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Table of Contents
Summary of Contents for Harxon SMART Antenna Rover
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Page 2: Version/Warranty/Return & Repair/Copyright
Disclaimer Every effort has been made in the preparation of this document to ensure accuracy and integrity of the contents, but Harxon shall not be liable for any possible errors or omissions herein. Harxon may change the technical specifications or functions of its products along with... - Page 3 continuous development of technologies without notifying users in writing. 3 / 75...
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Page 4: Table Of Contents
2.1 Required Accessories....................18 2.2 Required Extra Devices (from the User) ..............18 2.3 Product Assembly ....................... 18 2.3.1 Assembling the SMART Antenna Rover ............. 18 2.3.2 Power Supply Requirements ................. 20 2.3.3 Installing the SMART Antenna ..............21 2.4 Other Information About the SMART Antenna ........... 22 2.4.1 Status Indication .................... - Page 5 3.1 Configuring the Rover Host..................30 3.1.1 Serial Port Default Configuration ..............31 3.1.2 Querying Host Parameters of the SMART Antenna Rover ....31 3.1.3 Configuring Host Parameters of the SMART Antenna Rover ....32 3.2 Configuring the External Radio ................33 3.3 Configuring the Built-in Radio .................
- Page 6 C.2 NMEA2000 ........................70 Appendix D Substitution Components ................71 D.1 SMART Antenna Rover Host ..................71 D.2 Accessories of the SMART Antenna Rover ............71 Appendix E SMART Antenna FAQs ..................73 LED Exceptions ........................73 6 / 75...
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Page 7: List Of Figures
Figure 5 Installation with 5/8-Inch Screws ..............22 Figure 6 Installation with M4 Screws ................22 Figure 7 Attitude Angle Coordinate System of the SMART Antenna Rover ..25 Figure 8 Data Interface of the External Radio ............25 Figure 9 Assembly Diagram of the External Radio............ 26 Figure 10 Assembly Diagram of the SMART Antenna Rover Kit (with External Radio) .......................... - Page 8 Figure 32 Structural Size of the Configuration Cable of the External Radio (HJ394) .......................... 59 Figure 33 Welding Surface at Port C of the Configuration Cable (HJ394) ..60 Figure 34 Welding Surface at Port B of the Configuration Cable (HJ394) ..60 Figure 35 Structural Size of the Power Cable (HJ379) ..........
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Page 9: List Of Tables
Table 8 List of Components of the SMART Antenna Rover Kit (with External Radio) ..........................28 Table 9 List of Components of the SMART Antenna Rover Kit (with Built-in Radio) ............................29 Table 10 Specifications of the SMART Antenna Rover ..........51 Table 11 Specifications of the External Radio (HX-DU1601D) ....... - Page 10 Table 33 List of Optional Accessories for the SMART Antenna Rover ....71 10 / 75...
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Page 11: Precautions
Precautions FCC Caution § 15.19 Labeling requirements. 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. -
Page 12: Information To User
§ 15.21 Information to user. Any Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. This equipment complies with FCC radiation exposure limits set forth for an uncontrolled environment. This equipment should be installed and operated with minimum distance 20cm between the radiator &... -
Page 13: Acronyms And Abbreviations (A-Z)
RoHS Directive 2011/65/EU and its amendment directives – XRF RoHS screening test and Wet Chemical Testing (Lead, Cadmium, Mercury, Hexavalent Chromium, PBBs & PBDEs content) One hundred and seventy three (173) substances in the Candidate List of Substances of Very High Concern (SVHC) for authorization REACH published by European Chemicals Agency (ECHA) on and before January 12, 2017 regarding Regulation (EC) No 1907/2006... - Page 14 Real Time Kinematic SBAS Satellite-Based Augmentation System Speed Over Ground Coordinated Universal Time WAAS Wide Area Augmentation System Time & Date – UTC, Day, Month, Year and Local Time Zone 14 / 75...
