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Novatel GNSS Receiver and Antenna SMART-AG User's Manual

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1. Cancel Figure 11 COM Port Setup Downloading firmware To download firmware follow these steps Set up the communications port as described in Communications Settings above 2 Select the file to download see Open a File to Download on Page 47 3 Make sure the file path and file name are displayed in main display area see Figure 10 Open File in WinLoad on Page 47 4 Click on the Write Flash button to download the firmware 5 Power down and then power up the receiver when Searching for card appears in the main dis play see Figure 12 Searching for card timeout in 13 secs Figure 12 Searching for Card 6 When the Authorization Code dialog opens see Figure 13 enter the auth code and select OK Authorization Code x om Figure 13 Authorization Code Dialog 7 The receiver should finish downloading and reset The process is complete when Done is dis played in the main display area see Figure 14 48 SMART AG User Manual Rev 2 PC Utilities Chapter 4 Download Complete Resetting Card Resetting Done BOC EE CEE EEE EERE Daan atat COM 1 Connect 9600 Download 115200 Figure 14 Upgrade Process Complete 8 Close WinLoad This completes the procedure required to upgrade an OEMV family receiver SMART AG User Manual Rev 2 49 hyu Dg Technical Specifications A 1 Smart AG Receiver Performance PERFORMANCE Subject To GPS System Characteristics Position A
2. SMART AG User Manual OM 20000123 Rev 2 SMART AG User Manual Publication Number OM 20000123 Revision Level 2 Revision Date 200812 08 Firmware Version 3 600 or higher Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel Narrow Correlator tracking technology ProPak and RT 2 are registered trademarks of NovAtel Inc RT 20 PAC AdVance RTK OEMV and SMART AG are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Manufactured and protected under U S Patent PAC Correlator Dual Frequency GPS 6 243 409 B1 5 736 961 5 414 729 Position for Velocity Kalman Filter Narrow Correlator 6 664 923 B1 5 10
3. This is a notebox that contains important information See also Section B 1 Syntax Conventions on Page 57 for more syntax when entering commands The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log Refer to the OEMV Family Firmware Reference Manual for ASCII and binary header details The number following Ox is a hexadecimal number Command descriptions brackets represent the optionality of parameters In tables where values are missing they are assumed to be reserved for future use Status words are output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal For an example of this type of conversion please refer to the RANGE log in the OEMV Family Firmware Reference Manual Conversions and their binary or decimal results are always read from right to left For a complete list of hexadecimal binary and decimal equivalents please refer to the Unit Conversion section of the GPS Reference Manual available on our website at http www novatel com support docupdates htm SMART AG User Manual Rev 2 17 Introduction The SMART AG is a high performance GNSS receiver and antenna capable of receiving and tracking different combinations of GPS L1 and GLONASS L1 code and carrier on a maximum of 36 channels SBAS Satellite Based Augmentation Systems include WAAS EGNOS and MSAS support is standard and offe
4. It therefore takes 960 bits per message To get 10 messages per second then requires 9600 bps Please also remember that even if you set the bps to 9600 the actual data transfer rate is lower and depends on the number of satellites being tracked data filters in use and idle time It is therefore suggested that you leave yourself a margin when choosing a data rate 115200 is recommended for most applications A CAUTION Although the receiver can operate at data transfer rates as low as 300 bps this is not desirable For example if several data logs are active that is a significant amount of information needs to be transmitted every second but the bit rate is set too low data will overflow the serial port buffers cause an error condition in the receiver status and result in lost data SMART AG User Manual Rev 2 Operation Chapter 3 3 1 2 Communicating Using a Remote Terminal One method of communicating with the receiver is through a remote terminal The receiver has been pre wired to allow proper RS 232 interface with your data terminal To communicate with the terminal the receiver only requires the RX TX and GND lines to be used Handshaking is not available Ensure the terminal s communications set up matches the receiver s RS 232 protocol 3 1 3 Communicating Using a Personal Computer An IBM compatible PC laptop can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command ba
5. Singularity at parameters matrix 4 COV_TRACE Covariance trace exceeds maximum trace gt 1000 m 5 TEST_DIST Test distance exceeded maximum of 3 rejections if distance gt 10 km COLD_START Not yet converged from cold start V_H_LIMIT Height or velocity limits exceeded in accordance with export licensing restrictions 8 VARIANCE Variance exceeds limits 9 RESIDUALS Residuals are too large 10 DELTA_POS Delta position is too large 11 NEGATIVE_VAR Negative variance 12 Reserved 13 INTEGRITY WARNING Large residuals make position unreliable 14 17 Reserved for SPAN capable receivers 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and determines if the fixed position is valid 19 INVALID FIX The fixed position entered using the FIX POSITION command is not valid 20 UNAUTHORIZED Position type is unauthorized HP or XP on a receiver not authorized for it a PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the GPS receiver has locked onto its first few satellites If your antenna is obstructed or not plugged in and you have entered a FIX POSITION command then you may see PENDING indefinitely 70 SMART AG User Manual Rev 2 Lo
6. Utilities setup program www novatel con Figure 4 OEMV CD 2 1 3 Power Supply Requirements The SMART AG requires 8 to 36 VDC for the input power to the receiver See Page 51 for more power supply specifications The SMART AG cable provides power in with a BATT label and power ground with a BATT label bare wires for connections from the SMART AG to a 12 to 24V vehicular power system or equivalent protected by a 5A Fast Blow Fuse user supplied See its cable details starting on Page 54 A WARNING The SMART AG power source must be protected by a SA Fast Blow Fuse or damage to wiring may result not covered by warranty If the voltage supplied is above or below the specified range the receiver will suspend operation If the voltage supplied is above 48V the receiver may be permanently damaged voiding your warranty 2 1 4 Mounting Bracket A mounting kit is provided along with the SMART AG to facilitate mounting the receiver to a surface To install the mounting bracket provided with the SMART AG Development kit using the adhesive 22 SMART AG User Manual Rev 2 Installation and Setup Chapter 2 tape attached or mounting holes at each corner of the plate 2 1 5 Mounting the SMART AG The SMART AG is a single frequency GNSS receiver and antenna When installing the SMART AG e Choose a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction Refer
7. from the date of sale SMART AG One 1 Year Antenna One 1 Year Cables and Accessories Ninety 90 Days Computer Discs Ninety 90 Days Software Warranty One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location or in the case of software provision of a software revision for implementation by the customer Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLA TION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMI TIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL IID NOR MAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PER SON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES S
8. how often to update radar output Range 1 2 5 10 20 default 10 4 Integer 5 resp_mode 6 threshold Specify the time response mode over which to average velocity samples see Table 13 Default 300 a The threshold is only applicable when the response mode is set to 2 The response time is 1000 ms when the velocity is greater than this value otherwise it is 500 ms Range 2 50 kph default 5 kph 4 Integer 8 Double none kph H 20 a The number of samples used for smoothing depends on both the update_rate and resp_mode parameters For instance if the update_rate is 5 Hz and the resp_mode is 200ms the number of samples used will be 10 64 SMART AG User Manual Rev 2 Commands 2000 1000 Table 13 Response Modes 2000 ms 1000 ms 500 500 ms default The time period over which to smooth velocity samples Automatically switches between 1000 and 500 ms Performs no smoothing Example 1 to disable radar emulation Example 2 to set the frequency step to 36 11 Hz kph SMART AG User Manual Rev 2 Appendix B radarcfg disable 26 11 1 1 2 radarcfg enable 36 11 1 1 2 65 Appendix B Commands B 5 RESET Perform a Hardware Reset The OEMV reset command is extended to include SMART AG features 66 SMART AG User Manual Rev 2 iNeo ao LOGS The SMART AG firmware generates the logs in Table 14 in addition to those of t
9. of loss damage or destruction shall pass to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end product 4 COPYRIGHT AND CONFIDENTIALITY Copyright in any specification drawing computer software technical description and other document supplied by NovAtel under or in connection with the Order and all intellectual property rights in the design of any part of the Equipment or provision of services whether such design be registered or not shall vest in NovAtel absolutely The Buyer shall keep confidential any information expressed or confirmed by SMART AG User Manual Rev 2 Terms and Conditions NovAtel in writing to be confidential and shall not disclose it without NovAtel s prior consent in writing to any third party or use it other than for the operation and maintenance of any Equipment provided 5 GENERAL PROVISIONS All Purchase Orders are subject to approval and acceptance by NovAtel Any Purchase Order or other form from the Purchaser which purports to expand alter or amend these terms and conditions is expressly rejected and is and shall not become a part of any agreement between NovAtel and the Purchaser This agreement shall be interpreted under the laws of the Province of Alberta 6 LIMITED WARRANTY AND LIABILITY Warranty Period Products 1 year Accessories 90 days in ea
10. or failure to follow prescribed installation operating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or authorized by NovAtel iii normal wear and tear iv damage caused by force of nature or act of any third person v shipping damage vi service or repair of Product by the Purchaser without prior written SMART AG User Manual Rev 2 11 Terms and Conditions 12 consent from NovAtel vii Products designated by NovAtel as beta site test samples experimental developmental preproduction sample incomplete or out of specification Products viii returned Products if the original identification marks have been removed or altered or ix Services or research activities 7 EXCLUSION OF LIABILITY If a Party would but for this paragraph 7 have concurrent claims in contract and tort including negligence such claims in tort including negligence shall to the extent permitted by law be wholly barred unenforceable and excluded NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order or of statutory duty or by reason of tort including but not limited to negligence for any loss of profit loss of use loss of production loss of contracts or for any financing costs or for any indirect or consequential damage whatsoever that may be suffer
11. selecting Constellation Window from the View menu or by clicking its button in the Window Toolbar e Channel Tracking Status Window The Channel Tracking Status window displays key information for each of the receiver s processing channels including the PRN of the satellite being tracked by that channel the Signal to Noise Ratio Pseudorange measurements Doppler values Residuals measurements and Lock Time from the satellite The TRACKSTAT log provides the data for many of the fields listed in this window The number of channels displayed depends on the model of your receiver and the bars are color keyed to indi cate the frequency type on the channel gi Open these windows by selecting Tracking Status Window GPS GLONASS from the View menu or by selecting the American and Russian flag buttons in the Window Tool bar Position Window The Position window displays The receiver s latitude longitude and height The Solution Type also known as Position Type The solution or differential age number of seconds the current solution has been SMART AG User Manual Rev 2 37 Chapter 4 PC Utilities 38 valid Normally this represents the latency in the correction data The number of satellites used in the solution The Solution Status The receiver s date and time GMT and local a Open this window by selecting Position Window from the View menu or its button in the Window Toolbar Right click in the Position window to tha
