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Hexagon NOVATEL PwrPak7 Installation And Operation User Manual

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PwrPak7 Family
Installation and Operation
User Manual
PwrPak7 Family Installation and Operation User Manual v19
August 2022

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  • Page 1 PwrPak7 Family Installation and Operation User Manual PwrPak7 Family Installation and Operation User Manual v19 August 2022...
  • Page 2 All other trademarks are properties of their respective owners. ©2022 NovAtel Inc. All rights reserved. NovAtel is part of Hexagon. NovAtel makes no representation or warranty regarding the accuracy of the information in this publication. This document gives only a general description of the product(s) or service(s) offered by NovAtel and, except where expressly provided otherwise, shall not form part of any contract.

  • Page 3: Table Of Contents

    Table of Contents Figures Tables PwrPak7 Notices Customer Support Chapter 1 PwrPak7 Overview 1.1 PwrPak7 Connectors 1.2 PwrPak7 LEDs 1.3 Related Documents and Information Chapter 2 PwrPak7 Installation 2.1 Shipping Box 2.2 Additional Equipment Required 2.3 Optional Accessories 2.4 PwrPak7 Cables 2.5 Selecting a GNSS Antenna 2.6 Choosing a Coaxial Cable 2.7 Power Supply Requirements for the PwrPak7...
  • Page 4 3.1.3 Serial Port Communications 3.1.4 Ethernet Communications 3.1.5 ICOM Communications 3.1.6 CAN Bus Communications 3.2 Getting Started 3.2.1 Communicating with the Receiver 3.3 Transmitting and Receiving Corrections 3.3.1 Defining Antenna and Base Antenna 3.3.2 Base Station Configuration 3.3.3 Rover Station Configuration 3.3.4 Configuration Notes 3.4 ALIGN Heading Master and Remote Configurations 3.4.1 Automatic Set Up for Direct-Wire Connection between Master and Rover via COM2...
  • Page 5 Chapter 4 Built-In Status Tests 4.1 Receiver Status Word 4.2 RXSTATUSEVENT Log 4.3 RXSTATUS Log 4.3.1 Status Word 4.3.2 Error Word 4.3.3 Status Code Arrays 4.3.4 Receiver Status Code 4.3.5 Auxiliary Status Codes 4.3.6 Set and Clear Mask for all Status Code Arrays Chapter 5 Ethernet Configuration 5.1 Required Hardware 5.2 Static IP Address Configuration...
  • Page 6 8.2 Configuring the CAN Bus 8.2.1 Configuration Notes 8.2.2 Example of Enabling the CAN Bus 8.2.3 Example of Modifying the CAN Bus Parameters 8.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 8.2.5 Address Claim Procedure 8.3 NMEA2000 Logging 8.3.1 Example of NMEA2000 Log Configuration 8.4 Corrections Over CAN 8.4.1 Example for Receiving Corrections from Any Source...
  • Page 7 10.8.1 Update Setup & Monitor (Web) Content Using NovAtel Application Suite 10.8.2 Update Setup & Monitor (Web) Content Using Setup & Monitor (Web) 10.9 Upgrading Using an Auth-Code 10.9.1 Entering an Auth-Code Using NovAtel Application Suite 10.9.2 Entering an Auth-Code Using Setup & Monitor (Web) 10.9.3 Entering an Auth-Code Using the Command Line APPENDIX A PwrPak7 Technical Specifications A.1 PwrPak7 Performance Specifications...
  • Page 8 Figures Figure 1: PwrPak7 / PwrPak7-E1 / PwrPak7-E2 / PwrPakQ-E2 Enclosure Figure 2: PwrPak7D / PwrPak7D-E1 / PwrPak7D-E2 / PwrPak7DQ-E2 Enclosure Figure 3: PwrPak7, PwrPak7-E1, PwrPak7-E2 and PwrPak7Q-E2 Connectors Figure 4: PwrPak7D, PwrPak7D-E1, PwrPak7D-E2 and PwrPak7DQ-E2 Connectors Figure 5: PwrPak7M Connectors Figure 6: PwrPak7 Status Indicators Figure 7: PwrPak7, PwrPak7-E1 and PwrPak7-E2 Installation Example Figure 8: PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2 Installation Example...
  • Page 9 Figures Figure 36: PwrPak7 All I/O SPAN Cable Figure 37: PwrPak7 All I/O Extension Cable Figure 38: PwrPak7 All I/O Cable Figure 39: PwrPak7 COM1 Cable Figure 40: PwrPak7 IMU Cable Figure 41: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° PwrPak7 Family Installation and Operation User Manual v19...
  • Page 10 Tables Table 1: PwrPak7 Connectors Table 2: PwrPak7 Status Indicators Table 3: PWR (Power) LED Table 4: GNSS LED Table 5: INS LED Table 6: TRANSFER LED Table 7: LOG (Onboard Storage) LED Table 8: PwrPak7 Cables Table 9: PwrPak7 Serial Port Protocol Table 10: Fuse/Holder Recommendations 12 V System Table 11: Serial Ports Supported Table 12: Wi-Fi Default Configuration...
  • Page 11 Tables Table 36: PwrPak7 All I/O Cable Pinout Table 37: PwrPak7 COM1 Cable Pinout Table 38: PwrPak7 IMU Cable Pinout Table 39: OEM7 Receivers Table 40: GNSS Antennas Table 41: PwrPak7 Cables Table 42: GNSS Antenna Cables Table 43: Targeted Peripheral List for OEM7 USB Embedded Host Table 44: Devices Tested for OEM7 USB Embedded Host PwrPak7 Family Installation and Operation User Manual v19...

  • Page 12: Pwrpak7 Notices

    PwrPak7 Notices The following notices apply to the PwrPak7 device. Changes or modifications to this equipment, not expressly approved by NovAtel Inc., could void the user’s authority to operate this equipment. PwrPak7M and PwrPak7Q variants do not support Wi-Fi connections. This device complies with part 15 of the FCC Rules.
  • Page 13 PwrPak7 Notices This device complies with ISED license-exempt RSS-GEN and RSS-247. Operation is subject to the following two conditions: (1) this device may not cause interference and (2) this device must accept any interference, including interference that may cause undesired operation of the device. Cet appareil est conforme à...
  • Page 14 PwrPak7 Notices RoHS The PwrPak7 is in conformity with: 1. Directive 2011/65/EU of the European Parliament and of the council of 8 June 2011 on the restriction of the use of certain hazardous substances in electrical and electronic equipment. 2. the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment (Amendment) Regulations 2012 (S.I.
  • Page 15 PwrPak7 Notices PwrPak7 International Type Approval Australia and New Zealand Brazil 03457-18-04537 Este equipamento não tem direito à proteção contra interferência prejudicial e não pode causar interferência em sistemas devidamente autorizados. Este produto está homologado pela Anatel, de acordo com os procedimentos regulamentados para avaliação da conformidade de produtos para telecomunicações e atende aos requisitos técnicos aplicados.
  • Page 16 PwrPak7 Notices Indonesia Israel Japan Wi-Fi PwrPak7 contains a Wi-Fi radio with the following approvals: Korea Wi-Fi PwrPak7 contains a Wi-Fi radio with the following approvals: PwrPak7 Family Installation and Operation User Manual v19...
  • Page 17 PwrPak7 Notices Morocco AGREE PAR L'ANRT MAROC Numéro d'agrément   MR00028025ANRT2021 Date d'agrément:   01/Avril/2021 Peru ROC Taiwan Singapore Complies with IMDA Standards DB00245 South Africa TA-2021/1634 APPROVED Ukraine PwrPak7 Family Installation and Operation User Manual v19...
  • Page 18 PwrPak7 Notices Conventions The following conventions are used in this manual: Information that supplements or clarifies text. A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware. A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.

  • Page 19: Customer Support

    If using NovAtel Application Suite, log the Troubleshooting message set for 15 minutes. 2. Send the data file to NovAtel Customer Support: support.novatel@hexagon.com 3. You can also issue a FRESET command to the receiver to clear any unknown settings. The FRESET command will erase all user settings. You should know your configuration (by requesting the RXCONFIGA log) and be able to reconfigure the receiver before you send the FRESET command.
  • Page 20 Customer Support E-mail: support.novatel@hexagon.com Telephone: U.S. and Canada:   1-800-NOVATEL (1-800-668-2835) International:   +1-403-295-4900 General Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG BESTPOSB ONTIME 1 LOG RANGEB ONTIME 1 LOG RXCONFIGA ONCE LOG VERSIONA ONCE LOG LOGLISTA ONCE LOG PORTSTATSA ONTIME 10...
  • Page 21 Customer Support For interference issues add this log. LOG ITPSDDETECTB ONNEW For interference issues, when you have enough datalink bandwidth to handle large logs, add this log: LOG ITPSDFINALB ONNEW SPAN Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG RAWEPHEMB ONNEW LOG GLORAWEPHEMB ONNEW LOG GALINAVRAWEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BESTPOSB ONTIME 1...
  • Page 22 Customer Support PPP Troubleshooting Logs LOG RXSTATUSB ONCHANGED LOG GPSEPHEMB ONNEW LOG GLOEPHEMERISB ONNEW LOG QZSSEPHEMERISB ONNEW LOG BDSEPHEMERISB ONNEW LOG BDSBCNAV1EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV2EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG BDSBCNAV3EPHEMERISB ONNEW (firmware versions 7.08.03 and 7.08.10 and later) LOG GALFNAVEPHEMERISB ONNEW LOG GALINAVEPHEMERISB ONNEW...

