Novatel SMART7 Installation And Operation User Manual
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Novatel SMART7 Installation And Operation User Manual

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SMART7
Installation and Operation
User Manual
SMART7 Installation and Operation User Manual v6
January 2020

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Summary of Contents for Novatel SMART7

  • Page 1 SMART7 Installation and Operation User Manual SMART7 Installation and Operation User Manual v6 January 2020...
  • Page 2 Revision Date: January 2020 Firmware Version: 7.06.03 / OA7CR0603RN0000 Warranty NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ and for the following time periods: ®...

  • Page 3: Table Of Contents

    2.2 Mounting and Orienting the SMART7 2.2.1 Mounting 2.2.2 Orienting 2.2.3 SMART7 Mounting Hole Locations 2.2.4 Mounting Plate 2.3 Connect the SMART7 to Data Communication Equipment 2.3.1 Serial Ports 2.3.2 Wi-Fi 2.3.3 Ethernet Port 2.3.4 CAN Bus Port 2.4 Connect I/O Signals to a SMART7 2.5 Connect Power to the SMART7...
  • Page 4 4.4.2 GNSS Configuration 4.4.3 SPAN Configuration 4.5 Real-Time Operation 4.5.1 System Start-Up and Alignment Techniques 4.5.2 INS Seed / Fast INS Initialization 4.5.3 Navigation Mode 4.5.4 Data Collection 4.5.5 Body to Vehicle Frame Rotation Calibration Routine SMART7 Installation and Operation User Manual v6...
  • Page 5 7.2 NTRIP Configuration Over Wi-Fi Chapter 8 CAN Bus 8.1 Default Configuration 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 SMART7 Installation and Operation User Manual v6...
  • Page 6 11.4 Updating or Upgrading Using the WinLoad Utility 11.4.1 Using the WinLoad Utility 11.5 Updating the Firmware Using NovAtel Connect 11.6 Updating the Firmware Using NovAtel Web UI 11.7 Updating Using SoftLoad Commands SMART7 Installation and Operation User Manual v6...
  • Page 7 11.8.2 Entering an Auth-Code Using NovAtel Web UI 11.8.3 Entering an Auth-Code Using the Command Line 11.9 Update the Web UI 11.9.1 Update the Web UI Content Using NovAtel Connect 11.9.2 Update the Web UI Content Using Web UI APPENDIX A SMART7 Technical Specifications A.1 SMART7 Performance Specifications...
  • Page 8 Figure 19: ALIGN Translation Offset Figure 20: SMART7-S and SMART7-SI IMU Body Frame Figure 21: SMART7-S and SMART7-SI IMU Body Frame with Factory Configured Rotation Figure 22: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame Figure 23: Rear view of SMART7 on a Vehicle – Roof Camber Figure 24: Side View of SMART7 on a Vehicle –...
  • Page 9 Figure 37: Open File in WinLoad Figure 38: COM Port Setup Figure 39: SMART7 Dimensions Figure 40: SMART7-S and SMART7-SI Center of Navigation Figure 41: SMART Antenna Interface Cable Figure 42: SMART7 Mounting Plate Dimensions SMART7 Installation and Operation User Manual v6...
  • Page 10 Table 5: Wi-Fi LED Table 6: Ethernet LED Table 7: SMART7 Status LED Table 8: SMART7 Serial Port Protocol Table 9: SMART7 Recommended Fuse and Fuse Holders Table 10: Serial Ports Supported Table 11: Inertial Solution Status Table 12: NVM Seed Indication...

  • Page 11: Smart7 Notices

    SMART7 has been tested and found to comply with the radiated and conducted emission limits for a Class B digital device. The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation.
  • Page 12 WEEE Notice If you purchased your SMART7 product in Europe, please return it to your dealer or supplier at the end of its life. The objectives of the European Community's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and ration- ally.
  • Page 13 Agency (ECHA) is available at: https://echa.europa.eu/candidate-list-table Ethernet Port The Ethernet port is a safety extra-low voltage (SELV) circuit only and is suitable for connection to another SELV circuit. Do not connect to Telecommunications Network Voltage (TNV) circuits. SMART7 Installation and Operation User Manual v6...
  • Page 14 CNC ID: C-22910 Australia and New Zealand Brazil 06321-18-02494 China CMITT ID:  2018DJ6039 Eurasian Economic Community Armenia, Belarus, Kazakhstan, Kyrgyzstan and Russia Israel Japan Wi-Fi SMART7 contains a Wi-Fi radio with the following approvals: SMART7 Installation and Operation User Manual v6...
  • Page 15 SMART7 Notices Korea Wi-Fi SMART7 contains a Wi-Fi radio with the following approvals: Mexico Número de modelo: RS-9113-N00-S0C Número de IFT: RCPNORS19-0120 Moldova Paraguay Serbia И005    19 SMART7 Installation and Operation User Manual v6...
  • Page 16 SMART7 Notices South Africa TA-2019/015 APPROVED REGISTERED No: ER67054/18 DEALER No: DA78636/18 Ukraine Uruguay Este producto contiene módulo WiFi: RS9113-N00-S0C Zambia ZMB/ZICTA/TA/9/40 Conventions The following conventions are used in this manual: SMART7 Installation and Operation User Manual v6...
  • Page 17 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. SMART7 Installation and Operation User Manual v6...

  • Page 18: Customer Support

    Customer Support Customer Support NovAtel Knowledge Base If you have a technical issue, visit the NovAtel Support page at www.novatel.com/support. Through the Support page, you can contact Customer Support, find papers and tutorials or download current manuals and the latest firmware.
  • Page 19 If you are having a hardware problem, send a list of the troubleshooting steps taken and the results. Contact Information Log a support request with NovAtel Customer Support using one of the following methods: Log a Case and Search Knowledge: Website: www.novatel.com/support...

