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Novatel OEM Series User Manual

Oem4 series receiver installation and operation
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OEM4 Family
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USER MANUAL - VOLUME 1
Installation and Operation
OM-20000046 Rev 12

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Summary of Contents for Novatel OEM Series

  • Page 1 OEM4 Family of Receivers USER MANUAL - VOLUME 1 Installation and Operation OM-20000046 Rev 12...

  • Page 2: Proprietary Notice

    Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or non-disclosure agreement. The software may be used or copied only in accordance with the terms of the agreement.

  • Page 3: Table Of Contents

    Table of Contents Proprietary Notice Software License Warranty Policy Customer Service Notice Foreword Congratulations!......................16 Scope........................16 User Manual Updates ....................16 Prerequisites ......................16 Conventions ......................16 1 Introduction 1.1 Overview of the OEM4 Family ................17 1.1.1 Common Features..................17 1.2 GPSCards......................
  • Page 4 5.2.7 RTCM20 and RTCM21 Measurement Corrections (RTK) ......61 5.2.8 RTCM22 RTCM Extended Base Station Parameters (RTK) ......61 5.2.9 RTCM59 Type 59N-0 NovAtel Proprietary Message (RTK) .......61 5.3 CMR Format Messaging ..................62 5.3.1 Using RT-2 or RT-20 with CMR Format Messages ........62 5.4 NMEA Format Data Logs ..................64...
  • Page 5 Table of Contents 6.1.1 GPS System Errors ..................67 6.2 Satellite-Based Augmentation System (SBAS)............ 68 6.2.1 SBAS Receiver................... 69 6.2.2 SBAS Commands and Logs............... 70 6.3 Pseudorange Differential ..................70 6.3.1 Pseudorange Algorithms ................70 6.3.2 Position Solutions ..................71 6.3.3 Dual Station Differential Positioning ............
  • Page 6 Table of Contents APPENDICES A Technical Specifications B Anti-Static Practices C GPS Overview D Multipath E TTFF and Satellite Acquisition F Unit Conversion G Standards/References H GPS Glossary I GPS Acronyms J Replacement Parts K Specifications Archive OEM4 Family Installation and Operation User Manual Rev 12...
  • Page 7 Figures OEM4-G2L GPSCard ....................18 OEM4-G2 GPSCard ..................... 19 FlexPak Enclosure ......................21 ProPak-G2 Enclosure ....................22 ProPak-G2 Back End-Cap (DB-9 Version) ..............22 ProPak-LB ........................23 ProPak-LB Back End Cap .................... 23 GPS Receiver System Functional Diagram ..............25 Typical Receiver Installation ..................
  • Page 8 Figures FlexPak 13-Pin Serial Cable ..................126 FlexPak USB Cable ....................127 ProPak-G2 Power Cable ..................... 132 ProPak-G2 (DB-9 Version) Y-Type Null Modem Cable ..........133 ProPak-G2 (DB-9 Version) Straight Serial Cable ............134 ProPak-G2 (DB-9 Version) I/O Strobe Port Cable ............135 ProPak-G2 (LEMO Version) Null Modem Cable ............
  • Page 9 Tables Enclosure Features Comparison ................... 20 ProPak-LB Interface ...................... 24 NovAtel GPS Antenna Models ..................28 Voltage Input Ranges for GPSCards................29 Power Requirements for Enclosures ................30 Default Serial Port Configurations ................. 35 Available Strobe Signals on Receivers................38 FlexPak Status Indicators....................

  • Page 10: Software License

    License: NovAtel Inc. ("NovAtel") grants you a non-exclusive, non-transferable license (not a sale) to use one copy of the enclosed NovAtel software on a single computer, and only with the product it was supplied with. You agree not to use the software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you.
  • Page 11 QUENTIAL DAMAGES, INCLUDING LOST PROFITS, EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE. NovAtel will not be liable for any loss or damage caused by delay in furnishing the soft- ware or any other performance under this Agreement.