  • Page 23: Chapter 1 Pwrpak7 Overview

    Chapter 1 PwrPak7 Overview NovAtel's PwrPak7 is a scalable, high precision GNSS receiver in a lightweight, compact, environmentally protective enclosure. There are several hardware versions of the PwrPak7 to meet a range of GNSS applications. PwrPak7 The PwrPak7 uses the OEM7700 receiver card to deliver scalable high precision positioning solution in a compact, lightweight enclosure.

  • Page 24: Figure 1: Pwrpak7 / Pwrpak7-E1 / Pwrpak7-E2 / Pwrpakq-E2 Enclosure

    Chapter 1   PwrPak7 Overview In this documentation, the term PwrPak7 is used to represent all hardware versions of the PwrPak7 enclosure (PwrPak7, PwrPak7D, PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2, PwrPak7D-E2, PwrPak7M and PwrPak7Q). When a section applies to a specific variant of the PwrPak7 enclosure, the applicable receiver is identified (e.g.

  • Page 25: Pwrpak7 Connectors

    Chapter 1   PwrPak7 Overview Figure 2: PwrPak7D / PwrPak7D-E1 / PwrPak7D-E2 / PwrPak7DQ-E2 Enclosure PwrPak7, PwrPak7D, PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2 and PwrPak7D-E2 technical specifications are provided in PwrPak7 Technical Specifications on page 140. 1.1 PwrPak7 Connectors The PwrPak7 has several connectors for connecting the receiver to other components in the GNSS system. Figure 3: PwrPak7, PwrPak7-E1, PwrPak7-E2 and PwrPak7Q-E2 Connectors Figure 4: PwrPak7D, PwrPak7D-E1, PwrPak7D-E2 and PwrPak7DQ-E2 Connectors PwrPak7 Family Installation and Operation User Manual v19...

  • Page 26: Figure 5: Pwrpak7M Connectors

    Chapter 1   PwrPak7 Overview Figure 5: PwrPak7M Connectors Do not cover the PwrPak7 pressure vent. The pressure vent must be allowed to breathe to ensure proper PwrPak7 operation. Table 1: PwrPak7 Connectors Connector Connector Label Description Type Connects the receiver to the GNSS antenna (PwrPak7, PwrPak7-E1 and PwrPak7D-E2) Connects the receiver to the primary GNSS antenna ANT 1...

  • Page 27: Pwrpak7 Leds

    Chapter 1   PwrPak7 Overview Connector Connector Label Description Type Connects the receiver to an Ethernet network RJ45 Used to communicate to the receiver using a network connection USB Micro A USB 2.0 port used to communicate from a computer to the receiver using a USB cable Provides access to communication signals on the receiver.

  • Page 28: Table 2: Pwrpak7 Status Indicators

    Chapter 1   PwrPak7 Overview The following tables provide information about the PwrPak7 LEDs and their states. Table 2: PwrPak7 Status Indicators Label Description Indicates the power status of the receiver GNSS Indicates the position status of the receiver Indicates the INS status of the receiver This LED is applicable only to SPAN capable PwrPak7 models (a PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2 or PwrPak7D-E2, or a PwrPak7 with an external IMU) Indicates the status of logging or file-transfer to a USB stick or connection to a computer as a...

  • Page 29: Table 5: Ins Led

    Chapter 1   PwrPak7 Overview Table 5: INS LED State Description INS inactive Green solid INS solution good Green slow blink INS alignment complete Green fast blink INS solution free Green/Yellow alternating blink High variance Yellow blink INS aligning/determining orientation Red solid Error Table 6: TRANSFER LED LED State...

  • Page 30: Related Documents And Information

    Chapter 1   PwrPak7 Overview LED State Description Yellow fast blink Memory is mounting or unmounting/busy Internal memory full or corrupt Red solid Refer to Repair Errors on the PwrPak7 Internal Memory on page 81 Red fast blink for 3 seconds Push button error 1.3 Related Documents and Information After the receiver is set up, the OEM7 Commands and Logs Reference Manual...

  • Page 31: Chapter 2 Pwrpak7 Installation

    Chapter 2 PwrPak7 Installation This chapter provides instructions to install the PwrPak7 and create a GNSS receiver system. 2.1 Shipping Box The following is provided with the PwrPak7: Power cable – M12 connector to bare wires (01019764) PwrPak7 COM1 Cable (01019765) USB Cable, A Plug to Micro-B Plug with Ferrites (60723175) PwrPak7 Quick Start Guide (GM-14915152) 2.2 Additional Equipment Required...

  • Page 32: Pwrpak7 Cables

    Chapter 2   PwrPak7 Installation Optional external SPAN compatible IMU novatel.com/products/span-gnss-inertial-navigation-systems/span-imus For information about other PwrPak7 accessories, refer to the PwrPak7 page on the NovAtel website (novatel.com/products/receivers/enclosures/pwrpak7). 2.4 PwrPak7 Cables To prevent damage to both the receiver and the cables, each connector can be inserted in only one way. Furthermore, the connectors used to mate the cables to the receiver require careful insertion and removal.

  • Page 33: Selecting A Gnss Antenna

    Chapter 2   PwrPak7 Installation 2.5 Selecting a GNSS Antenna NovAtel offers a variety of GNSS antennas, including single, dual and triple-frequency, triple-band and wide- band reference antennas (refer to our web site: novatel.com/products/antennas for details of available antennas). All antennas include band pass filtering and an LNA. The GNSS antenna chosen depends on the particular application.
  • Page 34 Chapter 2   PwrPak7 Installation a voltage in the range of +9 to +36 VDC at least 15 W of power See PwrPak7 Electrical and Environmental Specifications on page 152 for more power supply specifications. The PwrPak7 has an internal power module that: filters and regulates the supply voltage protects against over-voltage, over-current and high-temperature conditions provides automatic reset circuit protection...

  • Page 35: Pwrpak7 Installation Overview

    Chapter 2   PwrPak7 Installation 2.8 PwrPak7 Installation Overview When the appropriate equipment is selected, complete the following steps to set up and begin using the NovAtel GNSS receiver. Figure 7: PwrPak7, PwrPak7-E1 and PwrPak7-E2 Installation Example PwrPak7 Family Installation and Operation User Manual v19...

  • Page 36: Figure 8: Pwrpak7D, Pwrpak7D-E1 And Pwrpak7D-E2 Installation Example

    Chapter 2   PwrPak7 Installation Figure 8: PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2 Installation Example 1. Mount the GNSS antenna. For a PwrPak7D, PwrPak7D-E1 or PwrPak7D-E2, mount the primary and secondary GNSS antennas. See Mounting the GNSS Antenna on the next page for more information. 2.

  • Page 37: Mounting The Gnss Antenna

    Chapter 2   PwrPak7 Installation 3. For a PwrPak7, PwrPak7-E1 and PwrPak7-E2, connect one end of the antenna cable to the GNSS antenna and the other end of the cable to the antenna connector (ANT) on the receiver. Use a TNC torque wrench to tighten the connection to 1.35 Nꞏm (12 in-lbs) maximum. For a PwrPak7D, PwrPak7D-E1 or PwrPak7D-E2: Connect an antenna cable from the primary GNSS antenna to the ANT 1 connector on the receiver.

  • Page 38: Mount The Pwrpak7

    Chapter 2   PwrPak7 Installation If a short circuit or other problem causes an overload of the current supplied to the antenna, the receiver hardware shuts down the power supplied to the antenna. To restore power, power cycle the receiver. The Receiver Status word, available in the RXSTATUS log (see OEM7 Commands and Logs Reference Manual), provides more information about the cause of the problem.

  • Page 39: Connect The Pwrpak7 To Data Communication Equipment

    Chapter 2   PwrPak7 Installation The enclosure axis labels are approximately located at the center of navigation. For precise offsets from the enclosure reference point to the IMU center of navigation, use the information located on the label on the bottom of the enclosure. Ensure the PwrPak7-E1 cannot move due to dynamics and that the distance and relative direction between the antenna and the PwrPak7-E1 is fixed.

  • Page 40: Usb Ports

    Chapter 2   PwrPak7 Installation COM1 and COM2 can operate using RS-232 protocol or RS-422 protocol. To change the serial port protocol, use the SERIALPROTOCOL command. COM1 can operate using hardware flow control when the protocol is set to RS-232. To enable or disable, hardware flow control (handshaking), use the SERIALCONFIG command.

  • Page 41: Ethernet Port

    Chapter 2   PwrPak7 Installation Windows users: Note the PwrPak7 Wi-Fi security key is not a PIN. If you see an option such as Connect using a security key instead, you must click this option to enter your security key. 3. Open up a web browser and enter 192.168.19.1. NovAtel Setup & Monitor (Web), a configuration and monitoring interface hosted on the PwrPak7, opens.

  • Page 42: Connect I/O Signals To The Pwrpak7

    Chapter 2   PwrPak7 Installation The PwrPak7 CAN bus port is unterminated. If the PwrPak7 is at the end of the bus, then the connecting cable must have 120 ohms integrated into the cable between CANH and CANL in close proximity to the HD26 COM PORTS connector. For information about configuring CAN, see CAN Bus on page 105.