12. the National Marine Electronics Association and designed to support networking in marine applications It functions over a longer physical distance and supports more physical nodes than ISO 11783 The relationship between NMEA2000 and SAE J1939 is that J1939 is the standard while the NMEA 2000 group has added some new messages called PGNs or Parameter Group Numbers and added a new additional transport protocol called FastPacket NMEA2000 compliant for all intents and purposes means J1939 compliant plus support for new NMEA2000 messages In other word one cannot have NMEA2000 without J1939 support as well J1939 is additionally harmonized with ISO 11783 a standard for the agriculture industry The CAN module is generally not user interactive It is activated when a SETCANNAME command is entered and after a SAVECONFIG the CAN module is activated immediately on all subsequent start ups The module supports NMEA2000 Parameter Group Message PGN e PGN 129029 GNSSPositionData e PGN 129025 GNSSPositionRapidUpdate e PGN 129026 COGandSOGRapidUpdate Table 5 Available CAN Signals on the SMART AG CANI Pin 7 SMART AG User Manual Rev 2 25 3 1 Operation Before operating the SMART AG for the first time please ensure that you have followed the installation instructions in Chapter 2 Installation and Setup starting on Page 20 The following instructions are based on a COM port configuration such as that shown in Figure 5 on
13. to the RINEX OBS file while Ephemeris File refers to the RINEX NAV file 2 RINEX Headers buttons to appear allowing you to supply additional information that appears in the header records of the RINEX output files for example Company Name Marker Name and Marker Number For best results the NovAtel receiver input data file should contain the logs as in Table 6 NovAtel Logs for Rinex Conversion on Page 43 42 SMART AG User Manual Rev 2 PC Utilities Chapter 4 Table 6 NovAtel Logs for Rinex Conversion RANGEA B or ontime 15 RANGECMPA B BESTPOSA B or once PSRPOSABB or RTKPOSABB or MARKPOSA B IONUTCA B onchanged RAWEPHEMA B onchanged GLORAWEPHEMA B onchanged VERSIONA B 2 once SITEDEFA B once a Information from this log overrides data entered into the Receiver Number Type and Version fields using the OBS file button of the RINEX Headers section see Figure 6 on Page 41 b Available on DL V3 receivers refer to the DL V3 User Manual Information from this log overrides data entered into the Marker Name Marker Number Antenna Type and Antenna Delta H fields using the OBS file button of the RINEX Headers section 4 3 2 Convert Command Line Switches Convert4 supports several command line switches to facilitate batch processing To access its Command Line Arguments window open a command prompt window select Accessories Command Prompt from the Start menu Change directory cd t
14. 1 416 Anti Jamming Technology 5 390 207 5 734 674 5 495 499 RTK Positioning 5 809 064 6 728 637 B2 GLONASS 6 664 923 BI 6 608 998 BI GALILEO 6 184 822 B1 Ory Copyright 2008 NovAtel Inc All rights reserved Unpublished rights reserved amp 9 under International copyright laws Printed in Canada on recycled paper Recyclable 2 SMART AG User Manual Rev 2 Customer Service 15 Foreword 16 Congratulations eicon N 16 leo ol ENN EEE EE E NE EA 16 Prerequisites sarino a A a eu eee 16 OL 0 VL 1 110 an 17 1 Introduction 18 1 1 Models and Features meininga een divrnitdekerksek uer 18 2 Installation and Setup 20 2 1 Additional Equipment Required ccceceeeeeeeeeeeeaeceeeeeeeeeeeesecsecnencaesaeeeeeeeneess 20 2 1 1 SMART AG Setup uiaangruiatnsatadeandeneaneaterserehnude 20 2 1 2 Installing the PG Vtilities 1 vinicrsniides vidre ebecedeseeececes bakerier 22 2 1 3 Power Supply Requirements ccccccecceeeeeeeeeceecceeceeeeeeeeeeeteeeeeeensiseaeees 22 2 1 4 Mounting Br cketr epa te 22 2 1 5 Mounting the SMART AG merennnrrrvnrennnrrennrennnrrernrennnrrensrensrrressrensrrseessenennne 23 2 1 6 Connecting Data Communications Equipment mrrrnrrnnnrnnnnnrnnrnnrnnnnnnnnnn 23 2 2 Additional Features and Information sronnnrannnvvnnnnnnnnvrvnnnnnnnrrnnnnnnnrrrnnnnerrrrrnnnnennn 23 2 2 1 MKi and PPS Strobes i nuseensrmenidnassiedaddeae aa iiaa aaia 23 2 2 2 Status Indic
15. 4 5 seconds and so on The hold parameter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 log com1 bestpos once 0 000000 0 000000 nohold Refer to the Command Formats section of the OEMV Firmware Reference Manual for additional examples DI 1 In CDU there are two ways to initiate data logging to the receiver s serial ports You can either enter the LOG command in the Console window or use the interface provided in the Logging Control window Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data is lost if one of these modes occurs during a logging session 2 Only the ASCII Abbreviated ASCII log table is included in this manual Please refer to the LOG command in the OEMV Family Firmware Reference Manual for binary log details 60 SMART AG User Manual Rev 2 Commands Appendix B Description 1 LOG This field contains the command name or the ASCII message header depending on whether the header command is abbreviated ASCII or ASCII respectively 2 port See Table 12 Detailed Output port Enum Serial Port Identifiers on default THISPORT Page 62 3 message Any valid message name Message name of log to output Char with an optional A or B suffix 4 trigger ONNEW Output when the message is updated not Enum neces
16. 58 trigger 61 differential configuration note 33 corrections 29 53 operation 29 serial cable 53 setup 30 directional communication 27 distance exceeded 70 E e mail 15 Emulated Radar ER 25 64 68 F features 18 27 44 45 firmware upgrades 44 45 FRESET command 58 G GLONASS 18 42 GPSAntenna 9 graphical user interface 36 H handshaking 26 hardware connector 20 74 enclosure 18 replace 72 required 20 reset 66 setup 21 30 specifications 52 header 17 height limit 70 hexadecimal 17 hibernate mode PC 60 hold 59 61 I identifier serial port 62 idle time 26 input command 28 connector 51 differential 31 32 mark 61 power 22 syntax 57 install 16 installation 35 integration 16 interface base or rover 31 32 communication 27 graphical 22 serial 26 introduction 18 L laptop power settings 60 LED front 18 power 21 23 light emitting diode LED see LED log 33 59 60 67 LOG command 59 logs in CDU 40 M memory 59 message trigger 61 model 18 SMART AG User Manual Rev 2 N note logging 59 Notices 13 NovAtel Inc 2 15 O operation 26 optionality 17 output connector 51 convention 17 log 59 61 status 27 28 syntax 57 overload 59 P parity 26 PC power settings 60 period 59 61 port COM 20 26 28 33 identifier 62 63 interface mode 31 32 log 59 61 output 61 prompt 28 ser
17. 64 RESET Perform a Hardware Reset cccceceeeeeeeeeeeecceeeeeeeeeeeeeeseeeecnieaeeeeeeeeeess 66 C Logs 67 RADARSIGNAL ER Signal and Position Information rernnrrrnnnnonnrrrnnnnrnnrrnnnrrnnr 68 VERSION HW amp SW Versions and Serial Numbers rrnnrrrnnvronnrrrvnnrrnnrrrvnnrennnrnnn 71 D Replacement Parts 72 SMARTA G aiaa aE a a eee e iaaa iaaa aa Ee aa has in ed eden 72 ACCOSSONGS added eee Mee eie sitiari havens 72 4 SMART AG User Manual Rev 2 1 2 3 4 5 6 7 8 9 SMART AG Controller Models vrvrrrrnnrrnnnnnvrvvvnnnnnvnnnvrvvnnnnnrnvnnnrvvvnnnrssvenevvvvnnnsssvenener 19 SMART AG Connector Pin Out rrnnrnnrnnnrrnnrnnnrrnnrnnrrnnnnnnrrnnnnnnrnnnnnnrrnnnnenrnnnnnerrnnnnnn 21 Default Port Configurations serrnvrrrnvrnnnnvnnvnvnnenvnnnnvrnnnvrnrenrnrenvnrenennsnvnnrvvrnsrnresenense 23 SMART AG LED Status Indicators rrnnonnrrnnrrnrrnrrrnnnrnnrrnnrnnnrnnnnnnrrnnnnenrrnnnnenrnnnnnn 24 Available CAN Signals on the SMART AG rserrrnvrnnenvnnenvrnenvrnrvvrnresvnrevvrernvresrvrerensene 25 NovAtel Logs for Rinex Conversion ssrrrvvrnrvvvnrrnvenrnvrnrvvrnrrvrnrenverenvenrnvnernvrnsrvrerenseen 43 SMART AG Cable Pinouts cceeeeceeeeeeeeeeeeeceeeeeeeeeeeeeaeeeeecaeeeeeseaeeeeseneeeeeeeaees 54 SMART AG Mating Connectors ccceeeeeeeeeeeeceeeeeceeeeeeeeeeeeecaeeeeeeeeeeeeecneeeessnaees 55 Recommended Fuse and Fuse Holders ccceeeeceeeeeeeeeee
18. AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or any other performance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the Software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement 9 Governing Law This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 1 403 295 4900 Fax 1 403 295 4901 e mail to support novatel ca website http www novatel com or write to NovAtel Inc Customer Service Department 1120 68 Avenue NE Calgary Alberta Canada T2E 855 8 SMART AG User Manual Rev 2 NovAtel Inc warrants that its products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time
19. COM 1 TxD 8 RESERVED Do not connect 2 COM 1 RxD 9 Power Negative Return 3 COM 2 TxD 10 Emulated Radar Output 4 COM 2 RxD 11 MKI Mark Input 5 Signal Ground 12 PPS Pulse Per Second COM ER MKI PPS Output 6 CAN 13 RESERVED Do not connect 7 CAN 14 Power Positive Source Table 2 SMART AG Connector Pin Out 3 Turn on the power supply to the SMART AG the SMART AG cable is also a power cable The power LED E on the back of the receiver glows red when the SMART AG is properly powered User Supplied 5A Fast Blow Fuse Chapter 2 Note Minimum Conductor size for all wiring is 0 5 mm 20 AWG Figure 3 Simplified SMART AG Setup SMART AG User Manual Rev 2 21 Chapter 2 Installation and Setup DX Minimum conductor size for all wiring is 0 5 mm 20 AWG 2 1 2 Installing the PC Utilities Once the SMART AG is connected to the PC laptop and a power supply install NovAtel s PC Utilities These include CDU a graphical user interface program 1 Start up the PC laptop 2 Insert the accompanying CD see Figure 4 below in the CD ROM drive of the computer 3 Select Install the OEMV GPS PC Utilities from the window that is automatically displayed If the window does not automatically open when the CD is inserted select Run from the Start menu and select the Browse button to locate Setup exe on the CD drive 4 Install the PC Utilities by advancing through the steps provided in the NovAtel PC
20. HALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PROD UCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WAR RANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SER VICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSE QUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the NovAtel receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase You may also visit our website at http www novatel com and select Support Repair Requests from the top menu SMART AG User Manual Rev 2 Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any p
21. M1 TXD 1 2 White COM1 RXD 2 3 Red COM2 TXD 3 2 White COM2 RXD 4 3 Black COM1 GND 5 5 Black COM2 GND 5 5 White Black MKI GND 5 MKI GND White Black ER GND 5 ER GND White Black PPS GND 5 PULSE PER SECOND GND Yellow CANI 6 CANI Green CANI 7 CANI RESERVED 8 Black PWR RET GND 9 BATT Blue EMULATED 10 ER OUT RADAR OUT White EVENT MARK IN 11 MKI Orange PPS 12 PPS RESERVED 13 Red PWR INPUT 14 BATT A 2 2 SMART AG Connector and Cable Requirements Custom cables for installing your SMART AG can be created using he following guidelines 54 Wire size must be 0 5 mm 1 25 mm 20 16 AWG Batt connection must be protected by 5A fast blow fuse SMART AG User Manual Rev 2 Technical Specifications Appendix A e Serial data signals TxD RxD signal ground must be run in shielded cable Connect shields to ground at SMART AG end only e CAN signal conductors must be twisted 40 twists m 12 twists ft e Use only the recommended mating connectors listed below Use only gold plated pins WARNING Failure to observe the given cable construction guidelines in this section will result in damage to the wiring not covered by warranty The connector used in the SMART AG is an AMPSEAL dust and water type produced by Tyco The following part numbers pertain to the mating connector required to make connections to the SMART AG These numbers are provided for information only and are not available fr
22. Manual for information on receiver communications and operation SMART AG User Manual Rev 2 19 Installation and Setup This chapter contains instructions and tips to set up your SMART AG to create a GNSS receiver system 2 1 Additional Equipment Required In order for the receiver to perform optimally the following additional equipment is required e A PC laptop user supplied A means of communicating with and powering the SMART AG e SMART AG cable 01018256 included with the receiver Development kit NovAtel part number 01018257 see Figure 3 Simplified SMART AG Setup on Page 21 for COM and power connections DX Use a serial COM connection to communicate with the receiver first A fused power supply user supplied or other user equipment 2 1 1 SMART AG Setup Complete these steps to connect and power your SMART AG See also Figures 2 to starting below 1 Mount the SMART AG on a secure stable part of the vehicle i e cab roof with an unobstructed view of the sky from horizon to horizon see Section 2 1 5 Mounting the SMART AG on Page 23 2 Establish a physical communication connection between the SMART AG and the PC laptop Connect the COM and Power port on the back of the SMART AG see Figure 2 below to a DB 9 serial port on a PC laptop or other data storage device Figure 2 SMART AG Connector 20 SMART AG User Manual Rev 2 Installation and Setup Pin Use Pin Use 1