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Page 15: User Service
SMART Antenna Configuration Tools. Contact Us Please contact us for more help and support. Service hotline : +86-755-26989948 (8:30-12:00 & 13:30-18:00) Sales hotline : +86-755-86578389 (8:30-12:00 & 13:30-18:00) : +86-755-26989994 Email : sales@harxon.com 15 / 75... -
Page 16: Overview
3G/4G module (optional), radio module (built-in or external), CAN module (optional), and Bluetooth module (optional). The SMART antenna rover has three LEDs to indicate its own working status. It supports multiple protocols such as RTCM and CMR for differential data reception. -
Page 17: Conventions
Bluetooth module 3G/4G module Built-in/external radio Three status LEDs IP67 protection Three installation modes: magnet, 5/8-inch screws, or M4 screws Note: This component is optional. 1.2 Conventions The following conventions apply in this document: ... -
Page 18: Assembly And Installation
Wire bundle for connection between the SMART antenna and the external radio (Data cable) Wire bundle for connection between the SMART antenna rover and the computer (SMART antenna configuration cable) Wire bundle for connection between the external radio and the computer (Configuration cable of the external radio) 2.2 Required Extra Devices (from the User) -
Page 19: Figure 2 Smart Antenna Data Interface
Figure 2 SMART Antenna Data Interface Table 3 Definition of the SMART Antenna Data Interface Name Description Remarks TXD1 Output RS232 RXD1 Input RS232 Output Power supply DC 9 V to 30 V Ground Reserved Reserved Reserved CANH High-level input/output CANL Low-level input/output 2. -
Page 20: Power Supply Requirements
To be provided by the user Computer To be provided by the user 2.3.2 Power Supply Requirements The input voltage of the SMART antenna rover should be DC 9 V to 30 V. For details about the other power supply requirements, see Table 10. The power cable of Harxon SMART antenna has alligator clips at one end to directly bite the positive and negative poles of the power supply. -
Page 21: Installing The Smart Antenna
2.3.3 Installing the SMART Antenna You need to install the SMART antenna in a safe, stable, and open environment. The SMART antenna supports three installation modes: Magnet 5/8-inch screws M4 screws Figure 4 Magnetic Adsorption Note: The installation mode shown in the schematic diagram merely expresses the ... -
Page 22: Other Information About The Smart Antenna
Figure 5 Installation with 5/8-Inch Screws Figure 6 Installation with M4 Screws 2.4 Other Information About the SMART Antenna This section describes some other information about the SMART antenna rover to help you properly use the SMART antenna rover. 22 / 75... -
Page 23: Status Indication
2.4.1 Status Indication The SMART antenna provides three LEDs to indicate its own working status. Table 5 describes the meanings of the LEDs on the SMART antenna. Table 5 Definitions of the LEDs LINK Meaning (Red) (Green) (Green) The power supply is unavailable. power supply available,... -
Page 24: Assembling The Bluetooth Module
LEDs on the SMART antenna, the Z axis points to the antenna top, and the Y axis points to a direction according to the right-hand screw rule. Figure 7 shows the attitude angle coordinate system of the SMART antenna rover with the tilt module. 24 / 75... -
Page 25: Assembling The External Radio
Figure 7 Attitude Angle Coordinate System of the SMART Antenna Rover H ： Heading， R ： Roll， P ： Pitch， 2.5 Assembling the External Radio Note: Read this section if the product you select has the external radio; otherwise, ... -
Page 26: Figure 9 Assembly Diagram Of The External Radio
Table 6 Definition of the Data Interface of the External Radio Name Description Remarks Power supply DC 9 V to 16 V PGND Power ground Output RS232 Signal ground Input RS232 2. Connect the configuration cable of the external radio to the DB9 serial port on the computer. -
Page 27: Power Supply Requirements
Table 11. The power cable of the Harxon external radio has alligator clips at one end to directly bite the positive and negative poles of the power supply. 2.6 Assembling the Rover Kit (with External Radio) ... -