  • Page 43: Vehicle Installation

    Chapter 2   PwrPak7 Installation Figure 9: Fuse for PwrPak7 Power Supply Table 10: Fuse/Holder Recommendations 12 V System Fuse Holder BK/MDA-2-R Fuse (or equivalent) BK/HFA-R Fuse (or equivalent) BK/MDL-2-R Fuse (or equivalent) The fuse and holder are made by Cooper/Bussmann; available from Digikey. 2.14.2 Vehicle Installation If the receiver is installed in a vehicle, it is recommended that a dedicated battery be provided for the receiver that is isolated from the engine starter battery.

  • Page 44: Seamless Battery Swap

    Chapter 2   PwrPak7 Installation Figure 10: Dedicated Battery for PwrPak7 2.14.3 Seamless Battery Swap Two batteries can be connected at the same time. If a battery requires charging, it can be removed without experiencing any power interruption (battery A or B). Figure 11: Seamless Battery Swap PwrPak7 Family Installation and Operation User Manual v19...

  • Page 45: Check That The Pwrpak7 Is Operating

    Chapter 2   PwrPak7 Installation -VIN_A and -VIN_B are connected together inside the PwrPak7 and are also connected to DGND (Digital I/O ground and GNSS Cable shell). Power sources connected to the PwrPak7 must be floating, or have their (-) terminals connected to the same ground reference as any equipment connected to PwrPak7 (including the GNSS antenna).
  • Page 46 Chapter 2   PwrPak7 Installation For information about the other digits in Receiver Status word, refer to the RXSTATUS log in the OEM7 Commands and Logs Reference Manual. It can take about a minute for time status to reach FINESTEERING depending on number of satellites being tracked.

  • Page 47: Chapter 3 Oem7 Receiver Operation

    Chapter 3 OEM7 Receiver Operation Before operating the receiver for the first time, use the installation instructions in PwrPak7 Installation on page 31. The following instructions are based on a configuration similar to the following figure. Figure 12: Basic Receiver Enclosure Connection Interfaces (example) The figure above does not show all necessary hardware.

  • Page 48: Wi-Fi Communications

    Chapter 3   OEM7 Receiver Operation NovAtel Setup & Monitor (Web) - NovAtel Setup & Monitor (Web) is a browser based tool used to monitor, configure and update a variety of receiver functions. For information about using Setup & Monitor (Web), refer to the online documentation (docs.novatel.com/Tools). NovAtel Application Suite - NovAtel Application Suite is set of computer based applications that simplify the configuration and monitoring of NovAtel receivers.

  • Page 49: Serial Port Communications

    Chapter 3   OEM7 Receiver Operation A computer has several USB ports. The assignment of COM port numbers is tied to a USB port on the computer. This allows receivers to be switched without Microsoft Windows assigning new COM ports. However, if the receiver is connected to a different physical USB port, Windows detects the receiver's presence and assigns three new COM port numbers.

  • Page 50: Ethernet Communications

    Chapter 3   OEM7 Receiver Operation To change the data rate of COM2 to 115200, enter: SERIALCONFIG COM2 115200 To change the data rate of COM1 to 57600 and enable even parity, enter: SERIALCONFIG COM1 57600 E Configure a COM Port to Use RS-232 or RS-422 COM1 and COM2 of the PwrPak7 communicate using RS-232 protocol by default, but can be configured to use RS-422 protocol.

  • Page 51: Icom Communications

    Chapter 3   OEM7 Receiver Operation Issue the SAVEETHERNETDATA ETHA command to ensure port settings are retained after a reset and automatically used at boot time. The SAVEETHERNETDATA ETHA command is not applicable to the ICOMCONFIG and NTRIPCONFIG command settings. The SAVEETHERNETDATA ETHA command takes precedence over the SAVECONFIG command configuration.

  • Page 52: Transmitting And Receiving Corrections

    Chapter 3   OEM7 Receiver Operation For instructions on using NovAtel Setup & Monitor (Web) and NovAtel Application Suite, refer to docs.novatel.com/Tools. When the receiver is first turned on, no data is transmitted from the COM ports except for the port prompt. Any of the COM port prompts indicate that the receiver is ready and waiting for command input.

  • Page 53: Figure 13: Basic Differential Setup

    Chapter 3   OEM7 Receiver Operation Figure 13: Basic Differential Setup Rover Setup Base Setup Mount and connect a GNSS antenna Mount and connect a GNSS antenna Connect a fused power supply (user Connect a fused power supply (user supplied) supplied) Connect a radio device to COM2 (user Connect a radio device to COM2 (user supplied) supplied)

  • Page 54: Defining Antenna And Base Antenna

    Chapter 3   OEM7 Receiver Operation Unlike the base/rover concept, SBAS and PPP corrections can be applied directly to a single receiver. When the base and rover are set up, configure them as shown in the configuration examples in Base Station Configuration below and Rover Station Configuration on the next page.

  • Page 55: Rover Station Configuration

    Chapter 3   OEM7 Receiver Operation log com2 rtcm1012 ontime 1 log com2 rtcm1006 ontime 10 log com2 rtcm1033 ontime 10 log com2 rtcm1019 ontime 120 log com2 rtcm1020 ontime 120 saveconfig (optional) NOVATELX serialconfig com2 19200 N 8 1 N on interfacemode com2 none novatelx off fix position lat lon hgt (enter your own lat, lon, hgt) log com2 novatelxobs ontime 1...

  • Page 56: Configuration Notes

    Chapter 3   OEM7 Receiver Operation serialconfig com2 19200 N 8 1 N on interfacemode com2 NOVATELX none off saveconfig (optional) For more information, refer to the INTERFACEMODE command, SAVECONFIG command and SERIALCONFIG command in the OEM7 Commands and Logs Reference Manual.

  • Page 57: Automatic Set Up For Direct-Wire Connection Between Master And Rover Via Com2

    Chapter 3   OEM7 Receiver Operation This section is intended for systems that do not use SPAN. If SPAN is used on the system, refer to the configuration in SPAN with Dual Antenna available at docs.novatel.com/OEM7. This section is for applications that require additional rover receivers. Dual antenna receivers, such as the PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2, can provide an ALIGN solution without additional receivers or configuration.

  • Page 58: Glide

    Chapter 3   OEM7 Receiver Operation 3.5 GLIDE NovAtel’s GLIDE is a positioning algorithm for single-frequency GPS and GPS/GLONASS applications. GLIDE produces a smooth position output tuned for applications where time relative accuracy (pass-to-pass) is more important than absolute accuracy. Because of this, it is well suited for agricultural applications. Multipath signals tend to induce time varying biases and increase the measurement noise on the L1/L2 pseudorange measurements.

  • Page 59: Prefer Accuracy

    Chapter 3   OEM7 Receiver Operation Figure 14: Positioning Change Without STEADYLINE The STEADYLINE feature internally monitors the position offsets between all the GNSS positioning modes present in the receiver. When the current positioning mode becomes unavailable, the receiver transitions to the next most accurate positioning mode.

  • Page 60: Enabling Ppp

    Chapter 3   OEM7 Receiver Operation 3.8 Enabling PPP L-Band equipped receivers can achieve sub-meter position accuracy using correction data received from geostationary satellites. To use the L-Band corrections, an L-Band-capable receiver model and antenna are required (refer to our web site novatel.com/products/antennas for information on NovAtel L-Band-capable antennas).
  • Page 61 Chapter 3   OEM7 Receiver Operation #LBANDTRACKSTATA,COM1,0,73.5,FINESTEERING,1769,328196.000,00000000,29fd, 12602;1,"98W",1539902500,1200,974c,00c2,0,-316.186,43.842,4.3840,61.920, 1088,2,2,138176,79,0.0001*3e43cb7d If receiving an L-Band signal from a geostationary satellite, the sixth field following the header (tracking status word) of the LBANDTRACKSTAT log will be 00c2, as shown in the example. The latest services and coverage can be obtained from novatel.com/products/gps-gnss-correction- services/terrastar-correction-services.

  • Page 62: Veripos Subscriptions

    Chapter 3   OEM7 Receiver Operation 3.8.2 Veripos Subscriptions Subscriptions to the Veripos Apex and Apex marine services must be obtained directly from Veripos. A unit with a marine subscription can not be switched to a land subscription and vice versa. A subscription is required to use the Veripos services for offshore marine applications.

  • Page 63: Transferring Time Between Receivers

    Chapter 3   OEM7 Receiver Operation RTK ASSIST typically provides 4 cm accuracy. However, if the RTK outage occurs during the first 30 minutes of receiver operation, the position accuracy provided by RTK ASSIST may be lower. Additional information about enabling and using RTK ASSIST is available in APN-073: RTK ASSIST &...

  • Page 64: Procedures To Transfer Time

    Chapter 3   OEM7 Receiver Operation Fine Clock An OEM7 receiver that is tracking satellites and has a FINE or FINESTEERING receiver clock state. Cold Clock An OEM7 receiver that needs to have its clock synchronized with the Fine receiver. It may have any clock state (except FINE or FINESTEERING) that includes UNKNOWN.