23. Page 30 It is assumed that a personal computer or laptop is used during initial operation and testing for greater ease and versatility Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device This could be either a terminal or PC laptop that is directly connected to the receiver serial port using a DB 9 connector on the SMART AG mult cable If you are using a radio it connects to another DB 9 connector on the same multi cable by means of the radio serial cable supplied with the radio It is recommended that you become thoroughly familiar with the commands and logs detailed in the OEMV Firmware Reference Manual to ensure maximum utilization of the receiver s capabilities 3 1 1 Serial Port Default Settings 26 The receiver communicates with your PC laptop or terminal via a serial port For communication to occur both the receiver and the operator interface have to be configured properly The receiver s COM land COM2 default port settings are as follows e 9600 bps no parity 8 data bits I stop bit no handshaking echo off Changing the default settings requires using the COM command The data transfer rate you choose determines how fast information is transmitted Take for example a log whose message byte count is 96 The default port settings allows 10 bits byte 8 data bits 1 stop bit 1 framing bit
24. Supply Voltage 0 5V Minimum Low 0 5V Minimum Load 3K Ohm Minimum PPS Output 3 3 V CMOS Logic Compatible MKI Input 3 3V CMOS Logic 5V Tolerant INPUT OUTPUT CONNECTOR PROTECTION Electrical Conducted ISO 7637 2002 Survives all pulse types Coupled disturbance tolerance LED INDICATORS More details can also be found in Section 2 2 2 Status Indicators starting on Page 23 PHYSICAL Size 155 3 x 66 8 x 0155 mm gt Weight 495 g maximum ENVIRONMENTAL Operating Temperature 40 C to 75 C Storage Temperature 55 C to 90 C Humidity Not to exceed 95 non condensing Vibration Random MIL STD 810F Method 514 5 C17 Sinusoidal IEC 68 2 6 ASAE EP455 5 15 2 Level 1 Shock MIL STD 810 F Method 516 5 a When tracking GPS satellites b b denotes diameter here and in the Dimensions graphic on Page 52 c See also the Notice section of this manual starting on Page 3 SMART AG User Manual Rev 2 51 Appendix A Technical Specifications Front of SMART AG unit 48 32 THREADED INSERT 4 PL a All dimension are in millimeters please use the Unit Conversion section of the GPS Reference Manual for conversion to other measurements 52 SMART AG User Manual Rev 2 Technical Specifications Appendix A A 2 1 SMART AG Power Communications Development kit Cable The SMART AG cable that accompanies the SMART AG see Figure 15 below provides a means of supplyi
25. T AG is ready to go SMART AG utilizes a comprehensive user interface command structure which requires communications through its communications COM ports This manual describes the SMART AG specific commands and logs see Commands starting on Page 57 and Logs starting on Page 67 Other supplementary manuals available on the accompanying CD and on our website at http www novatel com support docupdates htm aid you in using the other commands and logs available in the OEMV family of receivers PC Utilities are also described see Chapter 4 starting on Page 35 Integrated with the Control and Display Unit CDU software these utilities provide graphical user interfaces for logging to a PC laptop upgrading and converting data types Prerequisites The installation chapters of this document provide information concerning the installation requirements and considerations for SMART AG To run the PC software supplied your personal computer must meet or exceed this minimum configuration Windows compatible mouse or pointing device and SVGA display Although previous experience with Windows is not necessary to use CDU familiarity with certain actions that are customary in Windows will assist in the usage of the program This manual has been written with the expectation that you already have a basic familiarity with Windows 16 SMART AG User Manual Rev 2 Foreword Conventions Some simple conventions used in this manual are lt
26. The Open Configuration window appears The example below shows an Open Configuration window with two possible configurations already set up Your configurations may be different or you may have none at all in which case the Open Configuration window is empty SMART AG User Manual Rev 2 27 Chapter 3 Operation 28 Available device configs FlexPakGG COM1 at 115200 Baud DL_ 3 COM2 at 115200 Baud SMART ER COM1 at 115200 Baud Refer to CDU s Help file by selecting the Help Contents menu Ensure you can see the Console and ASCII Messages windows by selecting them from the View menu When the receiver is first turned on no data is transmitted from the COM ports except for the port prompt The Console window displays a port name COM1 ifconnected to COMI port or COM2 if connected to COM2 port Any of the above prompts indicate that the receiver is ready and waiting for command input DX 1 You may also have to wait for output from receiver self tests For example on start up the OEMV family receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports Refer to the OEMV Family Firmware Reference Manual for more details 2 Ifyou find that CDU is unable to locate your OEMV family receiver it may be that you have previously used the SAVECONFIG command In this case try using a different COM port to communicate to the receiver Once communication has been established issue the command FRESET STANDARD You sh
27. USB port 2 virtual port 31 USB3 7a0 1952 USB port 3 virtual port 0 USB3 31 7bf 1983 USB port 3 virtual port 31 AUX 8a0 2208 AUX port virtual port 0 AUX 31 8bf 2239 AUX port virtual port 31 XCOM3 9a0 2464 Virtual COM3 port virtual port 0 XCOM3 31 9bf 2495 Virtual COM3 port virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header b The AUX port is available on OEMV 2 based and OEMV 3 based products c SMART AG only Refer to the SMART AG Firmware Reference Manual and CDU s Help file SMART AG User Manual Rev 2 63 Appendix B B 4 RADARCFG Configure the ER Output Commands Use this command to configure the Emulated Radar ER output ER is available through the SMART AG multi cable see Page 54 for pin out details Syntax radarcfg switch freq step update rate resp mode threshold Message ID 8192 Field Data 1 Header Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Bytes Format Units Offset 2 switch Enable or disable radar emulation 0 ENABLE 1 DISABLE default enable 4 Enum none 3 freq_step Frequency step per kilometer per hour Range 26 11 28 12 or 36 11 default 26 11 8 Double Hz kph H 4 4 update_rate Specify
28. Website http www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary AB Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue a FRESET command 2 Log the following data to a file on your PC laptop for 30 minutes RXSTATUSA once BESTPOSA ontime I RXCONFIGA once VERSIONA once 3 Send the file containing the logs to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel com incoming or the support novatel com e mail address SMART AG User Manual Rev 2 15 Congratulations Congratulations on your purchase of the SMART AG a GPS L1 plus GLONASS L1 receiver and antenna with exceptional flexibility and performance NovAtel is an industry leader in state of the art Global Navigation Satellite Systems GNSS receiver design We believe that our SMART AG will meet your high expectations and are working hard to ensure that future products and enhancements maintain that level of satisfaction This is your primary hardware and software reference Scope This manual provides sufficient detail on the SMART AG to allow you to effectively integrate and fully operate it The information in this manual is a companion to the OEMV family information in the OEMV Firmware Reference Manual and the OEMV Installation and Operation User Manual After the addition of accessories and a power supply the SMAR
29. able from our website at http www novatel com support docupdates htm DX All PSRDIFFSOURCE entries fall back to SBAS even NONE for backwards compatibility At the base station it is also possible to log out the contents of the standard corrections in a form that is easier to read or process These larger variants have the correction fields broken out into standard types within the log rather than compressed into bit fields This can be useful if you wish to modify the format of the corrections for a non standard application or if you wish to look at the corrections SMART AG User Manual Rev 2 33 Chapter 3 Operation for system debugging purposes These variants have DATA as part of their names for example RTCADATA1 RTCMDATA1 CMRDATAOBS and more Refer also to the OEMV Firmware Reference Manual which describes the various message formats in more detail lt Information on how to send multiple commands and log requests using DOS or Windows can be found on our website at http www novatel com support knowledgedb htm 34 SMART AG User Manual Rev 2 PC Utilities Visit the Firmware and Software Updates section of the NovAtel website www novatel com for the most recent versions of the PC software and receiver firmware 4 1 CDU Convert Installation The CD accompanying this manual contains the Windows applications CDU Control and Display Unit and Convert The DL Explorer is part of CDU They are installed
30. accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 6 Warranty NovAtel does not warrant the contents of the Software or that it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of the Software is assumed by you See product enclosure if any for any additional warranty 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or oth erwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss dam age actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccu racy error or other defect therein and whether or not involving negligence on the part of any person 8 Disclaimer and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS
31. ailable If you are using SBAS make sure SBAS is available in your area and that the unit is configured to enable SBAS positions SBASCONTROL ENABLE For DGPS make sure the unit is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working CAN Setup See Section 3 1 Communications with the Receiver starting on Page 26 to begin collecting data Collected data can be transmitted to a host computer over a serial port using a program such as CDU Refer to its on line Help for details See also the SMART AG commands and logs detailed in this manual 24 SMART AG User Manual Rev 2 Installation and Setup Chapter 2 2 24 Emulated Radar ER The SMART AG outputs an emulated RADAR signal via the bare wires labeled ER GND and ER OUT on the SMART AG cable See Table 7 on Page 54 for the pin out details of this cable The ER outputs a logic high of supply voltage 0 5V minimum and logic low of 0 5V maximum with a rise and fall time of less than 1 ms Its output references signal GND and provides logic low output until its speed is greater than I km Hr It provides an output frequency that represents 36 11 Hz km Hr with an effective range from I km Hr to 55 km Hr for near horizontal applications Please see Appendix B 4 RADARCFG Configure the ER Output starting on Page 64 for more information 2 2 5 NEMA Standards NEMA 2000 is a CAN standard created by
32. al and electronic equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognised by their wheeled bin label CR 1 RoHS Notice The SMART AG is compliant with the European Union EU Restriction of Hazardous Substances RoHS Directive 2002 95 EC 1 Please visit the NovAtel website at http www novatel com support weee htm for more information on WEEE and RoHS 14 SMART AG User Manual Rev 2 OEMV FIRMWARE UPGRADES Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge WINLOAD Please refer to the OEMV Family Installation and Operation User Manual for instructions on how to use the WinLoad program to upgrade your OEMVcard CONTACT INFORMATION Model upgrades are accomplished through NovAtel authorized dealers Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved contact NovAtel Inc directly using one of the following methods Call the NovAtel GPS Hotline at 1 800 NOVATEL U S amp Canada or 403 295 4900 international Fax 403 295 4901 E mail support novatel com
