major axis in degrees true This display gives the 95 probability level for the Primary Navigation HAA Horizontal Accuracy Assessment while it also shows the 99 accuracy probability level by the W Test Both measures are in metres as are those for the semi major axis a and semi minor axis b of the error ellipse which show the 2 sigma two standard deviation or 95 probability level T is the orientation of the semi major axis a in degrees The F Test value is a proportional ratio of the squared value of semi major axis a divided by the squared value of semi minor ax
71. rue MY EHE Units are not meters IV Position Solution Invalid ae Pee Pee MY internal Antenna Only iw Datum is not WGS84 Time FINESTEERING SAVA S 000 Days With Keys 17 Mow 2008 MT Unauthorized 13 34 34Z MY Keyed but not for today IV Keyed but failed CV Verification E SBERG MY Keyed waiting for SY data Oi i i Pitch MV Zeroized Pren d 50 AJ DNAV wGS84 Ellipsoidal Height N54 02 693201 W002 47 781476 90 93m M NovAtel OMNISTAR 000 05 Dld dgps014 2s Latitude NI5402 693201 Longitude w00247 781476 Hgt msl Ind 2957 m Rockwell SINGLE 000 0s Old j daps 000 05 Latitude 1U54 02 693780 Longitude w002 47 782453 Hgt msl m 26 20 95 01 67 95x 0119 95 02 42 95 118 00 95x 18 00 95x 13 00 Figure 13 GNSS Rockwell BIT screen See NAVPak 4 BIT alarms for detailed information on the alarms on this screen A0031 09 001 Page 24 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 3 8 3 Info This displays the information relating to the CPUPak 4 and NovAtel and Rockwell receivers 3 8 3 1 CPUPak 4 Info WPak 4RT vO 00u Copyright C 2008 Forsberg Services Ltd Configuration Admin Help BI 10 e NovAtel Ier Roctowel MV f info HAA 143m Wr crurax Er Novatel NavPak4 License FSLNPRT0005 280703 CPUPak Serial Number F3697 01 0004 Graphi CPUPak4 Hardware Ver na Graphics NovAtel Receiver Vo
72. ry when ordering an OmniSTAR or SeaSTAR correction signal Receiver Parameters Frequency and baud rate that the receiver is configured to This is controlled through the Differential Corrections panel Measured Signal and Tracking Time The received L Band signal measurements and tracking times Subscription Expires The expiry date of the OmniSTAR signals Signal HP and VBS BIT See NAVPak 4 BIT alarms for detailed information on the alarms A0031 09 001 Forsberg Radix Ltd Page 26 3 9 GNSS Quality NAVPak 4 User Manual Version 2 00 This display shows the BIT relating to the quality of the GNSS signal being received by the receiver NovAtel and Rockwell Configuration Admin Help Graphics eg System BIT M Time FINESTEERING 17 Nov 2008 13 35 50Z For SBERG DNAV WGS84 Ellipsoidal Height N54 02 693003 W002 47 781800 90 62m NovAtel IV clockiTime MY lt 3 Satellites MY 4 or 5 Satellites MY lt a L1 Ranges 41 MY lt 4 L2 Ranges ho BBY Soin age gt 2s 0 0 MV 11 aen lt 30 RL aB Hz lt 30 Li Jammed E L2 Jammed MY pops age gt 25s 9 2 BY Deps age gt 50s 9 2 IV Lipsr sd gt 2 0m WY L2psr sd gt 2 0m MY L1cp sd gt 0 76m MV L2cp sd gt 1 00m Rockwell MY ciockTime MV lt 3 Satellites 4 or 5 Satellites MY lt a L1 Ranges 5 SIE Ranges lo BW soin age gt 25 a MV 11 apns lt 30 W 12 dB H2 lt 30 MY 11 Aam med IV L2 Jammed RB p
73. s The Forsberg Services Limited FSL NAVPak 4 operates in a real time environment and to that end can use a Windows 98 NT XP 2000 or CE operating system The NAVPak 4RT software is designed to start up automatically and configures the peripheral devices A0031 09 001 Page 4 O Forsberg Radix Ltd 9 NAVPak 4 User Manual Version 2 00 To ensure smooth and successful operation the following conditions are to be met prior to powering up the CPUPak 4 1 By reference to the CPUPak 4 Users Manual ensure all connections are made in the correct manner Ensure all optional devices external to the CPUPak 4 are powered up and ready to provide data e g the Rockwell SPGR and Mk12 gyrocompass in some configurations Having achieved 1 and 2 correctly run the NAVPak 4 software and wait for around forty five seconds for full messages to be generated The action of configuring the CPUPak 4 receiver can cause a reset necessitating a full sky search for satellites Only the NAVPak 4 application program is to be run on the processor and at no time may other software be run that attempts to communicate and send conflicting commands to the NovAtel receiver or com ports 2 4 Installation The NAVPak 4 software is loaded to the selected mass storage media In the event that the software needs reloading take the following action 1 Gei Before proceeding any further ensure that you have a back up copy of the software rather than working