  • Page 65: Figure 16: Transfer Coarse Time From Fine Clock To Cold Clock Receiver

    Chapter 3   OEM7 Receiver Operation Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver Transfer FINE Time (<50 ns) from a Fine Clock to a Cold Clock GPS Receiver 1. Connect a COM, USB or Ethernet port from the fine clock receiver to the cold clock receiver (for example, COM2 on the fine clock receiver to COM3 on the cold clock receiver), as shown in Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver on the next page.

  • Page 66: Figure 17: Transfer Fine Time From Fine Clock To Cold Clock Receiver

    Chapter 3   OEM7 Receiver Operation Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver Transfer FINE Time from a Fine Clock to a Warm Clock GPS Receiver 1. Connect the 1 PPS signal of the fine clock receiver to the Mark 1 input (Event1) of the warm clock receiver as shown in Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver on the next page.

  • Page 67: Figure 18: Transfer Fine Time From Fine Clock To Warm Clock Receiver

    Chapter 3   OEM7 Receiver Operation Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver If Receiver 2 is not in coarsetime, the input is ignored. Figure 19: 1 PPS Alignment PwrPak7 Family Installation and Operation User Manual v19...

  • Page 68: Interference Toolkit

    Chapter 3   OEM7 Receiver Operation The examples shown in Figure 16: Transfer COARSE Time from Fine Clock to Cold Clock Receiver on page 65, Figure 17: Transfer FINE Time from Fine Clock to Cold Clock Receiver on page 66 and Figure 18: Transfer FINE Time from Fine Clock to Warm Clock Receiver on the previous page are for the transfer of time.
  • Page 69 Chapter 3   OEM7 Receiver Operation Measuring the RF Input Gain This section is intended for advanced users. The RFINPUTGAIN command allows users to enter a more accurate receiver input condition, which is considered as a calibrated receiver input condition, and is used for interference detection. This command supports different values for L1, L2, L5, and L-Band and is recommended when there is a known strong interference present at receiver start up.

  • Page 70: Disable/Enable Detection

    Chapter 3   OEM7 Receiver Operation 3.11.2 Disable/Enable Detection The interference detection feature can be enabled/disabled from the command line using the ITDETECTCONFIG command. To disable interference detection, enter: ITDETECTCONFIG none To enable interference on all RF paths, enter : ITDETECTCONFIG all Interference detection can also be enabled on individual RF paths.

  • Page 71: Monitoring Signals Using Novatel Application Suite

    Chapter 3   OEM7 Receiver Operation When logged, incoming signal information is collected at the rate specified in the ITSPECTRALANALYSIS command. Pre-decimation – Raw analog-to-digital converter signals. Post-decimation – Analog-to-digital converted signal for the specific signal encoder path. This gives a narrower view of the incoming signal.

  • Page 72: Interference Toolkit Commands And Logs

    Chapter 3   OEM7 Receiver Operation Contact novatel.com/contactus/sales-offices to obtain mitigation functionality. High Dynamic Range Mode The High Dynamic Range (HDR) mode enables special signal processing to remove distortions from the spectrum, providing a cleaner signal. This optimizes the Automatic Gain Control (AGC) to prevent interfering signals from drowning out the GNSS signals.

  • Page 73: Logging And Retrieving Data Overview

    Chapter 3   OEM7 Receiver Operation Logs ITBANDPASSBANK Provides the allowable bandpass filter configurations. Lists all of the interference detected on the paths on which automatic ITDETECTSTATUS √ interference detection has been enabled. Summarizes the filter configuration for each frequency and indicates which ITFILTTABLE bandpass or notch filters are enabled and configured.

  • Page 74: Logging To Internal Memory

    Chapter 3   OEM7 Receiver Operation When a file is closed (FILECONFIG CLOSED) and the receiver has a valid time, the file is renamed based on the following format: <PSN>_<UTC Date>_<UTC Time>.LOG where: <PSN> is the product serial number of the enclosure <UTC_Date>...

  • Page 75: Logging To A Usb Stick

    Chapter 3   OEM7 Receiver Operation For information about logging to internal memory using the PwrPak7 Log button, see Logging Using the Log Button on page 77. Before powering off the PwrPak7 or using the RESET command, use the FILECONFIG CLOSE command, or press the Log button, to close the log file. NovAtel Application Suite or Setup &...
  • Page 76 Chapter 3   OEM7 Receiver Operation NovAtel recommends using a Micro A to USB stick adapter, such as Tensility 10-00649 or equivalent, to connect a USB stick to the PwrPak7 TRANSFER port. For information about logging to a USB stick using the PwrPak7 Log button, see Logging Using the Log Button on the next page.

  • Page 77: Logging Using The Log Button

    Chapter 3   OEM7 Receiver Operation 5. Wait until the desired data has been collected. 6. Enter the following command to stop data collection and close the log file. FILECONFIG CLOSE 7. Safely eject the USB stick. USBSTICKEJECT 8. Wait until the TRANSFER LED is off and then the USB stick can be removed from the PwrPak7. 3.12.5 Logging Using the Log Button The PwrPak7 Log button is used to start and stop log collection to a file on internal memory or a USB stick.

  • Page 78: Transferring Files From Internal Memory To A Usb Stick

    Chapter 3   OEM7 Receiver Operation File logging stops and the log file is closed. If the file media is internal memory, the log file now available for access. If the file media is USB stick, the PwrPak7 unmounts the USB stick. Wait until the TRANSFER LED is off and then the USB stick can be removed from the PwrPak7.
  • Page 79 Chapter 3   OEM7 Receiver Operation Before powering off the PwrPak7 or removing the USB stick from the PwrPak7, use the USBSTICKEJECT command to unmount the USB stick. PwrPak7M variants do not support this feature. Automatic File Transfer When automatic file transfer is enabled, all of the files stored on the PwrPak7 internal memory are automatically transferred to a USB stick when the USB stick is inserted.

  • Page 80: Access Pwrpak7 Internal Memory With A Computer

    Chapter 3   OEM7 Receiver Operation FILETRANSFER MOVE ALL To transfer a single file from internal memory to the USB stick and leave the file on internal memory, enter the following command. In the example below, BMHR16460033T_2017-3-16_21-18- 48.log is the name of the file being copied. FILETRANSFER COPY BMHR16460033T_2017-3-16_21-18-48.log To transfer a single file from internal memory to the USB stick and delete the file from internal memory, enter the following command.

  • Page 81: Repair Errors On The Pwrpak7 Internal Memory

    Chapter 3   OEM7 Receiver Operation 3.12.8 Repair Errors on the PwrPak7 Internal Memory The internal memory can become corrupt and inaccessible to the PwrPak7. This can happen if there is a sudden power loss when the PwrPak7 is transferring files from the internal memory. This can also happen if there is improper use of the internal memory when connected to a computer.

  • Page 82: Additional Features And Information

    Chapter 3   OEM7 Receiver Operation For information about using NovAtel Application Suite or Setup & Monitor (Web), refer to docs.novatel.com/Tools. 3.13 Additional Features and Information The following sections contain information on additional features of the OEM7 receivers. Strobes below 3.13.1 Strobes The PwrPak7 has three EVENT inputs, three EVENT outputs and a Pulse Per Second (PPS) output that provide status and synchronization signals.

  • Page 83: Chapter 4 Built-In Status Tests

    Chapter 4 Built-In Status Tests The Built-In Status Test monitors system performance and status to ensure the receiver is operating within specifications. The test detects an exceptional condition and informs the user through one or more indicators. The receiver status system is used to configure and monitor the indicators: 1.

  • Page 84: Rxstatus Log

    Chapter 4   Built-In Status Tests 4.3 RXSTATUS Log The Receiver Status log (RXSTATUS) provides system status and configuration information in a series of hexadecimal words. 4.3.1 Status Word The status word is the third field after the header, as shown in the example in Figure 20: Location of Receiver Status Word below.

  • Page 85: Status Code Arrays

    Chapter 4   Built-In Status Tests Figure 22: Location of Receiver Error Word Figure 23: Reading the Bits in the Receiver Error Word below shows an example of a receiver error word. Figure 23: Reading the Bits in the Receiver Error Word Refer to the RXSTATUS log and RXSTATUSEVENT log in the OEM7 Commands and Logs Reference Manual...

  • Page 86: Receiver Status Code

    Chapter 4   Built-In Status Tests Figure 24: Status Code Arrays 4.3.4 Receiver Status Code The receiver status word is included in the header of all logs. It has 32 bits that indicate certain receiver conditions. If any of these conditions occur, a bit in the status word is set. Unlike the error word bits, the receiver continues to operate, unless the priority mask for the bit has been set.

  • Page 87: Chapter 5 Ethernet Configuration

    Chapter 5 Ethernet Configuration This chapter describes how to configure the Ethernet port on an OEM7 receiver. It provides the step-by-step process for connecting to the OEM7 receiver through the Ethernet interface, setting up a base/rover configuration through Ethernet connectivity and utilizing the NTRIP interface. The Ethernet port connections for a computer connected to the receiver are also described for Windows 7 operating systems.

  • Page 88: Static Ip Address Configuration-Receiver

    Chapter 5   Ethernet Configuration Figure 25: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 5.2.1 Static IP Address Configuration—Receiver Follow these steps to set up a static IP address on the OEM7 receiver: 1. Connect a computer to the OEM7 receiver using a null modem serial cable or USB cable. 2.