  • Page 20: Chapter 1 Smart7 Overview

    Chapter 1 SMART7 Overview The SMART7 is a high performance GNSS receiver and antenna, optimized to provide position, velocity, attitude and timing for tractor guidance / auto-steer and precision agriculture. Models are available with repeatable cen- timeter-level accuracy using RTK or TerraStar corrections and with integrated inertial navigation for high avail- ability and terrain compensation.

  • Page 21: Smart7 Connectors Overview

    SMART7-SI SMART7 with SPAN IMU, Wi-Fi and Ethernet Figure 1: SMART7 with Ethernet Model (Back) Do not cover the SMART7 pressure vent. The pressure vent must be allowed to breathe ensure proper SMART7 operation. 1.2 SMART7 Connectors Overview All SMART7 models use the same connector for power and communication. Refer to Table 28: SMART Antenna Interface Cable Connector Pin Out on page 142 for pin outs.

  • Page 22: Smart7 Leds

    Signal Name Shell Chassis GND 1.3 SMART7 LEDs The SMART7 has up to three LEDs (model dependent) to indicate receiver status. The following tables provide information about the SMART7 LEDs and their states. SMART7 Installation and Operation User Manual v6...

  • Page 23: Figure 4: Smart7 Leds Location

    White Solid Configured as a Client While Slow Configured as a Client and connected to an Access Point Flash Yellow Wi-Fi Firmware Upgrade Slow Flash Red Solid No Configuration Red Fast Error State Flash SMART7 Installation and Operation User Manual v6...

  • Page 24: Related Documents And Information

    This manual does not cover receiver service and repair. Contact a local NovAtel dealer for service or repair inquir- ies (refer to Customer Support on page 18 for contact details). SMART7 Installation and Operation User Manual v6...

  • Page 25: Chapter 2 Smart7 Installation

    Chapter 2 SMART7 Installation When the appropriate equipment is selected, complete the following steps to set up and begin using the NovAtel GNSS receiver. Figure 5: SMART7 Installation 1. Mount the SMART7 receiver. Refer to Mounting and Orienting the SMART7 on the next page for mounting details.

  • Page 26: Smart Antenna Additional Equipment Required

    The SMART7 must be rigidly secured to the vehicle to avoid errors caused by vibration and motion. If installing in a stationary location, mount the SMART7 in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction. For more information, refer to...

  • Page 27: Smart7 Mounting Hole Locations

    Plate Specifications on page 144 for plate dimensions and mounting hole locations. To install the mounting plate: 1. Place the SMART7 on the SMART7 mounting plate. The alignment pins on the mounting plate seat in the SMART6 alignment pin holes.

  • Page 28: Connect The Smart7 To Data Communication Equipment

    2. The integrated magnets will hold the SMART7 on to the mounting plate. To further secure the SMART7 to the mounting plate, use four M4X0.7 thread X 12 mm length screws that pass through the mounting plate and into the SMART7 screw mounting holes. Torque the screws to 10 – 12 in-lbs.

  • Page 29: Wi-Fi

    1. Once the receiver is installed and powered, use a Wi-Fi capable laptop/tablet/smartphone to locate the SMART7 in the list of detected Wi-Fi Networks and establish a connection. The SMART7 PSN of the receiver (SSID) is printed on a label located by the connector. The format of the PSN is SMART7-<Receiver PSN>, e.g. "SMART7-ABCDEF1234567".

  • Page 30: Can Bus Port

    Cable (Optional Accessory) on page 141. The SMART7 CAN bus port is unterminated. If the SMART7 is at the end of the bus, then the con- necting cable must have 120 ohms integrated into the cable between CAN1+ and CAN1- in close prox- imity to the main 14-Pin interface connector.

  • Page 31: Fuse For The Power Supply

    Chapter 2   SMART7 Installation 3. Connect the BATT- bare wires of the interface cable to the negative side of the power supply. For details about the power supply required, see Power Supply Requirements for the SMART7 on the next page.

  • Page 32: Power Supply Requirements For The Smart7

    The supply must be capable of providing enough current to operate the SMART7, including the initial inrush transient. The supply must also be current limited to 5 A with an external fuse.
  • Page 33 4. Check the Receiver Status word (02440000 in this example). If the lowest bit (bit 0) is set, the receiver has errors. For information about the other digits in Receiver Status word, refer to the RXSTATUS log in the Agri- culture Commands and Logs Reference Manual. SMART7 Installation and Operation User Manual v6...

  • Page 34: Chapter 3 Smart7 Operation

    Chapter 3 SMART7 Operation Before operating the receiver for the first time, refer to SMART7 Installation on page 25 for SMART7 installation instructions. 3.1 Communications with the Receiver Communication is established with the receiver using a data terminal or computer connected to the receiver by a variety of methods: Wi-Fi Configuration on page 82...

  • Page 35: Table 10: Serial Ports Supported

    One method of communicating with the receiver is through a remote terminal. To communicate with the terminal, the receiver requires only the RX, TX and GND lines be used. Ensure the terminal’s communications set up matches the receiver’s port settings. SMART7 Installation and Operation User Manual v6...

  • Page 36: Ethernet Communications

    Refer to Communicating with the Receiver on the next page for details. 3.1.3 Ethernet Communications The SMART7-I and SMART7-SI are equipped with a 10-Base-T/100-Base-TX Ethernet port that supports IPv4 Internet layer, TCP/IP transport and telnet. Users can conduct remote debugging, accept MRTCA (modified RTCA) data and update firmware.

  • Page 37: Can Bus Communications

    RXSTATUSEVENTA log ONNEW on all ports. See RXSTATUSEVENT Log on page 106 for more details. 2. If NovAtel Connect is unable to locate the receiver, use a different COM port to communicate with the receiver. When communication has been established, issue a FRESET STANDARD command. The original communications port should be ready for use.