74. satellite signal transparent then this time will reset to zero and start recounting upwards Occasional resets will not unduly affect positional accuracy but continual resets e g every ten seconds or less could cause the receiver to go into a general reset and sky search for satellites L1 and L2 signals Objects that are not radio transparent could be wet signal flags halyards masts funnels parts of the body leafy foliage etc Rain snow clouds and fog are not going to cut out the satellite signal Finally one should not forget that radio interference on the L1 1575 42 10MHz and L2 1227 1OMHz and OmniSTAR VBS 1543 23MHz could well affect the satellite lock duration Non malicious sources of interference can include navigation radars in particular old Japanese models cell phone networks again Japanese satellite communication transmitters and other in band or harmonic transmitters The NovAtel receiver is fairly tolerant of these noise sources due to them being largely engineered out in the receiver and antenna electronics and firmware In particular the Pulse Aperture Correlation techniques raise the in band interference tolerance levels above those previously tolerated by any GPS receivers A0031 09 001 Page 55 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 Note that if for any reason the GPS antenna is re sited in an attempt to improve lock times then ensure the lever arm offsets are updated in the S
75. state and should be reported to the maintenance authority A fault will be reported when the almanac data is out Almanac AMBER ofdat Position solution This is either set to good or bad Pos Solution RED This may happen for a short period of time if the A0031 09 001 P S O Forsberg Radix Ltd age 39 NAVPak 4 User Manual Version 2 00 antenna has been wooded from satellite signals or at start up when satellites are acquired Bad is a failure state if it continues at Amber level and should be reported to the maintenance authority However look at the antenna cable installation for recent damage by chafing cutting etc or equally likely the TNC connectors at the antenna or the CPUPak 4 connector panel Excessive antenna vibration can also cause this state Pos Fixed AMBER A fault in this alarm will indicate that the position of the receiver has been fixed If the position is fixed it will not update and therefore will not match the actual position Restarting the CPUPak 4 may clear the problem Clk Steering AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Clock Model AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Ext Oscillator AMBER Either set to Good or Bad Bad is an amber failure state and should be re
76. t using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user Internal Antenna Only AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority The Rockwell receiver is using its internal antenna and not the required external antenna Check the connections to the external antenna to ensure that the cable or connections are not damaged Datum is not WGS84 RED Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority The position has been configured to another datum In the event of this occurrence reset the unit using the Reset Rockwell feature If the fault persists manually enter the Rockwell menu using the receivers keypad to adjust the settings This should only be done by an expert user Rockwell GNSS SA A S Unauthorized AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Keyed but not for today AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Keyed but failed CV verification AMBER Either set to Good or Bad Bad is an amber failure state and should be reported to the maintenance authority Keyed waiting for SV
77. ta quality at base station sites and in open sky environments Don t pay too much attention to this field if the GPS is fitted to a vehicle as the values will be skewed if satellites are constantly in and out of view e g behind trees buildings bridges etc L2 psr sd gt AMBER See above 1 0m L2 cp sd gt AMBER See above A0031 09 001 Page 48 Forsberg Radix Ltd NAVPak 4 User Manual Version 2 00 0 04m L2 cp sd gt 0 06m AMBER See above Clock Time AMBER The clock time is either set to Good or Bad Bad is an amber state and reflects that the internal receiver clock has failed or been disabled Bad is a failure state and should be reported to the maintenance authority If recycling the power or re starting NAVPak 4 does not fix the problem then it is almost certainly a TCXO failure on the board lt 3 Satellites AMBER This value is either true or false True highlights in amber lt 5 Satellites AMBER This value is either true or false True highlights in amber lt 4 L1 Ranges AMBER This value is either true or false True highlights in amber If it is true the position will not be over determined and other errors may occur such as Position Solution Invalid lt 4 L2 Ranges AMBER This value is either true or false True highlights in amber Rockwell Soln Age gt 2x AMBER This value is either tru