  • Page 89: Static Ip Address Configuration-Windows 7

    Chapter 5   Ethernet Configuration SAVEETHERNETDATA 7. Log the IPCONFIG command and confirm the TCP/IP configuration by entering: LOG IPCONFIG ONCE 8. Configure your computer with a static IP address. Refer to Static IP Address Configuration—Windows 7 below. 5.2.2 Static IP Address Configuration—Windows 7 Follow these steps to set up a static IP address on a computer: 1.

  • Page 90: Dynamic Ip Address Configuration

    Chapter 5   Ethernet Configuration 5.3 Dynamic IP Address Configuration Figure 26: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver below shows the connections when an OEM7 receiver uses a dynamic IP address configuration. Figure 26: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver To set up a dynamic IP address configuration, follow these steps: 1.

  • Page 91: Base/Rover Configuration Through Ethernet Connectivity

    Chapter 5   Ethernet Configuration 6. Confirm the port number assigned to ICOM1 by entering: LOG ICOMCONFIG ONCE 5.4 Base/Rover Configuration through Ethernet Connectivity You can use an Ethernet connection to provide communication between a base and rover receiver. Figure 27: Base/Rover Ethernet Setup—OEM7 Receiver below shows the connections when a base and rover OEM7 receiver are connected using Ethernet.

  • Page 92: Large Ethernet Port Data Throughput

    Chapter 5   Ethernet Configuration 6. Send the following commands to each receiver either through serial or USB ports: Base: FIX POSITION <lat> <long> <height> INTERFACEMODE ICOM1 NONE RTCA off LOG ICOM1 RTCAOBS2 ONTIME 1 LOG ICOM1 RTCAREF ONTIME 10 LOG ICOM1 RTCA1 ONTIME 5 SAVECONFIG Rover: ICOMCONFIG ICOM1 TCP <base ip address>:<base port #>...

  • Page 93: Chapter 6 Ntrip Configuration

    Chapter 6 NTRIP Configuration An Ethernet capable OEM7 receiver can be configured as either an NTRIP server or an NTRIP client. An OEM7 receiver using a Wi-Fi connection can be configured as an NTRIP client. For more information about NovAtel’s NTRIP, refer to novatel.com/products/firmware-options-pc-software/gnss-receiver-firmware- options/ntrip.

  • Page 94: Ntrip Configuration Over Wi-Fi

    Chapter 6   NTRIP Configuration Dynamic IP Address Configuration on page 90. 4. Use the following commands to enable the base receiver as an NTRIP Server: NTRIPCONFIG NCOM1 SERVER V2 <endpoint> <mountpoint> <username> <password> ETHA INTERFACEMODE NCOM1 NONE RTCA OFF FIX POSITION <lat> <long> <height> LOG NCOM1 RTCAOBS2 ONTIME 1 LOG NCOM1 RTCAREF ONTIME 10 LOG NCOM1 RTCA1 ONTIME 1...
  • Page 95 Chapter 6   NTRIP Configuration WIFIMODE CLIENT 4. Check for available Wi-Fi access points. LOG WIFINETLIST 5. Establish a connection with a Wi-Fi access point. WIFINETCONFIG 1 ENABLE <access point name> <password> 6. Enable the receiver as an NTRIP client. NTRIPCONFIG NCOM1 CLIENT V2 <endpoint> <mountpoint> <username> <password>...

  • Page 96: Chapter 7 Wi-Fi Configuration

    Chapter 7 Wi-Fi Configuration Wi-Fi is a Wireless Local Area Network (WLAN) used to exchange data wirelessly over a computer network. The PwrPak7 has a Wi-Fi transceiver that works as a 2.4 GHz 802.11 Access Point (AP). On startup, the PwrPak7 automatically configures itself as an AP.

  • Page 97: Wi-Fi Modes

    Chapter 7   Wi-Fi Configuration Parameter Default Printed on the PwrPak7 label SSID ("PwrPak7-<Receiver PSN>"") Passkey Printed on the PwrPak7 label Channel IP address 192.168.19.1 Netmask 255.255.255.0 To view the current Wi-Fi settings, use the WIFIAPSETTINGS log. Refer to the OEM7 Commands and Logs Reference Manual.
  • Page 98 Chapter 7   Wi-Fi Configuration transmission of corrections from one receiver to another over Wi-Fi. Prior to connecting to an Access Point, note the following information found on the receiver label: The SSID in the form "PwrPak7-<Receiver PSN>" (e.g. "PwrPak7-ABCDEF1234567"). The Wi-Fi password (also known as passkey). The information for up to four Access Points can be stored in the PwrPak7 using the WIFINETCONFIG command.

  • Page 99: Enable The Wi-Fi Concurrent

    Chapter 7   Wi-Fi Configuration WIFINETCONFIG command and automatically establishes a connection. If there is more than one match, the Client automatically connects to the Access Point with the lowest network ID. 7.2.3 Enable the Wi-Fi Concurrent When operating in Concurrent mode, the receiver acts as both a Wi-Fi client and an access point at the same time.

  • Page 100: Wi-Fi Changes

    Chapter 7   Wi-Fi Configuration IPSTATUS COM1 0 75.0 FINESTEERING 2011 337726.000 02000000 7fe2 32768    3       ETHA "10.129.32.50" "255.255.255.0" ""       WIFI "192.168.20.1" "255.255.255.0" ""       WIFI_CLIENT "192.168.19.100" "255.255.255.0" "192.168.19.1"       1       "192.168.19.1" 7.3 Wi-Fi Changes Various default Wi-Fi settings on the PwrPak7 can be changed and Wi-Fi can be disabled. 7.3.1 Change the Wi-Fi Passkey The term passkey and password are the same.

  • Page 101: Change The Wi-Fi Ip Address

    Chapter 7   Wi-Fi Configuration 3. Use the WIFIMODE command to restart the Wi-Fi transceiver. WIFIMODE AP 4. Use the SAVECONFIG command to store the change in Non-Volatile Memory. This ensures the new channel is kept when the receiver is restarted. 7.3.4 Change the Wi-Fi IP Address 1.
  • Page 102 Chapter 7   Wi-Fi Configuration Where: enable_disable turns the feature on or off master_networkid is the network ID associated with the SSID of the ALIGN Master as previously configured using the WIFINETCONFIG command. icom_port is the ICOM port to be used for ALIGN corrections on both the Rover and the Master. It is assumed that the Master's ICOM port is configured with its factory default settings.

  • Page 103: Manual Set Up For Wi-Fi Connection Between Master And Rover Via Icom1

    Chapter 7   Wi-Fi Configuration configures itself as follows: INTERFACEMODE ICOM5 NOVATELX NOVATEL OFF LOG ICOM5 HEADINGEXTB ONNEW 7.4.2 Manual Set Up for Wi-Fi Connection between Master and Rover via ICOM1 In this setup, the ALIGN Rover acts as a Wi-Fi Client to the ALIGN Master which, by default, is configured as a Wi-Fi Access Point.
  • Page 104 Chapter 7   Wi-Fi Configuration interfacemode icom1 novatelx novatel off log icom1 headingext2b onnew hdtoutthreshold 1.0 log heading2a onnew saveconfig Static IP Address Configuration In this example, the WIFINETCONFIG command is used to enable the Client to connect to the Master's Access Point using a static IP address on the same subnet as the Master - 192.168.19.42 in this example.

  • Page 105: Chapter 8 Can Bus

    Chapter 8 CAN Bus Controller Area Network CAN) is a communication medium which allows for data exchange between devices using a multi-master serial data communication model. The main advantage of CAN is that multiple devices can communicate through two inexpensive wires that act as a BUS The OEM7 receivers support the following CAN protocols: J1939 Transport and Extended Transport Protocol: used for corrections and NovAtel messages (both transmitting and receiving)

  • Page 106: Default Configuration

    Chapter 8   CAN Bus Details for the PGN messages can be found in the NMEA2000 specification which can be purchased directly from the National Marine Electronics Association (www.nmea.org/). 8.1 Default Configuration After a FRESET, the receiver has the following CAN configuration: All CAN physical ports are disabled No J1939 addresses are claimed CCOM ports are configured for NMEA2000 messages only...

  • Page 107: Example Of Enabling The Can Bus

    Chapter 8   CAN Bus Once the receiver is "on bus", it must be taken "off-bus" using CANCONFIG for any further configuration changes using J1939CONFIG. The receiver is fully "on-bus" only once the J1939 address has been successfully claimed. This is reported as "CLAIMED"...

  • Page 108: Address Claim Procedure

    Chapter 8   CAN Bus 8.2.5 Address Claim Procedure To become operational on the CAN bus, an OEM7 receiver must claim a J1939 address. The preferred address and a range of alternative addresses are specified using the J1939CONFIG command. When a configured receiver is placed on bus, it may make multiple attempts to claim an address.

  • Page 109: Corrections Over Can

    Chapter 8   CAN Bus 3. LOG CCOM1 PGN129026 ONTIME 0.25 4. SAVECONFIG 8.4 Corrections Over CAN All NovAtel supported correction types are supported over CAN ports (CCOM). To send or receive corrections: 1. Configure the CAN Bus. See Configuring the CAN Bus on page 106. 2.