  • Page 12: Warranty Policy

    Software Support One (1) Year Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only.

  • Page 13: Customer Service

    Firmware updates and upgrades are accomplished through NovAtel authorized dealers. Contact your local NovAtel dealer first for more information. To locate a dealer in your area or if the problem is not resolved, contact NovAtel Inc. directly using one of the following methods: Call the NovAtel GPS Hotline at 1-800-NOVATEL (U.S.

  • Page 14: Notice

    (such as Belden #9945 or equivalent) when using the I/O strobe port. WARNING: Changes or modifications to this equipment not expressly approved by NovAtel Inc. could result in violation of Part 15 of the FCC rules.
  • Page 15 Notice Common Regulatory Testing • EN55022 Radiated and Conducted Emissions • CISPR 22 Class B • EN 50081-1 Generic Emissions Class B • EN 50082-1 Generic Immunity Class B • EN 61000-4-2 Electrostatic Discharge Immunity • EN 61000-4-3 Radiated RF EM Field Immunity Test •...

  • Page 16: Foreword

    Congratulations! Foreword Thank you for purchasing a NovAtel receiver. Whether you have bought a stand alone GPSCard or a packaged receiver you will have also received companion documents for the product. Volume 1 will help you get the hardware operational and provide further general information. Afterwards, Volume 2 will be your primary OEM4 family command and logging reference source.

  • Page 17: Introduction

    Chapter 1 Introduction Overview of the OEM4 Family The OEM4 family is a group of high-performance GPS receivers capable of receiving and tracking the L1 C/A Code, L1 and L2 carrier phase, and L2 P Code (or encrypted Y Code) of up to 12 GPS satellites.

  • Page 18: Gpscards

    (RF) and digital sections. They are designed for flexibility of integration and configuration. After installation with a power source, mounting structure, GPS antenna, and data communications equipment, NovAtel’s GPSCards are ready for the most demanding surveying, positioning, and navigation applications.

  • Page 19: Oem4-G2 Gpscard

    Included with the OEM4-G2 is a wrist-grounding strap to prevent ESD damage when handling the card and a CD containing NovAtel’s GPS PC utilities and product documentation. For technical specifications on the OEM4-G2, please see Section A.3, starting on Page 115.

  • Page 20: Enclosures

    Chapter 1 Introduction Enclosures The OEM4 family GPSCards can be housed in a ProPak or FlexPak enclosure to provide a complete receiver solution. When connected to an antenna and a power source, the enclosure and associated GPSCard together form a fully functioning GPS receiver. The enclosures offer protection against environmental conditions and RF interference.

  • Page 21: Flexpak

    1.3.1 FlexPak NovAtel's FlexPak is a rugged, waterproof housing for the OEM4-G2L positioning engine. As a result, the FlexPak can deliver centimeter-level positioning in a compact, lightweight enclosure. It provides dual-frequency positioning with a USB interface and an API option for supporting custom applications.

  • Page 22: Propak-G2

    1.3.2 ProPak-G2 The ProPak-G2 provides a hardware interface between your equipment and the NovAtel OEM4-G2 GPSCard. It is a rugged, sealed enclosure that provides protection against adverse environments. It is available in two versions, one with DB-9 connectors to access data and status signals and the other with LEMO-brand connectors.

  • Page 23: Propak-Lb

    1.3.3 ProPak-LB The NovAtel ProPak-LB provides a hardware interface between your equipment and the NovAtel OEM4-G2 GPSCard. Additionally, within the ProPak-LB, an OmniSTAR L-band receiver provides correction data. As shown in Figure 6, the ProPak-LB is a rugged, sealed enclosure, suitable for adverse conditions.

  • Page 24: Propak-Lb Interface

    Chapter 1 Introduction Figure 7 shows the six ports on the back end cap of the ProPak-LB that are labeled with icons. Table 2 provides information on these ports, including the name used to reference each of them throughout this manual. Table 2: ProPak-LB Interface Icon Name...