Page 28: Assembling The Rover Kit (With Built-In Radio)
The input voltage of the SMART antenna rover kit should be DC 9V to 16V. 2.7 Assembling the Rover Kit (with Built-in Radio) ... -
Page 29: Figure 11 Assembly Diagram Of The Smart Antenna Rover Kit
The input voltage of the SMART antenna rover kit should be DC 9 V to 30 V. -
Page 30: Operation Instructions
SMART antenna rover, you need to connect the user serial port to the computer to perform configuration or analysis. If the SMART antenna rover you select has the Bluetooth function, you can perform the analysis or diagnosis by using the Bluetooth tool of a handheld device or a computer. -
Page 31: Serial Port Default Configuration
Figure 3. Power on the SMART antenna rover. The PWR LED will be steady on, and the RTK LED and the LINK LED will blink once. When the LINK LED keeps blinking, it indicates that the host of the SMART antenna rover has been properly started. -
Page 32: Configuring Host Parameters Of The Smart Antenna Rover
Figure 12 Main Window of the SMART Antenna Configuration Tools Click Connect, and wait for several seconds. The Host tab page shows relevant information about the device, including the serial number, hardware version number, firmware version number, and data link. The GNSS tab page shows information about SBAS. -
Page 33: Configuring The External Radio
Figure 13 Configuration Tools — GNSS Settings 3.2 Configuring the External Radio The external radio is used as the differential link to receive the differential data broadcast by the base. You need to configure the following parameters for the external radio: ... - Page 34 Data protocol: TRIMTALK Default channel: channel 1 (451.125 MHz) To configure the parameters of the external radio, perform the following steps: 1. Assemble the external radio, as shown in Figure 2. Start the radio configuration tool on the computer, and select the proper serial port number and baud rate.
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Page 35: Configuring The Built-In Radio
Figure 14 Software Window for Querying/Configuring the Parameters of the External Radio Click Connect within three seconds after powering on the external radio. When a prompt is displayed indicating that the connection is successful, click Read to read the parameters of the external radio. After modifying the parameters as necessary, click Write to write the parameter settings... -
Page 36: Powering On The Built-In Radio
rover and serves as the data link to receive differential data, thereby greatly simplifying the setup of the rover and enabling you to modify its parameters at any time as necessary. To configure the parameters of the built-in radio, perform the following steps: ... -
Page 37: Configuring The Bluetooth Module
3.4 Configuring the Bluetooth Module If the host of the SMART antenna rover integrates a Bluetooth module, you can configure the parameters of the Bluetooth module as necessary. For the SMART antenna integrating the Bluetooth module, you can... -
Page 38: Configuring The Parameters Of The Bluetooth Module
radio, an external radio, or a network module and no matter whether the SMART antenna is in configuration mode or normal working mode. You can perform the following two types of operations on the Bluetooth module: Configuring the parameters of the Bluetooth module Monitoring the SMART antenna through the Bluetooth module ... -
Page 39: Monitoring The Smart Antenna Through The Bluetooth Module
3.5 Configuring the Network Module If the host of the SMART antenna rover integrates a network module, you can configure the parameters of the network for the SMART antenna rover host. The network module enables the SMART antenna rover to... -
Page 40: Configuring The Network Operator
The network configuration of the network module includes the following two parts: Configuring the network service parameters Configuring the network operator 3.5.1 Configuring the Network Operator Assemble the SMART antenna, as shown in Figure 3, and power on it. Open the Configuration Tools page on the computer, select the proper serial port, click Connect, and then switch to the Network... -