  • Page 110: Configuring Oem7 Receivers To Use Oem6 Can Settings

    Chapter 8   CAN Bus To use CAN NOVATELBINARY, the CCOM port must be placed into NOVATELBINARY using the INTERFACEMODE command. It is recommended to use one dedicated CCOM port for NovAtel messages and another dedicated CCOM port for corrections. NovAtel UI configuration does not affect NMEA2000. Any CCOM port can be used for NMEA2000 logs irrespective of CCOMCONFIG settings.
  • Page 111 Chapter 8   CAN Bus On OEM7 receivers, nothing is automatically logged when CAN is enabled. Regular log requests must be made for each log required. A full address claim procedure with default values is initiated with the CANCONFIG ON command. The J1939CONFIG command can be used to modify the default address claim parameters including the ManufacturingCode (set to 603 in the SETCANNAME example above, now defaults to 305 in the new J1939CONFIG) but it's not necessary.

  • Page 112: Chapter 9 Troubleshooting

    Chapter 9 Troubleshooting There are simple ways to diagnose and resolve problems. In many cases, the issue can be resolved within a few minutes, avoiding the inconvenience and loss of productivity that results from having to return the receiver for repair. This section discusses troubleshooting issues and includes cross-references to other sections of the manual that may help resolve problems.

  • Page 113: Examining The Rxstatus Log

    Chapter 9   Troubleshooting Symptom Related Section See Transmitting and Receiving Corrections on page 52 Differential mode is not working properly and refer to the SERIALCONFIG command. There appears to be a problem with the receiver’s Refer to the NVMRESTORE command. memory Move the receiver to within an acceptable temperature range.
  • Page 114 Chapter 9   Troubleshooting Bit Set Action to Resolve Contact Customer Support on page 19. Check the VERSION log. The VERSION log will indicate "Invalid authcode". Upgrade the auth-code as described in Upgrading Using an Auth-Code on page 138. Issue a FRESET command See Power Supply Requirements for the PwrPak7 on page 33 Reserved Check the temperature ranges in: PwrPak7 Electrical and Environmental Specifications on page 152...

  • Page 115: Table 16: Resolving An Error In The Receiver Status Word

    Chapter 9   Troubleshooting Table 16: Resolving an Error in the Receiver Status Word Bit Set Action to Resolve Check the Error Word in the RXSTATUS log. See also Table 15: Resolving a Receiver Error Word on page 113 Check the temperature ranges in PwrPak7 Electrical and Environmental Specifications on page 152 See Power Supply Requirements for the PwrPak7 on page 33 See Selecting a GNSS Antenna on page 33, Choosing a Coaxial Cable on page 33, Antenna LNA...

  • Page 116: Examining The Aux1 Status Word

    Chapter 9   Troubleshooting Bit Set Action to Resolve Digital filter status. When this bit is set to 1, an Interference Toolkit digital filter is enabled. None. This bit indicates if any bits in the auxiliary 3 status word are set. The auxiliary 3 word provides status information and does not contain any new information on problems.

  • Page 117: High Temperature Environments

    Chapter 9   Troubleshooting Bit Set Action to Resolve 19-21 Reduce the amount of logging on the Ethernet ports 22-24 Reduce the amount of logging on the NTRIP ports 25-27 Reduce the amount of logging on the Virtual COM ports AGC error on RF5 (bit 28) or RF6 (bit 29). To resolve, ensure the antenna cable is connected and 28-29 signal input level is within specification.

  • Page 118: Monitoring The Receiver Temperature

    Chapter 9   Troubleshooting Disable the receiver features that are not required for the current operation of the receiver. On a PwrPak7, disable Wi-Fi and stop USB data transfers. 9.3.4 Monitoring the Receiver Temperature If the receiver is operating in a high ambient temperature environment, you can monitor the receiver temperature using the RXSTATUS and HWMONITOR logs.

  • Page 119: Safe Mode

    Chapter 9   Troubleshooting 6. Check the RXSTATUS log to see if the temperature status changes to Okay (Bit 1 in the Receiver Status word changes to 0). 9.4 Safe Mode Safe Mode is an error condition triggered on the OEM7 receiver if it encounters certain critical problems during start-up.

  • Page 120: Chapter 10 Novatel Firmware

    Firmware updates are released on the NovAtel web site as they become available. Firmware upgrades can be performed using the WinLoad utility, SoftLoad commands, Setup & Monitor (Web), NovAtel Application Suite or with a custom loader application. Contact NovAtel Customer Support (support.novatel@hexagon.com) for details on custom loader requirements.

  • Page 121: Downloading Firmware Files

    UTC time. Once the trial period has expired, a new auth-code will need to be obtained from NovAtel Customer Support (support.novatel@hexagon.com). Firmware images may also have auth-codes embedded within them. The models provided by such firmware images will be valid only on receivers with certain PSNs and Hardware Versions.

  • Page 122: Updating Or Upgrading Using The Winload Utility

    Chapter 10   NovAtel Firmware winload.exe WinLoad utility program howto.txt Instructions on how to use the WinLoad utility whatsnew.rtf Information on the changes made in the firmware since the last revision x..x.shex Firmware version upgrade file, where x..x defines the product name and release (e.g., OM7MR0200RN0000.shex) NovAtel Software License License agreement for the firmware...

  • Page 123: Communications Settings

    Chapter 10   NovAtel Firmware Figure 30: Open File in WinLoad 10.4.2 Communications Settings To set the communications port and baud rate, select Settings | COM Settings. Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list. Set the baud rate as high as possible (the default of 115200 is preferred if a higher baud rate is not available).

  • Page 124: Downloading Firmware

    Chapter 10   NovAtel Firmware 10.4.3 Downloading Firmware 1. Select the file to download according to Open a File to Download on page 122. 2. Ensure the file path and name are displayed in main display area (see Figure 30: Open File in WinLoad on the previous page).

  • Page 125: Updating The Firmware Using Setup & Monitor (Web)

    Chapter 10   NovAtel Firmware 10.6 Updating the Firmware Using Setup & Monitor (Web) To use NovAtel Setup & Monitor (Web) to update the receiver firmware, the receiver must be connected to the receiver using an Ethernet or Wi-Fi connection. To update the firmware on the receiver: 1.

  • Page 126: Use Softload Customer Support Utilities

    Chapter 10   NovAtel Firmware You can develop the process on your own, including processing the S-Records, converting them to NovAtel format commands, and Sending Firmware Data. This method is suitable for users with deeply embedded receivers and is more difficult to implement and integrate. For more information on suitability and implementation, refer to Self-Implement the SoftLoad process on page 131.
  • Page 127 Chapter 10   NovAtel Firmware 5. Press Enter and the output text file will be populated with the batch file. A confirmation message/response will appear. Sending Firmware Data It can take 30 minutes to 1 hour to complete sending the entire firmware to the receiver. RealTerm is preferred, but other terminal programs may be used (at user’s discretion).
  • Page 128 Chapter 10   NovAtel Firmware If connecting to receiver via serial or USB, ensure a delay of at least 20 msec is specified between each line. This is NOT necessary for ICOM connections; it will just cause the firmware to take longer to load. The option can be found in the Send tab of RealTerm. 5.
  • Page 129 Chapter 10   NovAtel Firmware 6. Watch the progress bar on the bottom as well as for the OK responses. PwrPak7 Family Installation and Operation User Manual v19...
  • Page 130 Chapter 10   NovAtel Firmware 7. RealTerm will indicate when the entire file has been sent. Note the output at the end indicates SOFTLOAD completed without any issues. 8. Once SOFTLOADSTATUS has confirmed the process is COMPLETE, send the RESET command. 9.

  • Page 131: Self-Implement The Softload Process

    Chapter 10   NovAtel Firmware SoftLoad Errors It is possible for errors to occur during the SoftLoad update. All command responses should be checked to verify all issued commands were accepted. The SoftLoad status should also be monitored in the SOFTLOADSTATUS log. Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update.
  • Page 132 Chapter 10   NovAtel Firmware Command Description SOFTLOADRESET Initiate a new SoftLoad process SOFTLOADSREC Send an S-Record to the receiver for the SoftLoad process SOFTLOADDATA Send firmware image data to the receiver for the SoftLoad process SOFTLOADCOMMIT Complete the SoftLoad process Send configuration information to the receiver for the SoftLoad process.
  • Page 133 Chapter 10   NovAtel Firmware AAAAAAAA DDDDDDDD...DDDDDDDD Check Sum Little Endian Data. These bytes are copied into the "data" field of the SOFTLOADDATA command 4 - Byte Address. Set this as the value of "offset" in the SOFTLOADDATA command Length. This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes for the address and 1 byte for the check sum is copied into the "data length"...
  • Page 134 Chapter 10   NovAtel Firmware S3210000000007F0A7F1F4060000147B4000F49217813C7BB00014493F005C00000009 Previous Address + Previous Num Bytes = 0x00407B0C + 0x08 = 0x00407B14 Address: 0x00000000 Num Data Bytes: 0x1C Requires new SOFTLOADDATA command because address does not match previous address + previous number of data bytes Send existing SOFTLOADDATA command, and start a new SOFTLOADDATA command S3210000001C80040000E001000030000000082B0100D8060000E4060000C806000063 Address: 0x0000001C Num Data Bytes: 0x1C...
  • Page 135 Chapter 10   NovAtel Firmware guaranteed to be output from the receiver within 300 seconds from the time the SOFTLOADCOMMIT command was received by the receiver. 7. Send the auth code for the newly downloaded image using the AUTH command. This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained through a SoftLoad update.
  • Page 136 Chapter 10   NovAtel Firmware SoftLoad Errors It is possible for errors to occur during the SoftLoad update. All command responses should be checked to verify all issued commands were accepted. The SoftLoad status should also be monitored in the SOFTLOADSTATUS log. Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update.