  • Page 38: Transmitting And Receiving Corrections

    GNSS pos- itions. An example of a differential setup is shown in Figure 9: Basic Differential Setup on the next page. SMART7 Installation and Operation User Manual v6...

  • Page 39: Figure 9: Basic Differential Setup

    To receive corrections, a data link between the base station and the rover station is required. The base and rover stations can both be NovAtel receivers, however NovAtel receivers will work with some other brands. Contact Customer Support for further details (refer to Customer Support on page 18 for details).

  • Page 40: Defining Antenna And Base Antenna

    RTCM V3 with GLONASS serialconfig com2 19200 N 8 1 N on interfacemode com2 none rtcmv3 off fix position lat lon hgt (enter your own lat, lon, hgt) log com2 rtcm1004 ontime 1 SMART7 Installation and Operation User Manual v6...

  • Page 41: Rover Station Configuration

    19200 N 8 1 N on interfacemode com2 rtcmv3 none off saveconfig (optional) RTCM V3 with GLONASS serialconfig com2 19200 N 8 1 N on interfacemode com2 rtcmv3 none off saveconfig (optional) NOVATELX SMART7 Installation and Operation User Manual v6...

  • Page 42: Configuration Notes

    2 1. Interface mode must be set to NOVATEL for the receiver to issue logs with an A or B suffix. 2. Using the receiver in NOVATEL mode consumes more CPU bandwidth than using the native dif- ferential messages as shown in Base Station Configuration on page 40.

  • Page 43: Automatic Set Up For Direct-Wire Connection Between Master And Rover Via Com2

    Time (PVT) solution. GLIDE includes settings for a dynamic mode, a static mode and an “auto” mode, where the filtering parameters are automatically adjusted as vehicle velocity varies between stationary and dynamic states. SMART7 Installation and Operation User Manual v6...

  • Page 44: Dual-Frequency Glide

    Chapter 3   SMART7 Operation 3.5.1 Dual-Frequency GLIDE NovAtel’s dual-frequency GLIDE technology adds to the superior pass-to-pass performance provided by single- frequency GLIDE. Dual-frequency GLIDE is ideal for agricultural and machine guidance applications where rel- ative positioning is critical. Using GLIDE significantly reduces the variation in position errors to less than 1 cm from one epoch to the next.

  • Page 45: Prefer Accuracy

    NovAtel L-Band-capable antennas). For more information on L-Band positioning, refer to: NovAtel Application Notes: APN-061: NovAtel CORRECT with PPP using TerraStar Corrections available from www.novatel.com/support/search/items/Application%20Note Agriculture Commands and Logs Reference Manual for log/command details...

  • Page 46: Terrastar Subscriptions

    10 km of shore. For more information about TerraStar ser- vices, visit www.novatel.com/products/terrastar-gnss-corrections. To obtain a subscription, contact your local NovAtel sales representative. The NovAtel product serial number (PSN) is needed to obtain a subscription. To obtain the receiver serial number, enter the following command: log version once <VERSION USB1 0 74.0 FINESTEERING 2045 336197.080 02028020 3681 15341...

  • Page 47: Rtk Assist

    RTK ASSIST also requires a subscription to the RTK ASSIST service. To obtain a subscription, contact your local NovAtel sales representative or visit www.novatel.com/products/terrastar-gnss-corrections/. The NovAtel Product Serial Number (PSN) is needed to obtain a subscription. The PSN is available from the VERSION log.

  • Page 48: Terrain Compensation

    As shown in Figure 12: Terrain Compensation – Roll on the next page and Figure 13: Terrain Compensation – Pitch on the next page, if a vehicle is operating on sloped terrain, the position will be in error by an amount pro- portional to the roll or pitch angles. SMART7 Installation and Operation User Manual v6...

  • Page 49: Figure 12: Terrain Compensation - Roll

    – Roll above, the roll angle is 10 degrees, so the position correction that needs to be applied is 61 cm. In the example shown in Figure 13: Terrain Compensation – Pitch above, the pitch angle is 8 degrees, so the pos- ition error that needs to be applied is 49 cm. SMART7 Installation and Operation User Manual v6...

  • Page 50: Configuring Terrain Compensation

    4. Save the Terrain Compensation configuration data. Mount the SMART Antenna The SMART Antenna must be mounted as close to the center of the vehicle as possible, as illustrated in Figure 14: SMART Antenna Installation on the next page. SMART7 Installation and Operation User Manual v6...

  • Page 51: Figure 14: Smart Antenna Installation

    The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard- packed and level surface. The measurement should be made, in meters, from the ground to the bottom of the SMART Antenna. The measurement accuracy should be within 2.5 to 5.0 cm. SMART7 Installation and Operation User Manual v6...

  • Page 52: Figure 16: Antenna Height Measurement

    The vehicle must be parked on flat ground when the level command is sent to the SMART Antenna. Zeroing the Terrain Compensation sensor while moving will negatively impact performance. Always ensure the vehicle is stationary before zeroing the sensor. SMART7 Installation and Operation User Manual v6...

  • Page 53: Configuring Terrain Compensation Using Nmea Command

    To set the height in meters, enter the following command: $PMDT,a,,,,x.x*hh Where:    x.x = the height measurement in meters    hh = NMEA check sum For example, entering the command $PMDT,u,,,,2*66 will set the SMART Antenna height to 2 meters. SMART7 Installation and Operation User Manual v6...

  • Page 54: Smart Antenna Emulated Radar

    NovAtel Connect is a computer program used to configure and monitor NovAtel receivers. The Logging Control Window in NovAtel Connect provides an interface to configure logging and to collect logs from the receiver. The collected logs can be output to one of the receiver communication ports or stored on the computer running NovAtel Connect.