Page 41: Configuring The Network Service Parameters
1. Click Read to obtain the parameters of the network module. 2. Change Network Type and Operator to preset values. 3. Click Setting to write the preset values into the network module. 4. Click Read to obtain the parameters of the network module and check whether the parameter values are consistent with the preset values. -
Page 42: Calibrate Tilt
4. Click Read to obtain the TCP client parameters and check whether the parameter values are consistent with the preset values. Note: In the same time period, the SMART antenna will use either the TCP service or the NTRIP service but not both. 3.6 Calibrate Tilt The calibration operation is required when the angle of build-in tilt module output is obviously deviated from the actual angle of the carrier,... -
Page 43: Setting Up The Rover
Figure 18 Tilt Calibration Window 3.7 Setting Up the Rover The host of the SMART antenna rover receives satellite signals and differential data and derives high-accuracy navigation information from the received data during production operation. The external or built-in radio, which serves as the data link of the Real Time Kinematic (RTK) system, receives differential data broadcast by the base. -
Page 44: Setting Up The Rover Kit (With External Radio)
1. Assemble the SMART antenna rover, as shown in Figure 2. Install and fix the host of the SMART antenna rover onto the carrier of the SMART antenna rover. 3. Connect the antenna of the radio to the RF port on the host of the SMART antenna rover. -
Page 45: Precautions On Rover Setup
Pay Note to the following matters during rover setup: 1. Ensure that the setup environment is open and free of any objects 5 m taller than the host of the SMART antenna rover within the 50 m distance. 2. Ensure that the SMART antenna rover is not obscured by any other objects. -
Page 46: Firmware Update
3.8 Firmware Update 3.8.1 Firmware Update for the SMART Antenna Host The firmware update for the SMART antenna host is to update the application firmware of the main board of the SMART antenna host. To update the firmware of the SMART antenna host, perform the following steps: 1. -
Page 47: Firmware Update For The Built-In Radio
Figure 20 Starting the Host Firmware Update 4. Power on the SMART antenna host, and wait for the update tool to finish the firmware update. Note: If an application error prompt is displayed, close the update tool and repeat steps 1 to 4 for a retry. -
Page 48: Figure 21 Connecting The Port For The Firmware Update For The Built-In Radio
1. Connect the SMART antenna, as shown in Figure 3, and power on the SMART antenna. 2. After the SMART antenna works properly, open the serial port tool on $CFG UDTU\r\n the computer and send the command to the SMART antenna host. -
Page 49: Firmware Update For The External Radio
3.8.3 Firmware Update for the External Radio You can update the firmware of the external radio of the SMART antenna host using the following method: 1. Connect the external radio to the computer, as shown in Figure 2. Open the firmware update tool for the external radio on the computer, and select the proper serial port, as shown in Figure 3. -
Page 50: Firmware Update For The Gnss Module
3. Open the CAN module update tool on the computer, and select the proper serial port, as shown in Figure 4. Click Open and then Connect to connect the CAN module of the SMART antenna, click OpenFile to select the target firmware file of the CAN module, and then click Down. -
Page 51: Appendix A Technical Specifications
Appendix Technical Specifications A.1 Specifications of the SMART Antenna Rover Table 10 Specifications of the SMART Antenna Rover Specification Requirements Signal Tracking BDS B1, GPS L1/L2, GLONASS L1/L2 Time to First Fix Cold start: 50s Single Point Position Accuracy Horizontal: 1.5 m... -
Page 52: Figure 25 Smart Antenna Host Dimensions
Humidity 95% (non-condensing) Vibration GJB150.16-2009, MIL-STD-810 Shock GJB150.18-2009, MIL-STD-810 Note: These specifications relate to the GNSS board, and may vary according to different GNSS boards. The model list in the product brochure has indicated the GNSS performance of the corresponding product. Please contact us for more help. -