  • Page 137: Update Setup & Monitor (Web)

    Chapter 10   NovAtel Firmware the receiver. In such cases, the boot code will execute the old image and raise the "Safe Mode" error (see RXSTATUS log). If that error is detected, simply restart the SoftLoad process to reload the new firmware image and the error will be resolved.

  • Page 138: Upgrading Using An Auth-Code

    Chapter 10   NovAtel Firmware 2. Use a Wi-Fi capable device (such as a laptop, tablet or smart phone) to connect to the receiver’s Wi-Fi access point. The SSID and password for the receiver Wi-Fi are on a label on the receiver. Alternately, connect the receiver to a computer using an Ethernet connection.

  • Page 139: Entering An Auth-Code Using The Command Line

    Chapter 10   NovAtel Firmware 6. Enter the new Auth Code in the Apply New Auth Code box. 7. Click the Apply button to save the changes to the receiver. The receiver will restart when a new Auth Code is applied. 10.9.3 Entering an Auth-Code Using the Command Line The AUTH command is used to enter an auth-code.

  • Page 140: Appendix A Pwrpak7 Technical Specifications

    APPENDIX A PwrPak7 Technical Specifications Table 18: PwrPak7 Physical Description Size 147 mm x 125 mm x 55 mm PwrPak7 500 grams PwrPak7D 500 grams PwrPak7-E1 510 grams Weight PwrPak7D-E1 510 grams PwrPak7-E2 560 grams PwrPak7D-E2 560 grams PwrPak7 01019715 PwrPak7D 01019941 PwrPak7-E1...
  • Page 141 APPENDIX A   PwrPak7 Technical Specifications PwrPak7 Power Cable on page 162 PwrPak7 All I/O SPAN Cable on page 163 PwrPak7 All I/O Extension Cable on page 165 PwrPak7 All I/O Cable on page 167 PwrPak7 COM1 Cable on page 170 PwrPak7 IMU Cable on page 171 PwrPak7 Family Installation and Operation User Manual v19...

  • Page 142: Pwrpak7 Performance Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.1 PwrPak7 Performance Specifications All specifications subject to GNSS system characteristics. These specifications apply to the PwrPak7, PwrPak7-E1 and PwrPak7-E2. Table 19: PwrPak7 Receiver Performance Single point L1 1.5 m RMS Single point L1/L2 1.2 m RMS SBAS 60 cm RMS DGPS...
  • Page 143 APPENDIX A   PwrPak7 Technical Specifications Hot: <20 s (Almanac and recent ephemeris saved and approximate position and time entered) Time to First Fix Cold: <39 s (No almanac or ephemeris and no approximate position or time) <0.5 s L1 (typical) Signal Reacquisition <1.0 s L2 and L5 (typical) Measurements...
  • Page 144 APPENDIX A   PwrPak7 Technical Specifications Code Carrier L1 C/A 4 cm 0.5 mm L2 P(Y) 8 cm 1.0 mm 8 cm 0.5 mm 3 cm 0.5 mm L1 C/A 8 cm 1.0 mm GLONASS L2 P 8 cm 1.0 mm L2 C/A 8 cm 1.0 mm...

  • Page 145: Pwrpak7D Performance Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.2 PwrPak7D Performance Specifications All specifications subject to GNSS system characteristics. These specifications apply to the PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2. Table 20: PwrPak7D Receiver Performance Single point L1 1.5 m RMS Single point L1/L2 1.2 m RMS SBAS 60 cm RMS DGPS...
  • Page 146 APPENDIX A   PwrPak7 Technical Specifications L1 C/A, L1C, L2C, L2P, L5 GLONASS L1 C/A, L2 C/A, L2P, L3 BeiDou B1I, B1C, B2I, B2a, B2b Signals Tracked Secondary Antenna Galileo E1, E5 AltBOC, E5a, E5b NavIC (IRNSS) QZSS L1 C/A, L1C, L1S, L2C, L5 Hot: <20 s (Almanac and recent ephemeris saved and approximate position and time entered) Time to First Fix...
  • Page 147 APPENDIX A   PwrPak7 Technical Specifications Code Carrier L1 C/A 4 cm 0.5 mm 8 cm L2 P(Y) 1.0 mm 8 cm 0.5 mm 3 cm 0.5 mm L1 C/A 8 cm 1.0 mm 8 cm GLONASS L2 P 1.0 mm L2 C/A 8 cm 1.0 mm...

  • Page 148: Pwrpak7 Imu Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.1 PwrPak7 IMU Specifications These specifications apply to PwrPak7 models with an integrated IMU (PwrPak7-E1, PwrPak7D-E1, PwrPak7-E2 and PwrPak7D-E2). IMU specifications are provided by the Seiko Epson Corporation. Table 21: PwrPak7-E1 and PwrPak7D-E1 IMU Performance Gyroscope Performance Input Rate (max) ±150 °/second...

  • Page 149: Pwrpak7 Mechanical Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.3 PwrPak7 Mechanical Specifications Figure 32: PwrPak7 Dimensions below Figure 33: PwrPak7-E1 Center of Navigation on the next page Figure 34: PwrPak7-E2 Center of Navigation on page 151 Figure 32: PwrPak7 Dimensions Dimensions are in millimeters. PwrPak7 Family Installation and Operation User Manual v19...

  • Page 150: Figure 33: Pwrpak7-E1 Center Of Navigation

    APPENDIX A   PwrPak7 Technical Specifications The following diagram applies to PwrPak7-E1 and PwrPak7D-E1. Figure 33: PwrPak7-E1 Center of Navigation PwrPak7 Family Installation and Operation User Manual v19...

  • Page 151: Figure 34: Pwrpak7-E2 Center Of Navigation

    APPENDIX A   PwrPak7 Technical Specifications The following diagram applies to PwrPak7-E2 and PwrPak7D-E2. Figure 34: PwrPak7-E2 Center of Navigation PwrPak7 Family Installation and Operation User Manual v19...

  • Page 152: Pwrpak7 Electrical And Environmental Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.4 PwrPak7 Electrical and Environmental Specifications Table 23: PwrPak7 Environmental Specifications Operating Temperature -40°C to +75°C Storage Temperature -40°C to +85°C Humidity 95% non-condensing Ingress Protection Rating IP67 PwrPak7, PwrPak7D, MIL-STD-810H, Method 514.8, Category 24 (20 g RMS) PwrPak7-E1, PwrPak7D-E1 Random Vibration...

  • Page 153: Table 24: Pwrpak7 Power Requirements

    APPENDIX A   PwrPak7 Technical Specifications Table 24: PwrPak7 Power Requirements Voltage +9 to +36 VDC 2.75 W typical: GPS/GLONASS, dual-frequency model; no L-band tracking PwrPak7 3.25 W typical: Multi-constellation, multi-frequency model; no L-band tracking Power 3.95 W typical: Multi-constellation, dual-frequency model, no L-band PwrPak7D Consumption tracking...
  • Page 154 APPENDIX A   PwrPak7 Technical Specifications GPS L1: 1575.42 MHz GPS L2: 1227.60 MHz GPS L5: 1176.45 MHz GLONASS L1: 1593-1610 MHz GLONASS L2: 1237-1254 MHz GLONASS L3: 1202.025 MHz Galileo E1: 1575.42 MHz Galileo E5a: 1176.45 MHz Galileo E5b: 1207.14 MHz Galileo E5: 1191.795 MHz RF Input...

  • Page 155: Pwrpak7 Data Communication Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.5 PwrPak7 Data Communication Specifications Table 26: Data Communications Interfaces COM1 Electrical format RS-232/RS-422 Data rates 2400, 4800, 9600 (default), 19200, 38400, 57600, 115200, 230400 or 460800 bit/s. Signals supported COM1_Tx, COM1_Rx, COM1_RTS, COM1_CTS PwrPak7 port DSUB HD26 COM2 Electrical format...
  • Page 156 APPENDIX A   PwrPak7 Technical Specifications PwrPak7 port RJ45 Wi-Fi Access Point Security WPA2 Encryption PwrPak7 Family Installation and Operation User Manual v19...

  • Page 157: Pwrpak7 Strobe Specifications

    APPENDIX A   PwrPak7 Technical Specifications A.6 PwrPak7 Strobe Specifications All of the PwrPak7 strobe signals are available on the 26 pin D-SUB high density connector. Table 27: PwrPak7 Strobes Description Factory Strobes Input/Output Comment Default Input marks for which a pulse greater than 150 ns triggers EVENT_IN1 Input certain logs to be generated.

  • Page 158: Table 29: Pwrpak7 Wheel Sensor Input Signal Levels

    APPENDIX A   PwrPak7 Technical Specifications Table 29: PwrPak7 Wheel Sensor Input Signal Levels Parameter Symbol Conditions Minimum Typical Maximum  = +12 V 250 µA Input Current (A and B) = -7 V -200 µA Receiver Differential -7 V ≤ V ≤...