33. an be logged using several different methods of triggering the log events Every log element can be directed to any combination of the three COM ports and three USB ports The ONTIME trigger option requires the addition of the period parameter See the OEMV Firmware Reference Manual and the SMART AG Firmware Reference Manual for further information and a complete list of data log structures The LOG command tables in this section show the ASCII command format The optional parameter hold prevents a log from being removed when the UNLOGALL command with its defaults is issued To remove a log which was invoked using the hold parameter requires the specific use of the UNLOG command To remove all logs that have the hold parameter use the UNLOGALL command with the held field set to 1 The port parameter is optional If port is not specified port is defaulted to the port that the com mand was received on Db 1 The OEMV family of receivers can handle 30 logs at a time If you attempt to log more than 30 logs at a time the receiver responds with an Insufficient Resources error Each COM port serial and USB already has RXSTATUSEVENT log associated with it This means that with 3 serial ports and 3 USB ports 6 logs are already accounted for See the example on the next page 2 Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additiona
34. ard from the Tools menu or select one of their buttons in the Window Toolbar 40 SMART AG User Manual Rev 2 PC Utilities Chapter 4 4 3 Convert Convert is a 32 bit Windows application and is shown in Figure 6 Convert will accept GPS file formats and convert them to ASCII Binary or Rinex format The application also allows the user to screen out particular logs by selecting the desired logs from the list of available logs This feature is useful for screening particular logs out of large data files in either ASCII or Binary formats NovAtel OEM4 Convert ME EI Source File D inject OEMVP4 gps __ Open Destination File D inject OEMVP4 asd Save As Convert To I Selected Edit ASCII Time Edit C Binary it z in Convert File I RangeB Log Compression NorAtel I RangeCmpB Log Expansion NovAtel ODE M4 Convert Me EI Source File D inject OEMVP4 gps Open Observation File D inject OEMVP4 01 o Save As Ephemeris File D inject OEMVP4 01 n Save As Glonass File D inject OEMVP4 040 I Selected Edit I Time Edit I RangeB Log Compression NorAtel I RangeCmpB Log Expansion RINEX Headers Nav File Help Obs File Exit Figure 6 Convert Screen Examples Convert File 4 3 1 Rinex Format The Receiver Independent Exchange RINEX format is a broadly accepted receiver independent format for storing GPS data It features a non proprieta
35. ators smarrrrrnonrnnrrnrrrnrrnnrrnrrrannrnrn nn nnnnnnennennernnnrnnrnnnnnnnnnnennnene 23 223 CAN SEUD yinni neunana danisan i a aiia aia aa aaia 24 2 2 4 Emulated Radar ER ececiennncncnnei i andreas 25 2 2 5 NEMA Standards icnn a E E a A aE a a eN 25 3 Operation 26 3 1 Communications with the Receiver mrrrnnnrervvrrnnrrnnvrrrnnrennnrrennrersrrrnnsernrrrenerennn 26 3 1 1 Serial Port Default Settings rrrrnnravvrnnnnnnnvvrnnnnrrrvnrnnnnnnnnnrrennrennnrneessennnnne 26 3 1 2 Communicating Using a Remote Terminal rurarnnrnnnnnnonvrrnnnvnnnnrrrnnnennnnne 27 3 1 3 Communicating Using a Personal Computer rrrvrnnannvvnnrrrnnnnnnnnrrnnnrennnnnn 27 3 2 Getting Stamed aina baglerne ade eed geese ae ese 27 3 2 1 Starting the Rece Ne sccc sscszectsassczceays siuczdaerseecccacareuancesden radia cdedveasecaeetevaedactes 27 3 2 2 Communicating with the Receiver Using CDU rrnnnannannnrnnnnvnnnnrrrenevennnnne 27 3 3 Transmitting and Receiving Corrections ararsrrnnnnnnvrrrnnnennnrrrnnnrnnnrrennrersrrrnnsenen 29 3 3 1 Base Station Configuration cc cccceeeeeeeeeencneeeeeeeenaeeeeeeenaeeeeeeeiaeeeeeeeaes 31 3 3 2 Rover Station Configuration erasasvvvrnnnnnnvvrnnnnnnorvrrnnnnennnrrreerennnrreesrennnnne 32 3 3 3 GPS GLONASS Base and Rover Configuration rurrrnrrrrrnvonnnrrrrnvnnnnnnn 32 3 3 4 Recommended Configuration urrrnnrrrnnnronnrrrrnrrnnnrrnnnnennnrrenrrennrrrenrrnnnnn
36. ccuracy Standalone L1 1 8m RMS SBAS 0 6 m RMS DGPS 0 45 m RMS RT 20 0 20 m RMS Post Processed 5 mm 1 ppm RMS Hot 35 s Almanac and recent ephemeris saved and approximate position Warm 40 s Almanac approximate position and time no recent ephemeris Cold 65 s No almanac or ephemeris and no approximate position or time Time To First Fix Reacquisition 0 5 s L1 typical Data Rates Raw Measurements 20 Hz Computed Position 20 Hz Time Accuracy 20 ns RMS Velocity Accuracy 0 03 m s RMS Measurement Precision C A code phase 6 cm RMS L1 carrier phase Differential 0 75 mm RMS Dynamics Velocity 515 m s a Typical values Performance specifications are subject to GPS system characteristics U S DOD operational degradation ionospheric and tropospheric conditions satellite geometry baseline length and multipath effects b GPS only Time accuracy does not include biases due to RF or antenna delay In accordance with export licensing a9 50 SMART AG User Manual Rev 2 Technical Specifications Appendix A A 2 SMART AG Specifications INPUT OUTPUT CONNECTORS SMART AG COM PWR 8 to 36 V DC at 2 5 W typical while logging For the cable pinouts and drawings see Section A 2 1 SMART AG Power Communications Development kit Cable starting on Page 53 Serial Com Ports RS 232 F Compliant Rx and Tx signals only CAN SAE J1939 ISO 11783 ISO 11898 Compliant Emulated Radar Output High
37. ch case from the date of invoice NovAtel warrants that during the Warranty Period that a the Product will be free from defects in material and workmanship and conform to NovAtel specifications b the software will be free from error which materially affect performance and c if applicable as defined in the User s Manual be eligible for access to post contract support and software updates when available THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE Purchaser s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement at NovAtel s option and at NovAtel s facility of defective or nonconforming materials parts or components or in the case of software provision of a software revision for implementation by the Buyer All material returned under warranty shall be returned to NovAtel prepaid by the Buyer and returned to the Buyer prepaid by NovAtel The foregoing warranties do not extend to i nonconformities defects or errors in the Products due to accident abuse misuse or negligent use of the Products or use in other than a normal and customary manner environmental conditions not conforming to NovAtel s specifications
38. e Licensee against any loss sus tained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAtel shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the Software under this Agreement taken against any third party by NovAtel to protect its rights in the Software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not a copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the Software except in the case of sale of the hardware to a third party b modify or prepare derivative works of the Software c use the Software in connection with computer based services business or publicly display visual output of the Software d trans
39. ebsite at http www novatel com support fwswupdates htm SMART AG User Manual Rev 2 35 Chapter 4 PC Utilities 42 CDU 36 CDU is a 32 bit Windows application The application provides a graphical user interface GUI to allow you to set up and monitor the operation of the NovAtel receiver by providing a series of windows whose functionality is explained in this section A help file is included with CDU To access the file select Contents from the Help menu The rest of this section shows the CDU windows from the View menu and their descriptions Signal Noise Ratio Ui a 233 11 13 PRN21 Az 114 2 Elev 65 1 LIC 0 05 dB Hz 0 6 SNR50 1 Good L2E 0 05 dB Hz Latitude 51 092915139 4 0 52m Longitude 114 039498995 0 63m Height MSL 1058 606m 0 61m EJ 7 an Hind DI HE Average gt 35 Poor lt 35 Solution type Single Ins Solution age Osecond Differential age Osecond of satellites 11 Solution Status Computed Fri Apr 21 18 12 11 2006 GMT ieeod Nonik Gest Vertical Fri Apr 21 12 12 11 2006 Local 30 435 30 279 3 0522 0 3548 Most windows have a popup menu accessible by right clicking on the window with the mouse They provide a way to customize the window by changing the font or to print the window contents Some of the windows have access to the Options dialog which contains further settings for certain windows e Constellation Window The Constellation window displays each sa
40. ed by the Buyer In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of the Order NovAtel shall be liable to Buyer only for those damages which have been foreseen or might have reasonably been foreseen on the date of effectivity of the Order and which are solely an immediate and direct result of any act or omission of NovAtel in performing the work or any portion thereof under the Order and which are not in the aggregate in excess of ten 10 percent of the total Order price SMART AG User Manual Rev 2 The following notices apply to the SMART AG For more information on emissions testing please refer to the regulatory body in your geographic area For example in the US that is the Federal Communications Commission FCC and in Europe the Conformit Europ enne CE FCC NOTICES This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation SMART AG has been tested and found to comply with the radiated and conducted emission limits for a Class A digital device for both CISPR 22 and Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio fre
41. eeeeeeeeeeeeeesenneeeeesenees 56 SMART AG Commands in Alphabetical Order ccecceceeeeeeeeeeeeeeeeeteseeeeesaees 57 FRESET wa ET 58 Detailed Serial Port Identifiers rrrrrnnrnnrrnnrrnrrrnrrnnnnnnrnnnnnnrrnnnnnnrnnnnnnnrnnnnnenrnnnnen 62 Response Modes 2 ccceeecceeeeeeceeeeeeeeeeeeeeneeeeeceaeeeeseaceeeeseaeeeesecaeeeeeseaeeeeesneeeeesenees 65 SMART AG Logs in Alphabetical Order cc ccceeeceeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeseaees 67 Position or Velocity TyPe ccccccccceeeecceeeeeeececeeeeeeeceeseceeeeecaeeeeeeceeeeeseneeeeeseneeeeseeaees 69 Solution Sauar 70 Component TYPO xv eiwncucees eis aleahe cpcateeed sdatheeepcadaeiedasleadeca sebectaudes pabagochs tandentseatornastacuens 71 SMART AG User Manual Rev 2 1 SMART AG Receiver rnnnrrnnrnrnrrnrrnnnrnnrnnnnrnnnnnrnrnnnnnrnnnn renten nnnnnnrnnnnennnnnnnenrnnnnnnnrnnnnnnnennnn 18 2 SMART AG Connector rrnrnnnnnnnrnnnrnnnrnnnnnnnrnnnnnnrrnnnnnnrnnnnnnnrnnnnnnrrnnnnenrnnnnnenrnnnnnnrrnnnnnnrnnnnn 20 3 Simplified SMART AG Setup rrrrrrnnnrnnrrnnrrnrrrnrrrnnnnnrrnnnnnnrrnnnnnnrnnnnnnnrnnnnnerrnnnnnnnrnnnnnnrnnnnn 21 4 OEMV CD Sunesen sinne nes nksira kand hkiendiedtsleksmenttntdt seede rase 22 5 Basic Differential Setup mmrrnnrrnnrrnnrrnnrnnnnrnnrnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnrnnnnnnrrnnnnnnrnnnnnnnrnnnnnn 30 6 Convert Screen Examples rnnnnnnnnnnrnnnnnnrnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnrnnnnnnnrnnnnnerrnnnn
42. en 32 3 3 5 Configuration NotesSession ani Eaa ANE iNANO 33 4 PC Utilities 35 4 1 CDU Convert Installation 0 0 0 0 ccccccesssessssesesesececeseeeeeeeeeeseeesesaeaessaeseeeeasaeesses 35 42 CDU rronin aaa anaia e a G aaa Aa E aad aiaa aA a a 36 4 3 Convert inoan a a a a aa aa dg aa a a aaia Eaa EERE 41 4 3 1 Rinex Format neesii aiat aa aa ea a tea Aa aaan 41 4 3 2 Convert Command Line Switches rrnrnnnorovenrrrnrrrernnnnnnnnnnnnnnnnrasnnvrnsnsnnener 43 SMART AG User Manual Rev 2 Table of Contents 4 4 Firmware Upgrades same against k ince Depdadeneach E drake A Handa rate 44 4 4 1 Upgrading Using the AUTH Command mmasrrvaranvvvvvrnvnvvrnnnrrnnnnrnnnrrnrrernnnnne 44 4 4 2 Updating Using the WinLoad Utility sorrnnnnannrrrnnnnnnsrrrnnnnnrnrrrnnnnersrrvnnnnenn 45 A Technical Specifications 50 Smart AG Receiver Performance c cceeceecceceeeeeeeeeeeeeecneaaeceeeeeeeeeeeseeteeesnaeees 50 SMART AG Specifications 2 0 2 2 ccc ccceeeceeceeeceeceececeeeeeeeeeeeeeeceenaaeaeeeeeeeeeeeseeeeeseeninaaeess 51 B Commands 57 Syntax Conventions sess cesses ced deeseeceeddedeheceeddedeheceeesseahcesaeeddenenedeedneceeedeedeeceeeeteaees 57 FRESET Clear Selected Data from NVM and Reset rsrrrnnnnnnsvrnnnnnnsrrnnnersrrrnnernnn 58 LOG Request Logs from the Receiver mrrrrnrvrrvvvrvvnrrrvvrrvnnrrrrrrnnnrersrrrnenersrrreneeenn 59 RADARCFG Configure the ER Output 200 0 eeceeeeeeeeeeeeeeeeeeeeeeeeeseeeeaaeeeeeeeeaaeees