  • Page 55: Selecting The Logs To Collect

    Chapter 3   SMART7 Operation For details about using NovAtel Connect, refer to the Help file available within NovAtel Connect. NovAtel Connect version 2.0 or greater is required for OEM7 receivers. Download the latest NovAtel Connect software and documentation from www.novatel.com/novatel-connect.

  • Page 56: Start Collecting Logs

    1. Click the Stop Recording button. 3.12.5 Change the Log File Settings When logging to a file on the NovAtel Connect computer, the file used is determined by the log file settings. To change the log file settings: 1. Click the button in the Logging Control Window.
  • Page 57 File Name session to the existing log file. To allow NovAtel Connect to generate a unique name for each logging session, ensure the Auto check box is selected. NovAtel Connect will generate a new file for each logging session. The file is named with the product serial number (PSN) and the time when the logging session started.

  • Page 58: Chapter 4 Smart7 With Span Operation

    GNSS antenna In the SMART7-S and SMART7-SI, all of three of these components are included in the SMART7 enclosure. After the SMART7 is installed, the appropriate power supply is attached, and a few simple configuration com- mands are entered, the SPAN system will be ready to navigate.

  • Page 59: Definition Of Reference Frames Within Span

    4.2.1 The Local-Level Frame (ENU) The definition of the local level coordinate frame is as follows: z-axis – pointing up (aligned with gravity) y-axis – pointing north x-axis – pointing east Figure 17: Local-Level Frame (ENU) SMART7 Installation and Operation User Manual v6...

  • Page 60: The Imu Body Frame

    The definition of the IMU Body frame is given by the physical axes of the IMU and represents how the sensors are mounted inside the IMU. Refer to SMART7 Mechanical Specifications on page 136 for illustrations of the IMU Body frame axes.

  • Page 61: Span Translations And Rotations

    SMART7-S and a SMART7 in an ALIGN configuration. In this example, the SMART7-S is mounted at rear left corner of the tractor roof and the IMU Body Frame of the SMART7-S (indicated by the small arrows) has the Y axis pointing in the direction of the vehicle motion and the z axis pointing up.

  • Page 62: Rotational Offsets

    4.3.2 Rotational Offsets The differences in orientation between the SMART7 and other SPAN components are called rotational offsets. Rotational offsets are given as the rotation from the IMU Body frame to the frame of interest. SMART7 Installation and Operation User Manual v6...

  • Page 63: Figure 20: Smart7-S And Smart7-Si Imu Body Frame

    X to the right. If the SMART7 is installed with the front of the SMART7 facing the direction of forward motion for the vehicle (as shown in Figure 6: SMART7 Orientation on page 27), an IMU Body frame to Vehicle frame rotation is not required.

  • Page 64: Figure 21: Smart7-S And Smart7-Si Imu Body Frame With Factory Configured Rotation

    At the factory, the following command is entered to configure rotations required to align the IMU Body frame so that the Z axis points up and the Y axis points out the front of the SMART7-S. See Figure 21: SMART7-S and SMART7-SI IMU Body Frame with Factory Configured Rotation below.

  • Page 65: Figure 22: Smart7-S Installed With Orientation Not Aligned With Vehicle Frame

    Figure 22: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame In this example, the Euler Angles to rotate from the IMU Body frame (Figure 20: SMART7-S and SMART7-SI IMU Body Frame on page 63) to the Vehicle frame (RBV) are:...

  • Page 66: Importance Of Rbv Calibration

    4.3.3 Importance of RBV Calibration For the SMART7 to provide the best performance, the rotation offset of the IMU body to the Vehicle frame (RBV) should be known as accurately as possible. Since constraints happen at the vehicle level, any error in the offset will translate into worse performance.

  • Page 67: Figure 23: Rear View Of Smart7 On A Vehicle - Roof Camber

    Chapter 4   SMART7 with SPAN Operation Figure 23: Rear view of SMART7 on a Vehicle – Roof Camber Figure 24: Side View of SMART7 on a Vehicle – Roof Tilt Figure 25: Top View of SMART7 on a Vehicle – SMART7 Misalignment...

  • Page 68: Software Configuration

    4.4.2 GNSS Configuration The GNSS configuration can be set up for different accuracy levels such as single point, SBAS, DGPS, PPP and RTK. Refer to the SMART7 Operation on page 34 for details on DGPS, RTK, L-Band or SBAS setup and operation.

  • Page 69: Real-Time Operation

    To enable INS as part of the SPAN system using software commands: The SMART7 must be mounted with a clear view of the sky and tracking satellites for operation. 1. Issue the SETINSROTATION command, using the RBV parameter, to enter the Euler Angle rotation from the IMU Body frame of the SMART7 to the Vehicle frame.

  • Page 70: Table 11: Inertial Solution Status

    DETERMINING_ INS is determining the IMU axis aligned with gravity. ORIENTATION WAITING_ The INS filter has determined the IMU orientation and is awaiting an initial position INITIALPOS estimate to begin the alignment process. SMART7 Installation and Operation User Manual v6...

  • Page 71: System Start-Up And Alignment Techniques

    Vehicle Frame. (For example, a plane being blown in the wind has a large ‘crab angle’ and the course-over ground trajectory will not match the direction the IMU is pointing.) SMART7 Installation and Operation User Manual v6...

  • Page 72: Ins Seed / Fast Ins Initialization

    This transition can be observed by monitoring the INS Status field in the INS logs. Dual Antenna Alignment SPAN can also use heading information available from a NovAtel Dual Antenna ALIGN solution to rapidly per- form an alignment.
  • Page 73 Saving valid INS information: 1. Operate the system as normal, until the filter completes convergence. 2. Bring the system to a complete stop before powering off or resetting. Using valid INS information on start-up: SMART7 Installation and Operation User Manual v6...