  • Page 25: Receiver System Overview

    Chapter 2 Receiver System Overview In addition to a NovAtel OEM4 family GPSCard, a complete GPS receiver system typically contains four other major components: • A FlexPak or ProPak enclosure or a custom enclosure and wiring harness • A GPS antenna (and optional LNA power supply) •...

  • Page 26: Radio Frequency (Rf) Section

    The purpose of the GPS antenna is to convert the electromagnetic waves transmitted by the GPS satellites into RF signals. An active GPS antenna is required for the receiver to function properly. NovAtel’s active antennas are recommended. 2.3.1 Optional LNA Power Supply Power for the antenna LNA is normally supplied by the receiver.

  • Page 27: Principal Power Supply

    Receiver System Overview Chapter 2 Principal Power Supply A single external power supply capable of delivering 5 W is necessary to operate the receiver. See Appendix A, Technical Specifications starting on Page 109 for details. WARNING: If the voltage supplied is below the minimum specification, the receiver will suspend operation.

  • Page 28: Installation And Set Up

    Chapter 3 Installation and Set Up This chapter contains instructions and tips to set up your NovAtel receiver to create a GPS receiver system similar to that described in Chapter 2, Receiver System Overview on Page 25. Additional Equipment Required In order for the receiver to perform optimally, the following additional equipment is required: •...

  • Page 29: Choosing A Coaxial Cable

    NovAtel offers a variety of coaxial cables to meet your GPS antenna interconnection requirements, including: • 5, 15, or 30 m antenna cables with TNC male connectors on both ends (NovAtel part numbers C006, C016 and C032 respectively) • 22 cm interconnect adapter cable with MMCX male and TNC female connectors (NovAtel...

  • Page 30: Installation Overview

    The FlexPak and ProPak enclosures are supplied with an automobile power adapter with a built-in slow-blow fuse for use with a standard 12 VDC automobile power outlet. NovAtel’s Aircraft Power Conditioner can also be used to provide further protection for your receiver.

  • Page 31: Typical Receiver Installation

    Installation and Set Up Chapter 3 Figure 9: Typical Receiver Installation Reference Description Receiver GPSAntenna Model 702 or 701 RF Antenna Cable Automobile Power Adapter Cable Optional AC Adapter or Aircraft Power Conditioner Null Modem Data Cable Data Communications Equipment OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 32: Installing A Gpscard In A Wiring Harness And Enclosure

    Chapter 3 Installation and Set Up 3.2.1 Installing a GPSCard in a Wiring Harness and Enclosure To install a GPSCard, begin with the following: Ensure you are taking the necessary precautions against ESD, as described in Section 3.2.1.1 on Page 32. Mount the GPSCard in a secure enclosure to reduce environmental exposure and RF interference, as described in Section 3.2.1.2 on Page 32.

  • Page 33: Oem4-G2L Connector And Indicator Locations

    Installation and Set Up Chapter 3 • electromagnetic shielding so that the final product itself conforms to RF emissions specifications • protection from ESD, see Appendix B, Anti-Static Practices starting on Page 146 The GPSCard can be held in place by screws. Please see Appendix A, Technical Specifications starting on Page 109 for mechanical drawings.

  • Page 34: Mounting The Gps Antenna

    Once the GPSCard is installed in a wiring harness and enclosure, the antenna to be used with the receiver must be mounted. The GPS receiver has been designed to operate with any of the NovAtel single-frequency or dual-frequency GPS antenna models. See Section 3.1.1 on Page 28 for more information.

  • Page 35: Applying Power To The Receiver

    The FlexPak and ProPak enclosures provide a TNC female connector, which can be connected to the antenna directly with any of NovAtel’s coaxial cables. For the GPSCards, an interconnect adapter cable is required to convert the TNC male end of the coaxial cable to the card’s MMCX female RF input connector.