43. er standard size blade In line ATO fuse Littelfuse FHACO0001 holder Or Equivalent Fuse Holder mini size blade In line mini fuse Littelfuse OFHMO001 holder Or Equivalent 56 SMART AG User Manual Rev 2 PN rd Commands The SMART AG firmware implements the commands in Table 10 in addition to the OEMV family command set The LOG command is available to all OEMV receivers but is an essential command to do any logging It is included in this appendix for your convenience Table 10 SMART AG Commands in Alphabetical Order freset 20 Factory reset Existing OEMV Command extended to SMART AG log 1 Request logs from the receiver Existing OEMV Command extended to SMART AG radarcfg 8192 Configure the ER signal output New SMART AG command reset 18 Perform a hardware reset Existing OEMV Command extended to SMART AG The arguments for each of these commands are described in the following sections For a complete listing and description of the other commands that the SMART AG an OEMV 1G based receiver is capable of processing refer to the OEMV Family Firmware Reference Manual B 1 SYNTAX CONVENTIONS The following rules apply when entering commands at the command prompt from a keyboard 1 Courier font is used to illustrate program output or user input References to other commands logs or any of their fields are shown in italics The commands are not case sensitive For example y
44. essed as hhhh hhhh hhhh hhhh hhhh model where the h characters are an ASCII hexadecimal code and the model would be ASCII text Example auth 17cb 29af 3d74 01ec fd34 11 smrter Once the AUTH command has been executed the OEMV family receiver will reboot itself Issuing the LOG VERSION command will confirm the new upgrade model type and version number If communicating using CDU the communication path needs to be closed and re opened using the Device menu 4 4 2 Updating Using the WinLoad Utility WinLoad is required instead of the AUTH command when upgrading previously released firmware with a newer version of program and model firmware for example upgrading a SMART AG PVT firmware version 3 600 to SMART AG RT 20 firmware version 3 700 WinLoad is a Windows utility program designed to facilitate program and model upgrades Once WinLoad is installed and running it will allow you to select a host PC serial port bit rate directory path and file name of the new program firmware to be transferred to the OEMV family receiver via its COM1 or COM2 port The port chosen must have an RS 232 interface to the PC Transferring Firmware Files To proceed with your program upgrade you must first acquire the latest firmware revision You will need a file with a name such as OEMXXXX EXE where XXXX is the firmware revision level This file is available from NovAtel s FTP site http www novatel com or via e mail support novatel ca If trans
45. ferring is not possible the file can be mailed to you on CD For more information on how to contact NovAtel Customer Service please see Page 15 at the beginning of this manual SMART AG User Manual Rev 2 45 Chapter 4 PC Utilities 46 You will need at least I MB of available space on your hard drive For convenience you may wish to copy this file to a GPS sub directory for example C GPS LOADER The file is available in a compressed format with password protection Customer Service will provide you with the required password After copying the file to your computer it must be decompressed The syntax for decompression is as follows Syntax filename password where filename is the name of the compressed file but not including the EXE extension and password is the password required to allow decompression Example oem1001 12345678 A windows based dialog box is provided for password entry The self extracting archive will then generate the following files WinLoad exe WinLoad utility program HowTo txt Instructions on how to use the WinLoad utility WhatsNew txt Information on the changes made in the firmware since the last revision XXXX hex Firmware version upgrade file where XXXX program version level for example 1001 hex Using the WinLoad Utility WinLoad is a windows based program used to download firmware to OEMV family cards The main screen is shown in Figure 8 on Page 46 WinLoad OF x File Sett
46. gs Appendix C C 2 VERSION HW amp SW Versions and Serial Numbers The Component Type of the VERSION log refer to the OEMV Family Firmware Reference Manual is extended to include SMART AG information as in Table 17 Table 17 Component Type 0 UNKNOWN Unknown Component 1 GPSCARD OEMV GPSCard Component 3 ENCLOSURE SMART AG Receiver 8 USERINFO User application information component 981073925 DB USERAPPAUTO Auto starting user application firmware 0x3A7A0005 a Unused numbers are reserved for future use SMART AG User Manual Rev 2 71 Nenea Replacement Parts The following are a list of the replacement parts available for your NovAtel SMART AG receiver Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Service representative D 1 SMART AG Part Description NovAtel Part SMART AG 01018203 Cable 14 pin socket to 2 DB 9 connectors twisted CAN I O pair and other bare wire connectors 01018256 see Section 15 SMART AG Development Kit Cable starting on Page 53 Mounting Plate 70023072 D 2 Accessories Part Description NovAtel Part OEMV Family Compact Disc with PC utilities including CDU 01018235 OEMV Family Installation and Operation User Manual OM 20000093 OEMV Family Firmware Reference Manual OM 20000094 RY The accessories above are also available from www novatel com 72 SMART AG User Man
47. he OEMV Family log set Refer to the OEMV Family Firmware Reference Manual which also contains procedures and explanations related to data logging and is available from our website at http www novatel com support docupdates htm Table 14 SMART AG Logs in Alphabetical Order 8193 RADARSIGNAL Radar signal and position information New SMART AG log 37 VERSION Hardware versions software versions and serial numbers Existing OEMV log extended to SMART AG SMART AG User Manual Rev 2 67 Appendix C Logs C 1 RADARSIGNAL ER Signal and Position Information This log contains position and Emulated Radar ER signal information Message ID 8193 Log Type Asynch Recommended Input log radarsignala onchanged ASCII Example 1 stationary SMART AG RADARSIGNALA COM1 0 61 5 FINESTEERING 1501 248381 628 00000000 8alc 3723 SOL COMPUTED WAAS 0 0139 0 00 0 00 0d580ca ASCII Example 2 moving SMART AG RADARSIGNALA COM1 0 42 5 FINESTEERING 1428 206179 600 00000000 baa8 3349 SOL COMPUTED WAAS 0 3315 2 0 3152 473 97 29 62 c1479c20 de Binary Binary Field Field type Data Description Format Bytes Offset 1 RADAR Log header H 0 SIGNAL header 2 sol status Solution status see Table 16 Solution Status on Enum 4 H Page 70 3 vel type Velocity type see Table 15 Position or Velocity Enum 4 H 4 Type on Page 69 4 speed Speed over ground m s Double 8 H 8 4 varf freq External VARF ou
48. ial 24 26 settings 26 position accuracy 29 base 29 31 best 68 command 28 33 power 21 22 pseudorange 33 R RADARCFG command 64 RADARSIGNAL log 68 receiver status 59 replacement parts 72 reset FRESET command 28 58 option 58 SMART AG User Manual Rev 2 Index RESET command 66 target 58 RESET command 64 revision firmware 1 44 Rinex 41 rover station 33 RTCA 33 RTCM 31 33 RTCMV3 31 33 S satellite 23 26 self test 27 59 serial cable 26 number 44 port 33 62 standby mode PC 60 status receiver 59 support 9 15 syntax 57 T technical specifications 50 time 59 61 trigger log 59 60 U upgrade firmware 15 44 45 Vv velocity limit 70 version 45 W Warning CE 14 FCC 13 voltage 22 warranty 9 website 15 windows in CDU 36 40 WinLoad 45 WRITE command log 71 75 NorAtel OM 20000123 Rev 2 2008 12 16
49. in violation of Part 15 of the FCC rules and void the user s authority to operate this equipment CE NOTICE The enclosures carry the CE mark SMART AG User Manual Rev 2 13 Notice A WARNING This isa Class A product Ina domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Hereby NovAtel Inc declares that this SMART AG is in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Electromagnetic Compatibility EMC and Safety SMART AG Regulatory Testing FCC Part 15B Radiated Emissions Class A e EN 55022 Emissions Class A EN 55024 Immunity e EN 61000 4 2 Electrostatic Discharge Immunity e EN 61000 4 3 Radiated RF EM Field Immunity Test e EN 61000 4 4 Electrical Fast Transient Burst Test e EN 61000 4 6 Conducted Immunity e EN 61000 4 8 Magnetic Field Immunity e EN 60950 Safety of Information Technology Equipment WEEE Notice If you purchased your OEMV family product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electric
50. ings Help Gi Wite Flesh Card Properties PSN Enclosure G OSN Hm t Ebart HW Rev mm Hen File Properties Platform Type Version Code MA hi Run sciat PE Query Card ICOM 1 Connect 9600 Download 115200 Figure 8 Main Screen of WinLoad SMART AG User Manual Rev 2 PC Utilities Chapter 4 If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct Open a File to Download From the file menu choose Open Use the Open dialog to browse for your file see Figure 9 WinLoad s Open Dialog on Page 47 Lookin far gele File name hex Files of type Hex Files v Cancel Figure 9 WinLoad s Open Dialog Once you have selected your file the name should appear in the main display area and in the title bar see Figure 10 below HM WinLoad C AUNZIPY1212 hex File Settings Help X C AUNZIPY1212 hex Figure 10 Open File in WinLoad Communications Settings To set the communications port and baud rate select COM Settings from the Settings menu Choose the port on your PC from the Com Port dropdown list and the baud rate from the Download Baudrate dropdown list The baud rate should be as high as possible the default of 115200 is preferred SMART AG User Manual Rev 2 47 Chapter 4 PC Utilities Com Por 7 Download Baudrate fiis0 O Connect Baudrate so OK
51. irtual ports for the AUX port XCOM3_ALL 11 17 All virtual COM3 ports COM1 20 32 COM port 1 virtual port 0 COM1 1 21 33 COM port 1 virtual port 1 COM1 31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2 31 5f 95 COM port 2 virtual port 31 COM3 60 96 COM port 3 virtual port 0 COM3 31 7f 127 COM port 3 virtual port 31 USB 80 128 USB port virtual port 0 USB 31 9f 159 USB port virtual port 31 SPECIAL a0 160 Unknown port virtual port 0 SPECIAL 31 bf 191 Unknown port virtual port 31 THISPORT c0 192 Current COM port virtual port 0 Continued on Page 63 SMART AG User Manual Rev 2 Commands Appendix B THISPORT 31 df 223 Current COM port virtual port 31 FILE e0 224 User specified file destination 0 FILE_1 ei 225 User specified file destination 1 FILE 31 ff 255 User specified file destination 31 XCOM1 1a0 416 Virtual COM1 port virtual port 0 XCOM1 1 1a1 417 Virtual COM1 port virtual port 1 XCOM1 31 1bf 447 Virtual COM1 port virtual port 31 XCOM2 2a0 672 Virtual COM2 port virtual port 0 XCOM2 1 2a1 673 Virtual COM2 port virtual port 1 XCOM2 31 2bf 703 Virtual COM2 port virtual port 31 USB1 5a0 1440 USB port 1 virtual port 0 USB1 1 5a1 1441 USB port 1 virtual port 1 USB1 31 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2 31 6bf 1727
52. l CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and buffer overload bits of the Receiver Status in any log header 3 Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz 4 Use the ONNEW trigger with the MARKTIME MARK2TIME MARKPOS or MARK2POS logs 5 Only the MARKPOS MARK2POS MARKTIME or MARK2TIME logs and polled log types are generated on the fly at the exact time of the mark Synchronous and asynchronous logs output the most recently available data 6 Ifyou do use the ONTIME trigger with asynchronous logs the time stamp in the log does not necessarily represent the time the data was generated but rather the time when the log is being transmitted SMART AG User Manual Rev 2 59 Appendix B Commands Abbreviated ASCII Syntax Message ID 1 LOG port message trigger period offset hold Factory Default log com1 rxstatuseventa onnew 0 0 hold log com rxstatuseventa onnew 0 0 hold log com3 rxstatuseventa onnew 0 0 hold log aux rxstatuseventa onnew 0 0 hold log usb1 rxstatuseventa onnew 0 0 hold log usb2 rxstatuseventa onnew 0 0 hold log usb3 rxstatuseventa onnew 0 0 hold Abbreviated ASCII Example 1 log com1 bestpos ontime 7 0 5 hold The above example shows BESTPOS logging to COM port at 7 second intervals and offset by 0 5 seconds output at 0 5 7 5 1
53. mit the Software over a network by telephone or electronically using any means except when downloading a purchased up grade from the NovAtel web site or e reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft SMART AG User Manual Rev 2 7 Software License ware from unauthorized disclosure or use 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy then and in any event NovAtel may forthwith by notice in writ ing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Ter mination shall be without prejudice to the