  • Page 74: Navigation Mode

    The INS Status field changes to INS_SOLUTION_GOOD once convergence is com- plete. If the filter decreases in its system accuracy, the INS Status field changes to INS_HIGH_VARIANCE. When the accuracy converges again, the INS status continues as INS_SOLUTION_GOOD. SMART7 Installation and Operation User Manual v6...

  • Page 75: Data Collection

    INS operation is 5 Hz. If the receiver is not running INS (no IMU is attached), GNSS logs can be requested at rates up to 20 Hz. Ensure that all windows, other than the Console, are closed in NovAtel Connect and then use the SAVECONFIG command to save settings in NVM. Otherwise, unnecessary data logging occurs and may overload your system.

  • Page 76: Body To Vehicle Frame Rotation Calibration Routine

    Specific logs need to be collected for post-processing. See Data Collection for Post Processing on page 80. To store data from an OEM7 receiver, connect the receiver to a computer running NovAtel Connect or other ter- minal program capable of recording data.

  • Page 77: Multi-Line Body To Vehicle Frame Rotation Calibration Routine

    This is done by running independent calibrations over the same ground path in oppos- ite directions; averaging the results cancels out the effect of any terrain induced roll. A minimum of two iterations are required. Additional iteration pairs can be executed for increased reliability. SMART7 Installation and Operation User Manual v6...

  • Page 78: Figure 26: Multi-Line Imu Body To Vehicle Calibration

    7. At this point INSCALSTATUS will report a source status of CALIBRATED. Turn the vehicle around and come to a stop on the finishing point of the previous line. 8. Initiate the second pass of the calibration by issuing the INSCALIBRATE command with the ADD SMART7 Installation and Operation User Manual v6...

  • Page 79: Azimuth Sources On A Span System

    The inertial azimuth computed by the SPAN inertial navigation filter. It uses the sensors in the IMU to compute the azimuth of the IMU (this can be rotated to another reference if desired). For more information, see the SETINSROTATION command in the Agriculture Commands and Logs Reference Manual. SMART7 Installation and Operation User Manual v6...

  • Page 80: Align Azimuth

    In order to generate a solution in post-processing, data must be simultaneously collected at a base station and each rover. The following logs must be collected in order to successfully post process data. From a base: RANGECMPB ONTIME 1 RAWEPHEMB ONCHANGED SMART7 Installation and Operation User Manual v6...
  • Page 81 ® Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group. Visit our Web site at www.novatel.com for details. The highest rate that you should request GNSS logs (RANGE, BESTPOS, RTKPOS, PSRPOS, and so on) while in INS operation is 5 Hz.

  • Page 82: Chapter 5 Wi-Fi Configuration

    5.1.3 Concurrent When set to Concurrent mode, the SMART7 can act as both an AP and a Client. Refer to Enable the Wi-Fi Con- current on page 85 for detailed instructions. The term passkey and password are the same.

  • Page 83: Wi-Fi Modes

    This ensures the changes are kept when the receiver is restarted. The SMART7 has the ability to override the Access Point SSID to the existing Access Point. By default, the SSID is the enclosure PSN prefixed by 'SM7-' (e.g. SM7-NMPX17500010L). Refer to Change the SSID on page 86 for detailed instructions.
  • Page 84 The SSID in the form "SM7-<Receiver PSN>" (e.g. "SM7-ABCDEF1234567"). The Wi-Fi password (also known as passkey). The information for up to four Access Points can be stored in the SMART7 using the WIFINETCONFIG com- mand. To configure the SMART7 as a client and connect it to an access point, follow these steps: 1.

  • Page 85: Enable The Wi-Fi Concurrent

    Use a Ethernet or Serial (COM) port connection. 2. Use the WIFIMODE command to enable the Wi-Fi transceiver in concurrent mode. The SMART7 auto- matically connects to any Access Point in range which has been stored in the receiver with WIFINETCONFIG command and also accepts up to four incoming client connections.

  • Page 86: Wi-Fi Changes

          1       "192.168.19.1" 5.3 Wi-Fi Changes Various default Wi-Fi settings on the SMART7 can be changed and Wi-Fi can be disabled. 5.3.1 Change the Wi-Fi Passkey The term passkey and password are the same. 1. Start a CLI session with the receiver.

  • Page 87: Change The Wi-Fi Ip Address

    This ensures the changes are kept when the receiver is restarted. 5.4 ALIGN Over Wi-Fi Overview On a SMART7, ALIGN can be configured over Wi-Fi by the following methods: Automatic Wi-Fi ALIGN Corrections below Manual Set Up for Wi-Fi Connection between Master and Rover via ICOM1 on page 89 5.4.1 Automatic Wi-Fi ALIGN Corrections...
  • Page 88 WIFINETCONFIG 1 ENABLE SM7-NMND17190003B SM7_PWD WIFIALIGNAUTOMATION ENABLE 1 ICOM5 20 ON NOVATELX SAVECONFIG Internally, the SMART7 client does the following: switches to Concurrent mode if currently configured as an Access Point or Client scans for available Access Points until SM7-NMND17190003B is detected...

  • Page 89: Manual Set Up For Wi-Fi Connection Between Master And Rover Via Icom1

    Wi-Fi client. It can take several seconds for the IP parameters to be set. wifinetconfig 1 enable "PwrPak7-NMND17190003B" "12345678" dhcp wifimode client icomconfig icom1 tcp 192.168.19.1:3001 interfacemode icom1 novatelx novatel off SMART7 Installation and Operation User Manual v6...
  • Page 90 IP address (192.168.19.1 by default) is used as both the gateway and DNS server. wifinetconfig 1 enable "PwrPak7-NMND17190003B" "12345678" static 192.168.19.42 255.255.255.0 192.168.19.1 192.168.19.1 wifimode client icomconfig icom1 tcp 192.168.19.1:3001 interfacemode icom1 novatelx novatel off log icom1 headingext2b onnew hdtoutthreshold 1.0 log heading2a onnew saveconfig SMART7 Installation and Operation User Manual v6...