  • Page 36: Additional Features And Information

    Chapter 3 Installation and Set Up The FlexPak and ProPak enclosures are Data Terminal Equipment (DTE) so that TXD, RTS and DTR are outputs while RXD, CTS and DCD are inputs. A null modem cable is required to connect to another DTE like a terminal or a PC.
  • Page 37 Installation and Set Up Chapter 3 • Mark Input (Event1, Event2) A pulse on this input triggers certain logs to be generated. (Refer to the MARKPOS and MARKTIME logs and ONMARK trigger in Volume 2). For the OEM4-G2 and OEM4-G2L, the polarity is configurable (see MARKCONTROL in Volume •...

  • Page 38: Usb (Oem4-G2 And Oem4-G2L Only)

    Chapter 3 Installation and Set Up Table 7: Available Strobe Signals on Receivers STATUS STATUS ERROR Signal EVENT1 EVENT2 VARF _RED _GREEN OEM4-G2L Pin 8 Pin 7 Pin 4 Pin 10 Pin 9 Pin 3 available available available OEM4-G2 Pin 11 Pin 31 Pin 32 Pin 7...

  • Page 39: External Oscillator (Oem4-G2 / -G2L Only)

    Installation and Set Up Chapter 3 Table 8: FlexPak Status Indicators Indicator Indicator Color Status Green Data is being transmitted from COM1 COM1 Data is being received on COM1 Green Data is being transmitted from COM2 COM2 Data is being received on COM2 Hardware error.

  • Page 40: External Antenna Lna Power (Oem4-G2 Only)

    GPSCard itself or from an external source. The internal antenna power supply of the GPSCards can produce +4.50 to +5.25 VDC at up to 100 mA. This meets the needs of any of NovAtel’s dual-frequency GPS antennas, so, in most cases, an additional LNA power supply is not required.

  • Page 41: Propak-G2 With Mounting Bracket

    Installation and Set Up Chapter 3 Figure 12: ProPak-G2 with Mounting Bracket Figure 13: ProPak-LB with Mounting Bracket OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 42: Operation

    Chapter 4 Operation Before operating the receiver for the first time, ensure that you have followed the installation instructions in Chapter 3, Installation and Set Up on Page 28. The following instructions are based on a configuration such as that shown in Figure 14, Typical Operational Configuration. It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility.

  • Page 43: Communicating Using A Remote Terminal

    Getting Started Included with your receiver are NovAtel’s GPSolution and Convert programs. GPSolution is a Microsoft Windows-based graphical user interface which allows you to access the receiver's many features without struggling with communications protocol or writing special software. The Convert utility is a Windows-based utility that allows you to convert between file formats, and strips unwanted records for data file compilation.

  • Page 44: Starting The Receiver

    See the chapter on Messages in Volume 2 of this manual for header information. If a persistent error develops, please contact your local NovAtel dealer first. If the problem is still unresolved, please contact NovAtel directly through any of the methods in the Customer Service section at the beginning of this manual on Page 13.
  • Page 45 Operation Chapter 4 1. Open a text editor on the PC and type in the command strings to be sent to the receiver upon start up. For example: log com2 bestposa ontime 1 log com2 rangea ontime 1 log com2 rxstatusa onchanged log com2 psrdopa onchanged log com2 gpsephema onchanged log com2 almanaca onchanged...

  • Page 46: Transmitting And Receiving Corrections

    Section 6.1.1, GPS System Errors on Page 67. In most cases you will need to provide a data link between the base station and rover station (two NovAtel receivers) in order to receive corrections. Exceptions are the SBAS and OmniSTAR L-band capable receivers.
  • Page 47 NOVATEL, you can no longer use NovAtel format messages. If you wish to mix NovAtel format messages and RTCA, RTCM or CMR messages on the same port, you can leave the INTERFACEMODE set to NOVATEL and log out variants of the standard messages with a NovAtel header.