54. mits correction messages to the rover station The rover station is the GNSS receiver which does not know its exact position and can be sent correction messages from a base station to calculate differential GNSS positions An example of a differential setup is given in Figure 5 on Page 30 SMART AG User Manual Rev 2 29 Chapter 3 Operation 3 Figure 5 Basic Differential Setup Reference Description 1 SMART AG receiver 2 User supplied power supply for example a battery 3 User supplied device to COM1 4 User supplied radio device to COM2 5 User supplied PC laptop for setting up and monitoring to COM1 System biases can introduce errors as described in the Modes of Operation chapter in the GPS Reference Guide In most cases you need to provide a data link between the base station and rover station two NovAtel receivers in order to receive corrections SBAS corrections can be accomplished with one receiver and are exceptions to the base rover concept Generally a link capable of data throughput at a rate of 9600 bits per second and less than 4 0 s latency is recommended Once your base and rover are set up you can configure them as shown in the configuration examples that follow in Sections 3 3 1 3 3 2 starting on Page 32 30 SMART AG User Manual Rev 2 Operation Chapter 3 3 3 1 Base Station Configuration At the base station enter the following commands interfacemode port rx_type tx_type responses fix position latitude longit
55. mpressed file format you will also be given a decompression password WinLoad and the upgrade files can be found on NovAtel s FTP site at http www novatel com or can be sent to you by e mail Your local NovAtel dealer will provide you with all the information that you require to upgrade your receiver 4 4 1 Upgrading Using the AUTH Command 44 The AUTH command is a special input command which authorizes the enabling or unlocking of the SMART AG User Manual Rev 2 PC Utilities Chapter 4 various model features Use this command when upgrading to a higher performance OEMV family model available within the same revision level as your current model for example upgrading from a SMART AG to a SMART AG ER on firmware version 3 600 This command only functions in conjunction with a valid auth code assigned by Customer Service The upgrade can be performed directly from CDU s Command Line Screen or from any other communications program The procedure is as follows 1 Power up the OEMV family receiver and establish communications over a serial port see Chapter 4 Operation on Page 51 2 Issue the LOG VERSION command to verify the current firmware model number revision level and serial number 3 Issue the AUTH command followed by the auth code and model type The syntax is as follows Syntax auth auth code where auth is a special command which allows program model upgrades auth code is the upgrade authorization code expr
56. n lol Sf Condition Off Off Off Power is not available On Off Off Power available but no satellites are tracking yet On Flashing Off Tracking at least one satellite but not a valid position On On Off Position valid in basic autonomous mode On On Flashing An SBAS signal is being tracked but sufficient data for SBAS operation has not yet been received On On On Position valid in an enhanced accuracy mode WAAS EGNOS MSAS DGPS or RTK Table 4 SMART AG LED Status Indicators Flashing means that the LED is turning on and off at a 1 HZ rate 0 5 seconds on and 0 5 seconds off Debugging 2 2 3 If the power is on but the yellow LED doesn t flash within one minute then no satellites are tracking There may be excessive blockage or the unit may be defective Make sure the unit has an unobstructed view of the sky Try power cycling the unit If the yellow LED is flashing but doesn t progress to solid yellow within one minute then insufficient satellites are tracking or the signal quality is poor and ephemeris data can t be received Normally four satellites are sufficient for a valid position as long as they are widely distributed in the sky If it is stuck on solid yellow there may be excessive blockage or the unit may be defective Make sure the unit has an unobstructed view of the sky Try power cycling the unit If the yellow LED is on but the green doesn t turn on within five minutes than no SBAS or DGPS positions are av
57. nd rover examples above This requires using the INTERFACEMODE command to dedicate one direction of a serial port to only that message type When the INTERFACEMODE command is used to change the mode from the default NOVATEL you can no longer use NovAtel format messages If you wish to mix NovAtel format messages and RTCA RTCM RTCMV3 or CMR messages on the same port you can leave the INTERFACEMODE set to NOVATEL and log out variants of the standard correction messages with a NovAtel header ASCII or binary variants can be requested by simply appending an A or B to the standard message name For example on the base station interfacemode com2 novatel novatel fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm1b ontime 2 DI Using the receiver in this mode consumes more CPU bandwidth than using the native differential messages as shown in Section 3 3 1 Base Station Configuration on Page 31 At the rover station you can leave the INTERFACEMODE default settings interfacemode com2 novatel novatel The rover receiver recognizes the default and uses the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the base stations from which to accept pseudorange or RTK corrections respectively They are useful commands when the rover station is receiving corrections from multiple base stations Refer to the GPS Reference Manual for more information on SBAS avail
58. ndow by selecting INS Window from the View menu or its button in the Window Toolbar Plan Window The Plan window provides real time graphic plotting of the current position of each connected device The latitude and longitude shown at the bottom of the window indicate the receiver s reference position which is used as the center of the grid system The receiver s SMART AG User Manual Rev 2 PC Utilities Chapter 4 subsequent positions shown with a yellow marker are given relative to this initial starting point The current position is shown with a red marker The buttons at the top of the window provide options for controlling the plan display Zoom in or out of the Plan window View all configurations or center in on the active configuration e Select a grid or circular display e Show Hide history Delete all history no undo EG To open this window select Plan Window from the View menu or select its button in the Window Toolbar fr Doppler Window A value representing the uncertainty of the position solution based on the current satellite geometry The lower the value the greater the confidence in the solution In the DOP window DOP is displayed in the following forms GDOP Geometric DOP Uncertainty of all parameters latitude longitude height clock offset PDOP Position DOP Uncertainty of the three dimensional parameters latitude longitude height HDOP Horizontal DOP Uncertainty of the two dimen
59. nerrnnnnnnrnnnnn 41 7 Convert Command Line Arguments rsnvrnnnvrnnnvrnnvvvnrvnvnnrnvnnrnvrnrvvrnrennrevarrnvenssvnnrsvrnsensese 43 8 Main Screen of WinLoad cccccccceeeeeceeeeeceeeeeeeeceeeeeaeeeeeceaeeeeecaaeeeeseaeeeeesnaeeesesneeerseaees 46 9 WinLoad s Open Dialog mrrrrrrnnrnnrrrnnrnnnrnnrrnnnnnrnnnnnnnrnnnnnnrnnnnnenrnnnnnenrnnnnnnrnnnnnnnrnnnnnnnnnnnn 47 10 Open File in WinLoad 2 mmuejem tere ksperte ales danhendpiatta sd pakuniee endene hana khan hanne 47 11 COM PorSelp RR 48 12 Searching for Cards eee 48 13 Authorization Code Dialog rrrrnrrnrrrrnrnnrrnnrrnnrnnnrrnnnnnnrnnnnnnrrnnnnnnrnnnnnnnrnnnnnerrnnnnnnrrnnnnnnnn 48 14 Upgrade Process Complete rrrrnnrrnrrrnnrnnrnnnnrnnnnnnnnnnnnnnrnnnnnnnrnnnnnenrnnnnrnnrnnnnnnrnnnnnnnrnnnnnn 49 15 SMART AG Development Kit Cable mmnnnnnrnnnnnnrrnnrnnnnrnrrnnrnnnrrnnnnnnrnnnnnerrnnnnnnrrnnnnnnrnnnnn 53 6 SMART AG User Manual Rev 2 BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE ON A CD OR AVAILABLE ON THE COMPANY WEB SITE hereinafter referred to as Software 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be
60. ng power from a battery while operating in the field The exposed wires red for positive and black for negative can then be connected to a 12 or 24V vehicular power circuit or equivalent protected by a 5A fast blow fuse user supplied The cable also has two DB 9 connectors One can accommodate a PC laptop serial RS 232 communication port and the other can connect to a modem or radio transmitter to propagate differential corrections please refer to your user supplied modem or radio transmitter user guide for more information on its connectors In addition there are a number of bare wires where the outer insulation is cut away but the wires beneath are intact See Table 7 on Page 54 for their pinouts For more information on mating connectors and part numbers see Zable 8 on Page 55 This cable is RoHS compliant and its part number is 01018256 5A Fast Blow Fuse User Supplied RED SEE DETAIL B 4 H BATT j LACK BLUE BATT ER_OUT WHT BLK ER GND SEE DETAIL A TE MKI MWHT BLK gt MD 12 com 1 N me PPS po WHT BLK SEE DETAIL p Se pase COM 2 YELLOW 2 DETAIL A CANI SCALE 1 000 REEN CAN1 SCALE 0 500 DETAIL C SCALE 1 000 DETAIL B SCALE 1 000 Figure 15 SMART AG Development Kit Cable SMART AG User Manual Rev 2 53 Appendix A Technical Specifications Table 7 SMART AG Cable Pinouts Colour Signal Name J1 J2 J3 Label Red CO
61. o the directory on your hard drive that Convert4 is stored Type the following convert4 h The Convert4 Command Line Arguments window appears as shown in Figure 7 Convert4 Command Line Arguments loj x Syntax convert4 lt infile gt a b l r batch Where lt infile gt Names the input file a Generate ascii output b Generate binary output t Generate rinex output batch Run in batch mode convert4 bina0750 r batch ox Figure 7 Convert Command Line Arguments SMART AG User Manual Rev 2 43 Chapter 4 PC Utilities 4 4 The name of the output file is the same as the input file when converting to ASCII or binary formats The file extension however is altered to indicate the format of the data asc for ASCII bin for binary When converting to RINEX the output files are named according to the RINEX Version 2 10 naming convention see Section 4 3 1 Rinex Format on Page 41 The batch arguments suppress the window display and convert the specified file automatically DX When converting to RINEX in batch mode the navigation and observation file header information from the most recent interactive Convert session is used Firmware Upgrades The receiver stores its program firmware in non volatile memory which allows you to perform firmware upgrades without having to return the receiver to the distributor New firmware can be transferred to the receiver through COM1 and the unit will immediatel
62. om NovAtel as seperate parts Table 8 SMART AG Mating Connectors Product Part Description Company Part Number SMART AG mating connector 14 pin sealed Tyco AMP 776273 1 Figure 15 on Page 53 receptacle housing black SMART AG mating connector 14 pin sealed Tyco AMP 776273 2 Figure 15 on Page 53 receptacle housing natural SMART AG mating connector 14 pin sealed Tyco AMP 776273 4 Figure 15 on Page 53 receptacle housing grey SMART AG mating connector 14 pin sealed Tyco AMP 776273 5 Figure 15 on Page 53 receptacle housing blue Gold plated pins for SMART AG Pins loose piece Tyco AMP 770854 3 connector loose Gold plated pins for SMART AG Pins strip reel Tyco AMP 770520 3 connector strip Table 9 details the part numbers for recommended fuses and fuse holders These numbers are provided for information only and are not available from NovAtel as seperate parts SMART AG User Manual Rev 2 55 Appendix A Technical Specifications Table 9 Recommended Fuse and Fuse Holders Fuse Recommended Fuse Fuse Holder 12 V Fuse standard size blade ATO Blade Fuse 5A Littelfuse 0257005 Or Equivalent 12 V Fuse mini size blade Mini Blade Fuse 5A Littelfuse 0297005 Or Equivalent 24V Fuse standard size blade TAC ATO Blade Littelfuse 142 6185 450 Fuse 5A Or Equivalent 24V Fuse mini size blade Mini Blade Fuse Littelfuse 0997005 58V 5A Or Equivalent Fuse Hold
63. ou could type either RESET or reset END Except where noted either a space or a comma can separate commands and their required entries For example you could type either fix position 51 11358042 114 04358013 1059 4105 or fix position 51 11358042 114 04358013 1059 4105 At the end of a command a carriage return is required For example press lt Enter gt or lt Return gt on your keyboard OY Responses are provided to indicate whether or not an entered command was accepted The format of the response depends on the format of the command Refer to the OEMV Family Firmware Reference Manual for more information a Optional parameters are indicated by square brackets For commands that contain optional parameters the value used if the optional parameter is not specified is given in the syntax table for the command Data format definitions as specified in the Format field are detailed in the OEMV Family Firmware Reference Manual Note that all binary data is little endian byte ordered oo SMART AG User Manual Rev 2 57 Appendix B Commands B 2 FRESET Clear Selected Data from NVM and Reset The OEMV freset command is extended to include SMART AG features An additional target field userdata value 10 resets only the SMART AG user data NVM thereby resetting all parameters indicated in this document as Stored in NVM to factory defaults Issuing the freset command with the target field set to s