Page 53: Specifications Of The Radios
A.2 Specifications of the Radios A.2.1 Specifications External Radio (HX-DU1601D) Table 11 Specifications of the External Radio (HX-DU1601D) Specification Requirements Frequency range 410 MHz to 470 MHz Number of channels Operation mode Half-duplex Channel spacing 25 KHz Operating voltage 9 V to 16 V Power consumption (Typical... -
Page 54: Specifications Of The Built-In Radio (Hx-Du1006D)
Specification Requirements Over-The-Air (OTA) rate 9600 bps Modulation mode GMSK A.2.2 Specifications Built-in Radio (HX-DU1006D) Table 12 Specifications of the Built-In Radio (HX-DU1006D) Specification Requirements Frequency range 410 MHz to 470 MHz Operation mode Half-duplex Channel spacing 25 KHz Frequency stability <... -
Page 55: Specifications Of The Network Module
Transmission distance 10 m Open area Working temperature –20C to +70C A.4 Specifications of the Network Module Table 14 Specifications of the Network Module Parameter Value Remarks 2G bands GSM 900, DCS1800 FDD B1, B8 3G bands Note: The user name is a string of at most 13 characters, and the SN differs from the ... -
Page 56: Accessories Of The Smart Antenna Kit
A.6 Accessories of the SMART Antenna Kit A.6.1 Data Cable (HJ681) Figure 26 Structural Size of the Data Cable (HJ681) Figure 27 Welding Surface at Port C of the Data Cable (HJ681) Figure 28 Welding Surface at Port B of the Data Cable (HJ681) Table 16 List of Components of the Data Cable (HJ681) Description Remarks... -
Page 57: Smart Antenna Configuration Cable (Hj568) (Optional)
Bullet terminal One male connector and one female connector 1B connector 1BHTN10P50 Label The label content is MI-RD-HJ681. A.6.2 SMART Antenna Configuration Cable (HJ568) (Optional) Figure 29 Structural Size of the SMART Antenna Configuration Cable (HJ568) Table 17 List of Components of the SMART Antenna Configuration Cable (HJ568) Description Remarks Connector... -
Page 58: Figure 30 Welding Surface At Port A Of The Configuration Cable (Hj568)
Figure 30 Welding Surface at Port A of the Configuration Cable (HJ568) Table 18 Pinouts of Port A of the Configuration Cable (HJ568) Name Description Remarks Output Input Ground 1, 4, 6, 7, 8, 9 Reserved Note: Normal communications are available after you connect this Port to the DB9 port ... -
Page 59: Configuration Cable Of The External Radio (Hj394) (Optional)
A.6.3 Configuration Cable of the External Radio (HJ394) (Optional) Figure 32 Structural Size of the Configuration Cable of the External Radio (HJ394) Table 19 List of Components of the Configuration Cable of the External Radio (HJ394) Description Remarks Connector 1BHTN05P Envelop Black Cable... -
Page 60: Figure 33 Welding Surface At Port C Of The Configuration Cable (Hj394)
Figure 33 Welding Surface at Port C of the Configuration Cable (HJ394) Figure 34 Welding Surface at Port B of the Configuration Cable (HJ394) Table 20 Pinouts of Port B of the Configuration Cable (HJ394) Name Description Remarks Output Input Ground 1, 4, 6, 7, 8, 9... -
Page 61: Power Cable (Hj379)
A.6.4 Power Cable (HJ379) Figure 35 Structural Size of the Power Cable (HJ379) Table 21 List of Components of the Power Cable (HJ379) Description Remarks Bullet terminal One male connector and one female connector Double-row cable Black a: black alligator clip; b: red alligator clip Fuse block One male connector and one female connector... -
Page 62: Appendix B Commands
Appendix B Commands The SMART antenna rover involves the following working modes: Normal working mode Module configuration mode Module pass-through mode Module firmware update mode The host must be in the normal working mode before you can switch it to the other working modes. - Page 63 normal working mode. After the update is complete using the corresponding update Enter the CAN module firmware tool, you need to exit the $CFG UCAN\r\n update mode. module firmware update mode before the host can enter the normal working mode. After the update is complete using the corresponding update Enter the GNSS module firmware...