  • Page 159: Pwrpak7 Connectors

    APPENDIX A   PwrPak7 Technical Specifications A.7 PwrPak7 Connectors Table 30: PwrPak7 Connectors Connector Connector Label Description Type Connects the receiver to the GNSS antenna (PwrPak7, PwrPak7-E1 and PwrPak7D-E2) Connects the receiver to the primary GNSS antenna ANT 1 (PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2) Connects the receiver to the secondary GNSS antenna ANT 2 (PwrPak7D, PwrPak7D-E1 and PwrPak7D-E2)

  • Page 160: Table 31: 26 Pin D-Sub High Density Pin Out

    APPENDIX A   PwrPak7 Technical Specifications Table 31: 26 Pin D-SUB High Density Pin Out Signal Name Description When COM1 is set to RS-232, this is the Request To Send flow control signal. COM1_RTS/ When COM1 is set to RS-422, this is one half of the COM1 RS-422 transmit COM1_TX- differential pair.
  • Page 161 APPENDIX A   PwrPak7 Technical Specifications Signal Name Description EVENT_IN1 EVENT1 (Mark1) input EVENT_IN2 EVENT2 (Mark2) input Pulse Per Second output (Timemark) EVENT_OUT2 EVENT2 (Mark2) output EVENT_OUT3 EVENT3 (Mark3) output PwrPak7 Family Installation and Operation User Manual v19...

  • Page 162: Pwrpak7 Power Cable

    APPENDIX A   PwrPak7 Technical Specifications A.8 PwrPak7 Power Cable The NovAtel part number for the PwrPak7 Power Cable is 01019764. This cable provides power to the receiver from an external power source. Figure 35: PwrPak7 Power Cable Dimensions are in millimeters. Table 32: PwrPak7 Power Cable Pinout J1 Pinout...

  • Page 163: Pwrpak7 All I/O Span Cable

    APPENDIX A   PwrPak7 Technical Specifications A.9 PwrPak7 All I/O SPAN Cable The NovAtel part number for the PwrPak7 All I/O cable is 01020004. This cable provides access to all of the signals available on the PwrPak7 26 pin D-SUB connector. Figure 36: PwrPak7 All I/O SPAN Cable Dimensions are in millimeters.
  • Page 164 APPENDIX A   PwrPak7 Technical Specifications PwrPak7 MISC COM1 COM2/IMU COM3 Signal Name HD26 DB15 Female Female Female Male Female EVENT_IN1 EVENT_IN2 EVENT_IN3 EVENT_OUT2 EVENT_OUT3 Wheel Sensor A+ Wheel Sensor A- Wheel Sensor B+ Wheel Sensor B- COM1_RTS/422TX- COM1_TXD/422TX+ COM1_RXD/422RX+ COM1_CTS/422RX- COM1_GND COM2_422TX- COM2_TXD/422TX+...

  • Page 165: Pwrpak7 All I/O Extension Cable

    APPENDIX A   PwrPak7 Technical Specifications A.10 PwrPak7 All I/O Extension Cable The NovAtel part number for the PwrPak7 All I/O Extension Cable is 01020005. This cable is an accessory for the PwrPak7 ALL I/O SPAN cable (01020004). It connects to the MISC connector on the PwrPak7 All I/O SPAN cable and provides individual leads for all of the signals available on the MISC connector.
  • Page 166 APPENDIX A   PwrPak7 Technical Specifications P1 Connector Label on Lead DB15 Male EVENT_IN3 EVENT_IN3_GND EVENT_OUT2 EVENT_OUT2_GND EVENT_OUT3 EVENT_OUT3_GND Wheel Sensor A+ Wheel Sensor A- Wheel Sensor B+ Wheel Sensor B- Wheel Sensor GND PwrPak7 Family Installation and Operation User Manual v19...

  • Page 167: Pwrpak7 All I/O Cable

    APPENDIX A   PwrPak7 Technical Specifications A.11 PwrPak7 All I/O Cable The NovAtel part number for the PwrPak7 All I/O cable is 01019766. This cable provides access to all of the signals available on the PwrPak7 26 pin D-SUB connector. The PwrPak7 All I/O cable (01019766) has been replaced by the PwrPak7 All I/O SPAN cable (01020004) and PwrPak7 All I/O Extension cable (01020005).

  • Page 168: Table 36: Pwrpak7 All I/O Cable Pinout

    APPENDIX A   PwrPak7 Technical Specifications Table 36: PwrPak7 All I/O Cable Pinout EVENT_ PwrPak7 Labels on Flying COM1 COM2/IMU COM3 Signal Name HD26 Leads E1 to E8 Female Female Male Female Male CAN+ CAN+ CAN- CAN- PPS_GND EVENT_IN1 EVENT_IN1 EVENT_IN1_GND EVENT_IN2 EVENT_IN2_GND EVENT_IN3...
  • Page 169 APPENDIX A   PwrPak7 Technical Specifications EVENT_ PwrPak7 Labels on Flying COM1 COM2/IMU COM3 Signal Name HD26 Leads E1 to E8 Female Female Male Female Male COM1_ RXD/422RX+ COM1_ CTS/422RX- COM1_GND COM2_ RTS/422TX- COM2_ TXD/422TX+ COM2_ RXD/422RX+ COM2_ CTS/422RX- COM2_GND EVENT_OUT1 COM3_TXD COM3_RXD COM3_GND...

  • Page 170: Pwrpak7 Com1 Cable

    APPENDIX A   PwrPak7 Technical Specifications A.12 PwrPak7 COM1 Cable The NovAtel part number for the PwrPak7 COM1 cable is 01019765. This cable provides access to the COM1 signals available on the PwrPak7 26 pin D-SUB connector. Figure 39: PwrPak7 COM1 Cable Dimensions are in millimeters.

  • Page 171: Pwrpak7 Imu Cable

    APPENDIX A   PwrPak7 Technical Specifications A.13 PwrPak7 IMU Cable The NovAtel part number for the PwrPak7 IMU cable is 01019767. This cable provides a communication link between COM1 on a PwrPak7 and an IMU in the IMU Enclosure (IMU-ISA-100C, IMU-ENC-LN200, IMU- HG1900 and IMU-µIMU-IC). Figure 40: PwrPak7 IMU Cable Dimensions are in millimeters.

  • Page 172: Appendix B Accessories And Replacement Parts

    APPENDIX B Accessories and Replacement Parts The following tables list the replacement parts available for your NovAtel OEM7 receiver. For assistance or to order additional components, contact your local NovAtel dealer or Customer Support. Table 39: OEM7 Receivers NovAtel Part Part Description OEM719 OEM7 receiver card with OEM6 compatible 20 pin header OEM729...

  • Page 173: Table 40: Gnss Antennas

    APPENDIX B   Accessories and Replacement Parts NovAtel Part Part Description Single enclosure SPAN GNSS+INS receiver with dual antenna inputs, HG4930 IMU and CPT7 built-in data storage CPT7700 Single enclosure SPAN GNSS+INS receiver with HG4930 IMU and built-in data storage Table 40: GNSS Antennas NovAtel Part Part Description High Performance Antennas...

  • Page 174: Usb Devices Supported

    APPENDIX B   Accessories and Replacement Parts Table 41: PwrPak7 Cables NovAtel Part Part Description 01019764 PwrPak7 Power Cable 01019765 PwrPak7 COM1 Cable 01019767 PwrPak7 IMU Cable 01020004 PwrPak7 All I/O SPAN Cable 01020005 PwrPak7 All I/O Extension Cable (used with the 01020004 cable) Table 42: GNSS Antenna Cables NovAtel Part Part Description...

  • Page 175: Restrictions On Connecting Mass Storage Devices

    APPENDIX B   Accessories and Replacement Parts Table 44: Devices Tested for OEM7 USB Embedded Host Class Manufacturer Model Vendor ID Product ID Description Speed Type D-Link/Genesys DUB-7 05E3h 0608h 7 Port Hub 2.0 High Logic Mass Kingston DataTraveler Kingston 0951h 6609h High Storage Technology 32GB...

  • Page 176: Appendix C Importance Of Antenna Selection

    APPENDIX C Importance of Antenna Selection An antenna behaves both as a spatial and frequency filter, therefore, selecting the right GNSS antenna is critical for optimizing performance. An antenna must match the receiver’s capabilities and specifications, as well as meet size, weight, environmental and mechanical specifications for the intended application. Factors to consider when choosing a GNSS antenna include: 1.

  • Page 177: Figure 41: Plot Of Good And Poor Antenna Phase Center Variation Over Elevation Angle

    APPENDIX C   Importance of Antenna Selection Figure 41: Plot of Good and Poor Antenna Phase Center Variation over Elevation Angle 0-90° Many users can accept accuracies of less than a meter so these small phase center variations cause a negligible amount of position error. But if you require high precision, Real Time Kinematic (RTK) receivers can achieve position accuracies of 2-4 cm and a few millimeters of phase center error translates to a 10- 15% error in reported position.
  • Page 178 APPENDIX C   Importance of Antenna Selection PwrPak7 Family Installation and Operation User Manual v19...
  • Page 179 PwrPak7 Family Installation and Operation User Manual v19...

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