64. ould now be able to use your original communication port again Commands are typed at the interfacing computing device s keypad or keyboard and executed after issuing a carriage return command which is usually the same as pressing the lt Enter gt key An example of a response to an input command is the FIX POSITION command It can be as COM2 fix position 51 11635 114 0383 1048 2 carriage return lt OK where COM2 is the port prompt followed by the command you enter from your keypad or keyboard SMART AG User Manual Rev 2 Operation Chapter 3 3 3 and carriage return indicates that you should press the lt Enter gt key The above example illustrates command input to the base receiver s COM2 port which sets the position of the base station receiver for differential operation Confirmation that the command was actually accepted is the appearance of lt OK If a command is entered incorrectly the receiver responds with lt INVALID MESSAGE ID or a more detailed message WARNING Ensure the Control Panel s Power Settings on your PC laptop are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session Transmitting and Receiving Corrections Corrections can be transmitted from a base station to a rover station to improve position accuracy The base station is the GNSS receiver which is acting as the stationary reference It has a known position and trans
65. quency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Re orient or relocate the SMART AG e Increase the separation between the equipment and the SMART AG e Connect the equipment to an outlet on a circuit different from that to which the SMART AG is connected e Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintain compliance as a Class A digital device shielded cables should be used for the RS 232 serial data ports Belden 1036A or equivalent and twisted pair cable should be used for the CAN port sheilded twisted pair will improve CAN performance in electrically harsh environments I O signals should be referred to signal ground connector pin 5 and not power ground connector pin 9 If I O signals route to different areas of the vehicle dedicated signal grounds for I O should be spliced into a common connection to connector pin 5 at a point close to the SMART AG A WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result
66. roduct to NovAtel please return the defective product in the original packaging to avoid ESD and shipping damage 10 Standard Terms and Conditions of Sales 1 PRICES All prices are Firm Fixed Price FCA 1120 68th Avenue N E Calgary Alberta All prices include standard commercial packing for domestic shipment All transportation insurance special packing costs and expenses and all Federal provincial and local excise duties sales and other similar taxes are the responsibility of the Purchaser 2 PAYMENT Terms are prepayment unless otherwise agreed in writing Interest shall be charged on overdue accounts at the rate of 18 per annum 1 5 per month from due date To expedite payment by wire transfer to NovAtel Inc Bank HSBC Bank of Canada Bank HSBC Bank of Canada US Account 788889 002 407 8 Avenue S W CDN Account 788889 001 Calgary AB Canada T2P 1E5 EURO Account 788889 270 Transit 10029 016 Swift HKBCCATTCAL 3 DELIVERY Purchaser shall supply shipping instructions with each order Ship to and bill to address NovAtel Quotation Preferred carrier and account Custom broker freight forwarder including name and contact In the absence of specific instructions NovAtel may select a carrier and insure Products in transit and charge Purchaser accordingly NovAtel shall not be responsible for any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably control Risk
67. rovides a graphical interface for Initiating data logging to a file Initiating logging to the receiver s serial ports e Specifying a time window for data logging Stopping logging Editing log settings i To display the Logging Control window select Logging Control Window from the Tools menu or select its button in the Window Toolbar WARNING Ensure the Power Settings on your PC are not set to go into Hibernate or Standby modes Data will be lost if one of these modes occurs during a logging session Refer to CDU s online Help for more information ASCII Messages Window This window displays ASCII formatted NovAtel logs AN _ To display the ASCII Messages window select ASCII Messages Window from the View menu or select its button in the Window Toolbar e Wizards There are two wizards available RTK and SPAN The Real Time Kinematic RTK wizard takes you through the steps needed to set up your RTK system You must have an RTK capable receiver model or the wizard does not continue past its opening page The SPAN wizard takes you through the steps needed to set up your Synchronized Position Attitude Navigation SPAN system You must have a SPAN capable receiver model or the wizard does not continue past its opening page The SPAN wizard can help with the alignment or calibration of a SPAN system a t To display a wizard window if you have the necessary receiver model select SPAN Wizard or RTK Wiz
68. rs multi system and frequency configurations for many application requirements Refer to the GPS Reference Manual for an overview of each of the above signal types available from our website at http www novatel com support docupdates htm The SMART AG s rear panel also features light emitting diodes LEDs for status indication The SMART AG is a single frequency GNSS receiver It can optionally be GLONASS enabled with measurements full code and RTK positioning Once you connect the SMART AG to a vehicle it begins operating as a fully functional GNSS system Figure I below shows the SMART AG without connecting cables Figure 1 SMART AG Receiver 1 1 Models and Features The main features of the SMART AG and its multicable are An enhanced high performance GPS GLONASS L1 receiver A high performance GPS GLONASS L1 antenna Emulated radar output e A CAN port e Two RS 232 COM ports e LED status indicators water and dust tight enclosure The SMART AG is available in several different firmware models whose configurations may include other additional features Some possible configurations can be seen in Table I 18 SMART AG User Manual Rev 2 Introduction Table 1 SMART AG Controller Models SMART V1 PVT GPS L1 only Autonomous SBAS or DGPS positions with emulated radar output SMART V1 PVT G As above with GLONASS L1 Chapter 1 Refer also to the OEMV Family Installation and Operation User
69. ry ASCII file format that can be used to combine or process data generated by receivers made by different manufacturers l For further information on RINEX Version 2 10 file descriptions you may wish to consult the U S National Geodetic Survey website at http www ngs noaa gov CORS Rinex2 html SMART AG User Manual Rev 2 41 Chapter 4 PC Utilities The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files lt Although RINEX is intended to be a receiver independent format there are many optional records and fields Please keep this in mind when combining NovAtel and non NovAtel RINEX data When converting to RINEX two files are produced a RINEX observation file and a RINEX navigation file A third GLONASS file is produced if the data contains GLONASS observations The default names of these files conform to the RINEX Version 2 10 recommended naming convention of ssssdddf yyt where SSSS 4 character station name Convert4 uses the first four characters of the lt infile gt parameter as the station ID ddd day of year f file sequence number within the day Convert4 sets this to zero t file type o for the observation and n for the navigation file Selecting the RINEX field see Figure 6 Convert Screen Examples on Page 41 in the Convert To section causes the 1 Destination File field to be replaced by the Observation File and Ephemeris File fields Note that Observation File refers
70. sarily changed ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a pulse is detected on the mark 1 input MK1I 5 period Any positive double value Log period for ONTIME trigger in seconds Double larger than the receiver s default 0 minimum raw measurement period 6 offset Any positive double value Offset for period ONTIME trigger in seconds If Double smaller than the period you wished to log data at I second after every minute you would set the period to 60 and the offset to 1 default 0 7 hold NOHOLD Allow log to be removed by the UNLOGALL Enum command default HOLD Prevent log from being removed by the UNLOGALL command SMART AG User Manual Rev 2 61 Appendix B 62 Commands Table 12 Detailed Serial Port Identifiers NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 COM3_ALL 3 3 All virtual ports for COM port 3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports USB1_ALL d 13 All virtual ports for USB port 1 USB2_ALL e 14 All virtual ports for USB port 2 USB3_ALL f 15 All virtual ports for USB port 3 AUX_ALL 10 16 All v
71. sional parameters latitude longitude e VDOP Vertical DOP Uncertainty of the height TDOP Time DOP Uncertainty of the clock offset e Console Window This window allows the user to communicate directly to the receiver through the serial port It is essentially a terminal emulator with added receiver functionality Commands can be issued to the receiver via the command editor at the bottom of the window and sent by pressing the Enter button or simply pressing lt Enter gt on the keyboard The command editor has recall functionality similar to DosKey whereby pressing the up arrow on the keyboard will move backward through the previously issued commands and pressing the down arrow will move forward through the previously issued commands This allows the user to scroll through previously issued commands and then press the lt Enter gt key to issue that command again Feedback from the receiver is displayed in the ASCII Messages or Console window depending on the format of the message ASCII or Abbreviated ASCII respectively WARNING Ensure all other windows are closed in CDU when entering the SAVECONFIG command in the Console window SMART AG User Manual Rev 2 39 Chapter 4 PC Utilities a This window automatically opens when CDU is first connected to a receiver To bring the window to the front select Console Window from the View menu or click its button in the Window Toolbar e Logging Control Window The Logging Control window p
72. t enables you to set the PC clock to the receiver s time change the font used to display the position data or set the units through the Options dialog box Velocity Window The Velocity window displays vertical and horizontal speed and direction The numeric displays within the dial and the velocity values below the dial show the vector velocity as well as the vertical North and East velocity components If necessary the scale in the dial increases so that you have room to accelerate e Open this window by selecting Velocity Window from the View menu or its button in the Window Toolbar Compass Window The direction dial is a compass that displays the direction of motion of the receiver over ground and its elevation both in degrees The white arrow indicates the elevation value on the vertical scale down the centre of the dial The black arrow on the outer rim of the dial indicates the Track Over Ground value Both the track over ground and elevation angles are also shown at the bottom of the Compass window amp Open this window by selecting Compass Window from the View menu or its button in the Window Toolbar INS Window If applicable please refer to your SPAN User Manual for more on INS Information in the INS Position Velocity Attitude window is only available if you have an INS capable receiver model The dial is a graphical display of the Roll Pitch and Azimuth values indicated by an arrow on each axis e Open this wi
73. t up your base and rover OEMV GPS GLONASS enabled receivers for GPS GLONASS RTK operation Base Station fix position lat lon hgt enter your own lat lon and hgt values com com2 9600 N 8 1 N off interfacemode com2 none rtca off log com2 rtcaref ontime 10 log com2 rtcaobs2 ontime 1 log com2 rtcal ontime 5 optional enable code DGPS coverage saveconfig optional save configuration to non volatile memory Rover Station com com2 9600 N 8 I N off interfacemode com2 rtca none off log coml bestposa ontime 1 optional view position information saveconfig optional save configuration to non volatile memory 3 3 4 Recommended Configuration The following command is recommended to enable SBAS WAAS EGNOS MSAS corrections sbascontrol enable The following commands are recommended to enable GLIDE pdpfilter enable 32 SMART AG User Manual Rev 2 Operation Chapter 3 pdpmode relative auto The following command is recommended to enable CAN setcanname 305 NovAtel has registered manufactured ID code 305 with J1939 When complete your configuration can be saved with the SAVECONFIG command See the OEMV Family Firmware Reference Manual and APN 050 SMART AG Firmware Release for further details on these commands 3 3 5 Configuration Notes For compatibility with other GNSS receivers and to minimize message size it is recommended that you use the standard form of RTCA RTCM RTCMV3 or CMR corrections as shown in the base a