78. teneeeeseeaeneeeennes 4 2 3 IS E LEE 4 2 4 Wistallation ce scse34 te2eee etch See Ee EE SE scat E eeh 5 2 5 Starting NAVPak 4 ici ad 5 3 INAV Pak 4 E ete canas 6 3 1 MAINES CRO O NA aan 6 3 1 1 Configuration Admin Men 6 IMEL SYSlent Status iss is a ite cates a e at 6 Ke D Mee TEE 7 3 14 Date BAI TC TINE reii a A E EDEA aaa Eaa ARE AES 7 IMD Q UPUtPOSI ON EE 7 3 16 NovAtel GPS POSIION cortical diets 7 31 1 Rockwell GPSPOSION ET 7 3 2 Eo ON AEE AET GS E E EAT EE A E E N 7 3 3 System Status and Error States ooooocinccccnocicnonccnoncnconocnnannnnono cara cn can nn naar nana n cnn n rana n ca nannncannnnns 8 NP A ATEN eee eee een detente A eden ies deed aAA EAEN 8 3 3 2 Transitory warning current siate cess eeeeeneeeeeeeneeeeeeeaeeeeseaaeeeseeaeeeeeeeaeeeesenieeeesenaees 8 333 Latched errora mit teenies Aten eh A ee ented ehhh aed ee 8 3 4 MM e o terra recreate e E A dd 10 3 5 POSITION ormana cali aiii 12 BD QUIPUEDOS ION a aida 12 3 5 2 NovAtel GPS receiver cscccccecccescccsenceseneeeseneeceneecseaeesenenegeaeeseaeesaeaeessaseseaeeseneseaeasersnenenes 13 3 5 3 Rockwell GPS receiver o scccccsccccseccsescecensneceneecsaeeseneecseaneseneessaaecaeaeessateneaeeseneseaeaeesenenenes 14 3 6 Einen E TTT 16 3 7 Graphical display EE 17 EG E EE 17 CR ele ENDE ii A a eR A ta 18 AE Y cf 0 VE A Ad isa 19 ITA Atitude Plot a id 21 3 8 Systemi display cita ane eee a etter ta ia 22 28 11 Ee EE 23 3 8 2 Ee EE 24 SBa
79. ther CPU is in the optional CPUPak 4 and normally runs at 70 to 80 capacity left Use Windows Task Manager to determine this which uses about 10 of the available processor power on a 133 MHz unit 6 4 Antenna Open or Shorted information A common fault is water in the cable from the antenna TNC connector Examine closely the sealant around the antenna TNC connector and cut back and replace if necessary On rare occasions water may get inside some antenna housings To assess this remove the antenna and listen for water sloshing around inside A0031 09 001 A O Forsberg Radix Ltd Page 53 NAVPak 4 User Manual Version 2 00 Examine for hairline cracks and if this is the fault you may just require a get you home repair by carefully removing the antenna TNC connector washing the antenna out with distilled water drying thoroughly in an oven and resealing with silicon sealant grease and tape The most effective temporary repair would be using high impact adhesive with the antenna housing cleaned thoroughly in the affected area Remember constant heating and cooling sun and shade of the antenna will cause the air inside to act like a pump through any hairline crack so take care not to strike the antenna housing with any object If struck examine the housing for hairline cracks and take preventative action if necessary 6 5 DGPS age information The default alarm settings for the NAVPak 4 software running on the CPUPa
80. ttle understanding other than to switch on and run the system Again NAVPak 4 runs extensive tests on the hardware to measure voltages temperatures currents as well as a host of flagged conditions to determine if the hardware is OK In the event that a test is failed or a limit exceeded the traffic light concept is used to warn the user 2 2 3 Fault Reporting amp Data Analysis Fault reports are generated and logged to a dedicated folder for each Julian Day Also logged is default BIT and Quality data at regular intervals of between one second and one hour Examination of associated data will quickly let the user see relationships leading to fault or cautionary conditions Faults can be traced to circuit board components with an audit trail so decisions on whether it s the GPS receiver the antenna the power supply or the CPU causing a problem can be accurately reported and the correct spare installed with a high probability of SUCCESS The software is able to analyse all manner of aspects with relation to navigation data quality such as individual satellite signal strengths satellite signal lock times signal noise Doppler frequencies satellite pseudorange residuals standard deviations error ellipse F Test W Test etc All of this data is collected can be analysed and is reduced to the traffic light notification system so that the user reliably knows the condition and status of the CPUPak 4 navigation system 2 3 Prerequisite
81. ystem Administrator section of the NAVPak4 RT software 6 6 6 Carrier to Noise Density Ratio This is a figure measured in dB Hz relating the satellite signal strength to the background noise It is displayed on the main NAVPak4 RT display for each received satellite s L1 frequency Data for both L1 and L2 is stored in the logged data Figures should be within the bracket 40 50 to get best results Low figures will be experienced when interference jamming is present while high figures may be seen when spoofing is present Intermittent jumps in the figure for single observations or short periods may suggest multi path and intermittent jamming and or spoofing Please note that the signal to noise ratios on the NovAtel OEMV receiver are logged and displayed after the receivers automatic gain control functions have done their work Consequently they are not a representation of the ambient GPS signals with relation to the background radio noise but they represent the on board post gain adjustment figures In reality the figures that matter are post gain control for position processing 6 6 7 Instantaneous Doppler Frequency This data is logged for all satellites being tracked whatever the standard of the signal This Doppler frequency will almost certainly be different for all satellites but there should be correlation for any single satellite s L1 and L2 signals The Doppler frequency is the shift from the satellite s central transmitting fr

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