  • Page 91: Chapter 6 Ethernet Configuration

    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. In this chapter, references to OEM7 receivers includes the SMART7-I and SMART7-SI. The SAVEETHERNETDATA command can be issued to retain the Ethernet configuration settings after a RESET/FRESET command.

  • Page 92: Static Ip Address Configuration-Receiver

    1. Connect a computer to the OEM7 receiver using a null modem serial cable. 2. Establish a connection to the receiver using either NovAtel Connect or another terminal program. This con- nection is used to send the commands in this procedure to the receiver.

  • Page 93: Confirming Ethernet Setup

    See Figure 27: Cross-Over Ethernet Cable Configuration—OEM7 Receiver on page 91. 2. Connect to the receiver using NovAtel Connect or any third party terminal program that supports TCP/IP con- nections. Use the static IP address and port number assigned to the OEM7 receiver in Static IP Address Configuration—Receiver on the previous page.

  • Page 94: Base/Rover Configuration Through Ethernet Connectivity

    1. Connect a computer to the OEM7 receiver using a null modem serial cable or USB cable (model dependent). 2. Establish a connection to the receiver using either NovAtel Connect or another terminal program. This con- nection is used to send the commands in this procedure to the receiver.

  • Page 95: Figure 29: Base/Rover Ethernet Setup-Oem7 Receiver

    1. Connect your computer to both OEM7 receivers using null modem serial cables or USB cables. 2. Establish a connection to the receiver using either NovAtel Connect or another terminal program. This con- nection is used to send the commands in this procedure to the receivers.

  • Page 96: Large Ethernet Port Data Throughput

    If done incorrectly, changing the Windows Registry may impair the operation of the computer. Editing the Windows Registry is for advanced Microsoft Windows users only. NovAtel Inc. is not able to provide any technical support for any actions taken regarding information found in Microsoft’s Knowledge Base.

  • Page 97: Chapter 7 Ntrip Configuration

    7.1 NTRIP Configuration Over Ethernet The following procedure describes how to configure a NovAtel base and a NovAtel rover through a third party NTRIP caster. This configuration is recommended for optimal RTK performance. 1. Establish a connection to the receiver using either NovAtel Connect or another terminal program. This con- nection is used to send the commands in this procedure to the receiver.

  • Page 98: Ntrip Configuration Over Wi-Fi

    The following procedure describes how to configure a NovAtel rover through a third party NTRIP caster. 1. Establish a connection to the receiver using either NovAtel Connect or another terminal program. This con- nection is used to send the commands in this procedure to the receiver.
  • Page 99 Chapter 7   NTRIP Configuration NovAtel Connect version 2.0 or greater is required for OEM7 receivers. Download the latest NovAtel Connect software and documentation from www.novatel.com/novatel- connect. 2. Log WIFISTATUS to monitor the Wi-Fi status on the receiver. LOG WIFISTATUS ONCHANGED 3.

  • Page 100: Chapter 8 Can Bus

    Chapter 8 CAN Bus The OEM7 receivers support the following CAN protocols: J1939 Transport and Extended Transport Protocol: used for corrections and NovAtel messages (both trans- mitting and receiving) NMEA2000: used for standard as well as NovAtel-proprietary messages (transmitting only) By default, CAN is disabled on OEM7 receivers.

  • Page 101: Default Configuration

    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" status by J1939STATUS log. SMART7 Installation and Operation User Manual v6...

  • Page 102: Example Of Enabling The Can Bus

    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 SMART7 Installation and Operation User Manual v6...

  • Page 103: Nmea2000 Logging

    J1939CONFIG command. 8.3 NMEA2000 Logging OEM7 receivers support both a subset of the standard NMEA2000 PGNs, as well as NovAtel proprietary PGNs. All NMEA2000 logs are configured using the LOG command, where the COM port is a CAN port (CCOM). The CCOM port must be associated with a J1939 node using the CCOMCONFIG command.

  • Page 104: Example For Receiving Corrections From Any Source

    A single CCOM port cannot be used for both Binary messages and corrections. If the CCOM port is configured as NOVATEL, all input is interpreted as NovAtel ASCII or Abbreviated ASCII. Unlike other COM ports, the receiver will not distinguish between ASCII and binary input.

  • Page 105: Configuring Oem7 Receivers To Use Oem6 Can Settings

    J1939CONFIG command can be used to modify the default address claim parameters including the Man- ufacturingCode (set to 603 in the SETCANNAME example above, now defaults to 305 in the new J1939CONFIG) but it's not necessary. SMART7 Installation and Operation User Manual v6...

  • Page 106: Chapter 9 Built-In Status Tests

    Each bit in the status word indicates the status of a specific receiver condition or function. If the status word is 00000000, the receiver is operating normally. The numbering of the bits is shown in Figure 32: Reading the Bits in the Receiver Status Word on the next page. SMART7 Installation and Operation User Manual v6...

  • Page 107: Error Word

    Manual for more detailed log descriptions. If the receiver error word indicates an error, refer to Examining the RXSTATUS Log on page 111. 9.2.3 Status Code Arrays There are currently 5 status code arrays: SMART7 Installation and Operation User Manual v6...