74. tandard resets the userdata NVM as well as OEMV parameters as indicated in the OEMV Family Firmware Reference Manual PX If you issue the FRESET command without any parameters it is the same as issuing a FRESET STANDARD command Field ASCII Binary St Binary Binary Binary Type Value Value Description Format Bytes Offset 1 FRESET This field contains the commandname H 0 header or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 target See Table 11 Data to be reset by the receiver Enum 4 H Table 11 FRESET Target 0 STANDARD Resets commands ephemeris and almanac default Also resets all L band related data except for subscription information 1 COMMAND Resets the stored commands saved configuration 2 GPSALMANAC Resets the stored GPS almanac 3 GPSEPHEM Resets the stored GPS ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 10 USERDATA Reset SMART AG only commands 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 20 SBASALMANAC Resets the stored SBAS almanac 21 LAST_POSITION Resets the position using the last stored position 31 GLOALMANAC Resets the stored GLONASS almanac 58 SMART AG User Manual Rev 2 Commands Appendix B B 3 LOG Request Logs from the Receiver Many different types of data c
75. tch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver for example HyperTerminal or our own graphic user interface GUI program CDU All data is sent as raw 8 bit binary or ASCII characters 3 2 Getting Started Included with your receiver are NovAtel s CDU and Convert programs CDU is a windows based GUI which allows you to access the receiver s many features without the need for communications protocol or to write special software The Convert utility is a windows based utility that allows you to convert between file formats and strips unwanted records for data file compilation See also Page 22 3 2 1 Starting the Receiver When first powered the SMART AG undergoes a complete self test If an error condition is detected during a self test the self test status word changes This self test status word can be viewed in the header of any data output log Refer to the chapter on Messages in the OEMV Firmware Reference Manual for header information If a persistent error develops please contact your local NovAtel dealer first If the problem is still unresolved please contact NovAtel directly through any of the methods listed in the Customer Service section at the beginning of this manual on Page 15 3 2 2 Communicating with the Receiver Using CDU Launch the CDU program and select Device Open from its main menu
76. tellite being tracked by the receiver When you select a satellite the window shows details of its PRN Signal to Noise Ratio SNR azimuth and elevation Concentric circles from 0 to 90 represent elevations from the SMART AG User Manual Rev 2 PC Utilities Chapter 4 horizon to directly overhead respectively The azimuth is mapped on a compass relative to true North The colored rings indicate the lowest elevation cut off angles at which satellites are tracked and can be changed or viewed via the g button Each of the satellites being tracked are represented with icons according to their satellite system as follows e Circular for GPS Square for GLONASS Hexagon for SBAS There are also information icons and values at the bottom of the window The number of GPS GLONASS satellites used in the solution verses the number being tracked For example 0 5 next to the Russian flag means that while the receiver is tracking 5 GLONASS satellites none are currently used in the position solution e Satellite PRN number Azimuth and elevation angle values Signal to Noise Ratio SNR value and indicator The PRN of the satellite is displayed on the icon and color coding is used to indicate the status of the satellite or the tracking channel Click on a satellite to display information on that satellite When a valid position has been achieved dilution of precision DOP values can be viewed in the DOP window Open this window by
77. to the Multipath section in the GPS Reference Manual e Mount on a secure stable structure capable of safe operation in the specific environment Typical installation is the tractor cab roof ideally on the steering point of the tractor 2 1 6 Connecting Data Communications Equipment In order to communicate with the receiver by sending commands and obtaining logs a connection to some form of data communications equipment is required The default configuration available is shown in Table 3 below and its pin out table is in Appendix on Page 54 Table 3 Default Port Configurations SMART AG RS 232 RS 232 CAN 2 2 Additional Features and Information This section contains information on the additional features of the SMART AG which may affect the overall design of your receiver system 2 2 1 MKI and PPS Strobes An input MKI and ouput PPS strobe provide status and synchronization signals PPS is a 3 3V CMOS output MKI is an SV logic tolerant input Pin out information can also be found on Page 54 2 2 2 Status Indicators LED indicators on the SMART AG provide the status of the receiver They represent these categories Position Status Position Type Power Table 4 SMART AG LED Status Indicators on Page 24 shows the meaning of the LED states in the expected sequence after power is applied SMART AG User Manual Rev 2 23 Chapter 2 Installation and Setup Red Yellow Gree
78. tput frequency Hz Double 8 H 16 5 radar freq Radar signal frequency Hz as output by the Double 8 H 24 Emulated Radar Out signal See SMART AG Development Kit Cable starting on Page 53 6 XXXX 32 bit CRC ASCII and Binary only Hex 4 H 32 7 CR LF Sentence terminator ASCII only 68 SMART AG User Manual Rev 2 Logs Appendix C Table 15 Position or Velocity Type 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT AUTO command 8 DOPPLER VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new observations 32 L1 FLOAT Floating L1 ambiguity solution 33 IONOFREE FLOAT Floating ionospheric free ambiguity solution 34 NARROW FLOAT Floating narrow lane ambiguity solution 48 L1 INT Integer L1 ambiguity solution 49 WIDE INT Integer wide lane ambiguity solution 50 NARROW INT Integer narrow lane ambiguity solution SMART AG User Manual Rev 2 69 Appendix C Logs Table 16 Solution Status 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT OBS Insufficient observations 2 NO CONVERGENCE No convergence 3 SINGULARITY
79. ual Rev 2 A accuracy position 29 50 velocity 50 almanac 58 antenna internal 18 mounting 23 single frequency 23 specifications 51 ascii 41 AUTH command 44 authorization 45 AUX port 63 B base station 33 baseline 29 baud rate 26 bidirectional communication 27 Bluetooth 21 buffer 26 59 C cable serial 26 warranty 9 Caution 26 CDU software 35 60 72 CMR 33 cold start 50 COM port 60 command 57 CDU 28 communication 26 error message 28 example 28 in CDU 39 44 interface 33 multiple 34 note 28 SMART AG User Manual Rev 2 port 26 pre configure 31 prompt 28 RTK 33 communication bidirectional 27 CDU 28 getting started 27 notice 13 operation 26 PC laptop 27 physical 20 port 23 26 remote terminal 27 COMVOUT command 58 configuration additional equipment 20 base station 31 CDU 27 model 18 port 23 26 rover station 32 RTK 33 typical hardware 26 connector input output 51 mounting bracket 22 specifications 51 Controller Area Network Bus CAN Bus 23 Convert software 41 copyright 2 CPU 59 Customer Service 15 44 D data collect 24 erase 58 format 57 L band 58 link 30 73 Index log 59 60 NVM 58 port 23 26 start 27 28 storage device 30 terminal 27 Warning 29 DC power 51 dealer 15 44 default factory 58 interface mode 33 log 60 offset 61 period 61 port 23 26 59 61 reset
80. ude height log port message trigger period For example RTCA interfacemode com2 none rtca off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcaobs ontime I log com2 rtcaref ontime 10 log com2 rtcal ontime 5 log com2 rtcaephem ontime 10 I optional RTCM interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 1 log com2 rtcm1819 ontime I log com2 rtcm1 ontime 5 RTCMV3 interfacemode com2 none rtcmv3 off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm1006 ontime 10 log com2 rtcm1003 ontime I CMR interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime I log com2 cmrplus ontime I important to use ontime I with cmrplus CMR interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 log com2 cmrobs ontime I log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 I SMART AG User Manual Rev 2 31 Chapter 3 Operation 3 3 2 Rover Station Configuration At the rover station enter interfacemode port rx type tx type responses For example RTCA interfacemode com2 rtca none off RTCM interfacemode com2 rtcm none off RTCMV3 interfacemode com2 rtcmv3 none off CMR interfacemode com2 cmr none off CMR interfacemode com2 cmr none off same as CMR 3 3 3 GPS GLONASS Base and Rover Configuration This section shows you how to se
81. used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel You agree not to use the Software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright trade secret patent and other proprietary rights in the Software and the Software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the Software like any other copy righted material except that you may make one copy of the Software solely for backup or archival pur poses one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy You may not copy the product manual or written materials accompanying the Software No right is conveyed by this Agree ment for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify th
82. via a standard Install Shield set up application Also included on the CD is sample source code to aid development of software for interfacing with the receiver and product documentation These applications utilize a database in their operations so the necessary components of the Borland Database Engine BDE are installed as well as the necessary database tables and an alias for the database The install set up application does all this automatically so you have only to select where you would like the applications installed on your PC It is strongly recommended that you close all applications before installing CDU and Convert You must close any applications that may be using the BDE before installing The install set up modifies the BDE configuration so that it can recognize the new CDU and Convert The software operates from your PC s hard drive You will need to install the software from the CD supplied by NovAtel or from our website 1 Start Microsoft Windows 2 Place the NovAtel CD in your CD ROM drive If the setup utility is not automatically accessible follow these steps a Select Run from the Start menu b Select the Browse button c Locate Setup exe on the CD drive and select Open d Select OK to run the setup utility 3 Advance through the steps provided by the setup utility When the installation is complete click on a program icon to launch the application DX The latest CDU is available to download from our w
83. y be ready for operation at a higher level of performance The first step in upgrading your receiver is to contact your local NovAtel dealer Your dealer will assist you in selecting the best upgrade option that suits your specific GPS needs If your needs are still unresolved after seeing your dealer then you can contact NovAtel directly through any of the methods described in the Customer Service section Page 5 at the beginning of this manual When you call have your receiver model number serial number and program revision level available This information can be found by issuing the LOG VERSION command at the port prompt After establishing which new model revision level would best suit your needs and having described the terms and conditions you will be issued an authorization code auth code The auth code is required to unlock the new features according to your authorized upgrade model type To upgrade to a higher performance model at the same firmware revision level for example upgrading from a SMART AG to a SMART AG ER on firmware version 3 600 you can use the AUTH command with the issued auth code If you are upgrading to a higher firmware revision level for example upgrading a SMART AG PVT firmware version 3 600 to SMART AG RT 20 firmware version 3 700 you will need to transfer new program firmware to the OEMV family receiver using the WinLoad utility program As WinLoad and the upgrade file are generally provided in a co

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