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Page 64: Appendix C Output Protocols
Appendix C Output Protocols C.1 NMEA0183 Table 24 List of NMEA0183 Output Protocols Command Description Remarks $GPGGA Global positioning data Standard: NMEA0183 $GPGSA Satellite PRN data Standard: NMEA0183 $GPGSV Satellite status information Standard: NMEA0183 Recommended minimum $GPRMC navigation information Standard: NMEA0183 (RMC) $GPZDA Time data... - Page 65 Field Structure Field Description Symbol Example West) GPS quality indicator 0 = Invalid 1 = Point positioning 2 = Pseudo-range differential decomposition, omniSTAR omniSTAR XP, omniSTAR VBS, or CDGPS Status 4 = RTK fixed positioning 5 = RTK float point, omniSTAR HR, omniSTAR XP 6 = Dead reckoning mode 7 = Fixed position...
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Page 66: Gsa Satellite Prn Data
C.1.2 GSA Satellite PRN Data Example: $GPGSA,M,3,17,02,30,04,05,10,09,06,31,12,,,1.2,0.8,0.9*35 Table 26 GSA Satellite PRN Data Field Structure Field Description Symbol Example $GPGSA Log header $GPGSA MA mode A = Auto 2D/3D Manual, forced 2D/3D operation 123 mode Mode: 1 = Invalid; 2 = 2D; 3 = 3D 4-15 Total number of satellite PRNs in xx.xx,.. -
Page 67: Rmc Data
$GPGSV Log header $GPGSV #msgs Total number of messages msg# Message No. #sats Total number of visible satellites, which may differ from the total number of satellites in use. Number of satellite PRNs GPS = 1 to 32 SBAS = 33 to 64 (For the total number of PRNs, the number 87 is added.) GLO = 65 to 96... -
Page 68: Zda Time Data
Field Structure Field Description Symbol Example A = The data is valid V = The data is invalid Latitude (DDmm.mm) llll.ll 5107.0017737 Latitude direction (N = North, lat dir S = South) Longitude (DDDmm.mm) yyyyy.yy 11402.3291611 Longitude direction (E = East, lon dir W = West) Speed over the ground in... -
Page 69: Psat Attitude Data
UTC time: day UTC time: day UTC time: month UTC time: month UTC time: year UTC time: year xxxx 2007 Local time field Description of the local time field; unit: hour; xx = –13 to 13 Local time field Description of the local time field;... -
Page 70: Nmea2000
CR][LF] End of the statement [CR][LF] C.2 NMEA2000 Table 31 List of NMEA2000 Output Protocols Command Length Meaning 129026 (0x1F802) 8 bytes COG & SOG — Quick updating 129025 (0x1F801) 8 bytes Location — Quick updating 129029 (0x1F805) 51 bytes GNSS location data Position Delta, high-accuracy quick 129027 (0x1F803) -
Page 71: Appendix D Substitution Components
Appendix Substitution Components Below is a list of available parts for Harxon SMART antenna rover. If you want to purchase more components or ask for help, please contact D.1 SMART Antenna Rover Host Table 32 List of Optional Hosts for the SMART Antenna Rover... - Page 72 Note: This cable is used to configure or diagnose the SMART antenna, and is not needed during the normal use of the product; therefore, this accessory is optional and shall be purchased according to actual needs. This cable is used to configure or diagnose the external radio, and is not ...
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Page 73: Appendix E Smart Antenna Faqs
If the PWR LED is normally on but the SAT LED does not blink within 2 minutes, it indicates that point positioning failed probably because there are many obstacles or the SMART antenna rover is problematic. Please ensure that the SMART antenna rover is not obscured and restart the SMART antenna rover to check whether the problem disappears. - Page 74 Figure 10 (when the SMART antenna uses its external radio as the data link). Check whether the voltage of the power supply is normal, whether the SMART antenna is in good contact with the power supply, and whether the positive and negative poles of the power supply are correctly connected.
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