  • Page 108: Receiver Status Code

    The set mask is used to turn logging on temporarily while the bit changes from the 0 to 1 state. The clear mask is used to turn logging on temporarily while the bit changes from a 1 to a 0 state. Note the error word does SMART7 Installation and Operation User Manual v6...
  • Page 109 Any bit set in the error word results in a RXSTATUSEVENT log broad- cast (unless unlogged). Refer also to the RXSTATUS log in the Agriculture Commands and Logs Reference Manual for a more detailed description. SMART7 Installation and Operation User Manual v6...

  • Page 110: Chapter 10 Troubleshooting

    Try to resolve the problem using the troubleshooting guide in Table 17: Troubleshooting Based on Symptoms below, then try our Knowledge Base at www.novatel.com/support/. If you are still not able to resolve the prob- lem, see Customer Support on page 18 for troubleshooting logs and contact information.

  • Page 111: Examining The Rxstatus Log

    MODEL command or AUTH command. The receiver is being affected by jamming Move the receiver away from any possible jamming sources Go to the Interference Toolkit section in the NovAtel Documentation portal: docs.novatel.com/OEM7. Move the GNSS antenna away from the source of the The receiver is being affected by interference interference signal.
  • Page 112 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 129. Issue a FRESET command See Power Supply Requirements for the SMART7 on page 32 Reserved Check the temperature ranges in: SMART7 Environmental and Electrical Specifications on page 138...

  • Page 113: Table 19: Resolving An Error In The Receiver Status Word

    Check the temperature ranges in SMART7 Environmental and Electrical Specifications on page 138 See Power Supply Requirements for the SMART7 on page 32 For SMART Antennas, contact Customer Support on page 18 Check the CPU idle time. Check for unnecessary logging. Check for simultaneous use of functionality.

  • Page 114: Examining The Aux1 Status Word

    This does not represent an error condition on the receiver, but suggests there may be an issue in the network environment on the receiver. AGC error on RF1 through RF4 respectively.. Contact NovAtel Customer Support on page 18 for 14-17 additional information.

  • Page 115: High Temperature Environments

    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).. Contact NovAtel Customer Support on page 18.for additional 28-29 information. 30-31 (Reserved bits) 10.3 High Temperature Environments...

  • Page 116: Safe Mode

    The receiver does not track GNSS satellites in this state, but the user interface is still available to allow for diagnosis of the problem. The receiver will enter Safe Mode under certain rare cases including the following: SMART7 Installation and Operation User Manual v6...

  • Page 117: Reset Loop Detection

    2. Reference Table: Safe Mode States in the Agriculture Commands and Logs Reference Manual and find the suggested actions for the current Safe Mode State. 3. If the suggested actions do not resolve the issue, contact NovAtel Customer Support. SMART7 Installation and Operation User Manual v6...

  • Page 118: Chapter 11 Novatel Firmware And Software

    Contact NovAtel Customer Support (support@novatel.com) for details on custom loader requirements. 11.1.2 Model Upgrades Model upgrades enable purchased receiver features. Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy. Contact NovAtel Customer Support www.novatel.com/support NovAtel Sales to request a temporary upgrade authorization code for trial purposes.

  • Page 119: Authorization Code

    YYMMDD, where YY = year, MM = month and DD =day. The date is the last day that the auth-code is valid and expires at the end of day, UTC time. Once the trial period has expired, a new auth-code will need to be obtained from NovAtel Customer Support (sup- port@novatel.com).

  • Page 120: Format Of Firmware Files

    7XXXX-Firmware.zip for firmware to be installed on OEM7 receivers For convenience, unzip the update file to a GNSS sub-directory (for example, C:\GNSS\LOADER). If the firm- ware update file is password protected, NovAtel Customer Support provides the required password. The zip archive includes the following files: winload.exe...

  • Page 121: Figure 36: Winload's Open Window

    Figure 36: WinLoad’s Open Window When a file is selected, the filename appears in the main WinLoad display area and in the title bar (Figure 37: Open File in WinLoad below). Figure 37: Open File in WinLoad SMART7 Installation and Operation User Manual v6...

  • Page 122: Updating The Firmware Using Novatel Connect

    Options | Optimized Loading. 11.5 Updating the Firmware Using NovAtel Connect To use NovAtel Connect to update the receiver firmware, the receiver must be connected to the computer run- ning NovAtel Connect using a serial (COM) port, USB port or Ethernet port.

  • Page 123: Updating The Firmware Using Novatel Web Ui

    10. Click the UPLOAD button. 11.6 Updating the Firmware Using NovAtel Web UI To use NovAtel Web UI to update the receiver firmware, the receiver must be connected to the device running Web UI using a Wi-Fi or Ethernet connection.

  • Page 124: Softload Commands And Logs

    The receiver stops tracking GNSS satellites during the SoftLoad process. Do not attempt to SoftLoad when GNSS satellite tracking on the unit is required. If the unit is connected to the NovAtel Connect utility, only the Console and ASCII Message windows may remain open in the Connect Utility.

  • Page 125: Sending Firmware Data

    The *.shex file data may contain many gaps and jumps. For example, in many NovAtel *.shex files, data for address 0x000_00000 is stored near the very end of the file. Example Packaging Multiple S3 Records In A SOFTLOADDATA Command...

  • Page 126: Softload Update Method

    Previous Address + Previous Num Bytes = 0x00000000 + 0x1C = 0x0000001C Add data to existing SOFTLOADDATA command The SOFTLOADDATA command must be sent as a NovAtel binary format command. 11.7.4 SoftLoad Update Method This section describes the sequence of commands that are issued to the receiver when updating using a *.shex file.
  • Page 127 The SoftLoad process can be safely canceled at any time using the SOFTLOADRESET command or by oth- erwise resetting the receiver. Once the COMPLETE status is reported by SOFTLOADSTATUS, the new firm- ware image will be run after the receiver is reset. SMART7 Installation and Operation User Manual v6...

  • Page 128: Softload Errors

    In rare cases after a SoftLoad error, the boot code may not be able to determine which is the latest firmware to be executed. To protect against this, SoftLoad does not erase the previous valid firmware image from flash on the SMART7 Installation and Operation User Manual v6...

  • Page 129: Upgrading Using An Auth-Code

    7. Click or tap the UPLOAD button. Once upload complete, Web UI automatically returns to the Main Window. 11.8.3 Entering an Auth-Code Using the Command Line The AUTH command is used to enter an auth-code. The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program.

  • Page 130: Update The Web Ui

    The Web UI is hosted on the OEM7 receiver. To update the Web UI, a new Web UI software package is loaded onto the receiver. This section applies only to receivers that support the Web UI, such as the PwrPak7, SMART7 or Eth- ernet capable OEM7 receivers.

  • Page 131: Update The Web Ui Content Using Web Ui

    The SSID and password for the receiver Wi-Fi are on a label on the receiver. 3. Open a web browser and enter any web address, for example, novatel.com (do not include "https"). 4. Click or tap the Cog button.

  • Page 132: Appendix A Smart7 Technical Specifications

    SMART7 Environmental and Electrical Specifications on page 138 SMART7 Data Communication Specifications on page 139 SMART7 Strobe Specifications on page 140 For information about the cable available for the SMART7, see the following: SMART Antenna Interface Cable (Optional Accessory) on page 141 SMART7 Installation and Operation User Manual v6...

  • Page 133: Smart7 Performance Specifications

    GPS only. TerraStar subscriptions are available from NovAtel or TerraStar. RMS/95% accuracy under ideal conditions and may vary upon users geographic region, ionosphere activity, scintillation levels or unintentional interference sources. Pass-to-pass accuracy over a period of 900 seconds when using GLIDE. GLIDE is a relative positioning filter specifically designed for use in open sky pass to pass applications.
  • Page 134 Signals Tracked Galileo (optional) E1, E5 AltBOC, E5a, E5b SBAS SBAS (optional) QZSS L1 C/A, L2C QZSS (optional) L1C, L5 L-Band Up to 5 channels Currently the receiver can track up to 3 L-Band channels. SMART7 Installation and Operation User Manual v6...

  • Page 135: Table 23: Smart7-S Imu Performance

    Signal Reacquisition <1.0 s typical Time Accuracy 20 ns RMS Velocity Accuracy <0.03 m/s RMS The IMU performance specifications apply to the SMART7-S and SMART7-SI only. Table 23: SMART7-S IMU Performance Gyroscope Performance Input Rate (max) ±150 °/second Bias Repeatability 0.5 °/second...

  • Page 136: Smart7 Mechanical Specifications

    APPENDIX A   SMART7 Technical Specifications A.2 SMART7 Mechanical Specifications Figure 39: SMART7 Dimensions below Figure 40: SMART7-S and SMART7-SI Center of Navigation on the next page Figure 39: SMART7 Dimensions Dimensions are in millimeters. SMART7 Installation and Operation User Manual v6...

  • Page 137: Figure 40: Smart7-S And Smart7-Si Center Of Navigation

    APPENDIX A   SMART7 Technical Specifications Figure 40: SMART7-S and SMART7-SI Center of Navigation SMART7 Installation and Operation User Manual v6...

  • Page 138: Smart7 Environmental And Electrical Specifications

    Use them as a guide for what you might expect but not as absolute values SMART7 Installation and Operation User Manual v6...

  • Page 139: Smart7 Data Communication Specifications

    OPEN, WPA, WPA2 Encryption TKIP, AES CCMP Data rates higher than 115200 bit/s are not supported by standard PC hardware. Special PC hardware may be required for higher rates, including 230400 bit/s and 460800 bit/s. SMART7 Installation and Operation User Manual v6...

  • Page 140: Smart7 Strobe Specifications

    APPENDIX A   SMART7 Technical Specifications A.5 SMART7 Strobe Specifications The SMART7 strobe signals are available on the 14-Pin Interface connector. Pulse Per Second (PPS) strobes provide synchronization signal. Refer to SMART Antenna Interface Cable (Optional Accessory) on the next page for pin out details.

  • Page 141: Smart Antenna Interface Cable (Optional Accessory)

    SMART7 with RELAY7 SMART2 Figure 41: SMART Antenna Interface Cable This cable is also used when the RELAY7 is connected to the SMART7. When the RELAY7 is con- nected to the SMART7, PPS and COM3 are not available. Dimensions are in millimeters.

  • Page 142: Smart Antenna Custom Cable Recommendation

    A.6.1 SMART Antenna Custom Cable Recommendation To create a custom cable for a SMART Antenna, a specific connector is required on the end of the cable. See the following table for information about this connector. SMART7 Installation and Operation User Manual v6...

  • Page 143: Table 30: I/O Connector

    APPENDIX A   SMART7 Technical Specifications Table 30: I/O Connector Commercial Connector Description Part Number AMP Seal 14-pin Plug 776273-1 14-pin TYCO connector kit NovAtel 01020132 SMART7 Installation and Operation User Manual v6...

  • Page 144: Smart7 Mounting Plate Specifications

    A.7 SMART7 Mounting Plate Specifications The optional SMART7 mounting plate is NovAtel part number 1020089. Figure 42: SMART7 Mounting Plate Dimensions Refer to Mounting and Orienting the SMART7 on page 26 for installation details. SMART7 Installation and Operation User Manual v6...

  • Page 145: Appendix B Smart7 Accessories And Replacement Parts

    APPENDIX B SMART7 Accessories and Replacement Parts The following tables list the replacement parts available for your NovAtel SMART7 receiver. For assistance or to order additional components, contact your local NovAtel dealer or NovAtel Customer Support. Table 31: SMART7 Hardware Options...
  • Page 146 SMART7 Installation and Operation User Manual v6...

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