  • Page 48: Enabling Sbas Positioning

    OmniSTAR, you will be asked to provide the receiver’s OmniSTAR serial number (which is different from the NovAtel serial number). To obtain the OmniSTAR serial number, enter the following command in a terminal window or the Console window in GPSolution:...

  • Page 49: Pass-Through Logging

    When the [from-port-AB] field is suffixed with a [B], all data received by that port will be redirected to the [to-port] exactly as it is received. The log header and time-tag adhere to standard NovAtel Binary format followed by the pass-through data as it was received (ASCII or binary).

  • Page 50: Pass-Through Log Data

    Chapter 4 Operation Figure 15: Pass-Through Log Data BESTPOSA data log... Data Link COM 1 COM1 COM 2 COM 2 FIX POSITION (lat, lon, ht) INTERFACEMODE COM1 none none off log com1 BESTPOSA ontime 5 INTERFACEMODE com1 none none off log com1 PASSCOM1A onchanged Serial Cables Host PC -...

  • Page 51: T Sync Mod

    Operation Chapter 4 T Sync Mod This section describes the relationship constraints of the input signal phase, see Figure 16 below, when the T Sync Mod (time synchronization modification) option has been added to an OEM4-G2. Figure 16: Input Signal Phase Relationship Constraints 100 nSec ±...

  • Page 52: Transferring Time Between Receivers

    Chapter 4 Operation Transferring Time Between Receivers The following is a procedure to transfer time to a "Slave" GPS receiver from a "Master" GPS receiver: Master An OEM4 family receiver that is tracking satellites, and has a receiver clock state of FINE or FINESTEERING.

  • Page 53: 1Pps Alignment

    Operation Chapter 4 TIMESYNC COM output on Master RS232 connected to COM input on Slave 1PPS on Master connected to MK1I on Slave < 200 ms 1PPS IN Figure 17: 1PPS Alignment OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 54: Message Formats

    The RTCA Standard is in a preliminary state. Described below is NovAtel’s current support for this standard. It is based on “Minimum Aviation System Performance Standards DGNSS Instrument Approach System: Special Category I (SCAT-I)” dated August 27, 1993 (RTCA/DO-217).

  • Page 55: Rtcaephem Type 7

    Message Formats Chapter 5 The RTCA Standard also stipulates that a base station shall wait five minutes after receiving a new ephemeris before transmitting differential corrections. Refer to the DGPSEPHEMDELAY command in Volume 2 of this manual for information regarding ephemeris delay settings. The basic SCAT-I Type 1 differential correction message is as follows: Format: Message length = 11 + (6*obs): (83 bytes maximum)

  • Page 56: Rtcaref Type 7

    The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104, Differential GPS Service (RTCM SC-104,Washington, D.C.), have been adopted by NovAtel for implementation into the receiver. Because the receiver is capable of utilizing RTCM formats, it can easily be integrated into positioning systems around the globe.

  • Page 57: Rtcm1

    Message Formats Chapter 5 The NovAtel logs which implement the RTCM Standard Format for Type 1, 3, 9, 16, 18, 19 and 22 messages are known as the RTCM1, RTCM3, RTCM9, RTCM16, RTCM18, RTCM19 and RTCM22 logs, respectively, while Type 59N-0 messages are listed in the RTCM59 log.

  • Page 58: Rtcm3 Base Station Parameters (Rtk)

    Chapter 5 Message Formats REMEMBER: Upon a change in ephemeris, base stations will transmit Type 1 messages based on the old ephemeris for a period of time defined by the DGPSTIMEOUT command. After the timeout, the base station will begin to transmit the Type 1 messages based on new ephemeris.

  • Page 59: Rtcm15 Ionospheric Corrections

    Type 9 messages. For this reason, only OEM4-G2 receivers with an external oscillator can generate Type 9 messages. All OEM4 family receivers can accept Type 9 messages. NovAtel recommends a high-stability clock such as the PIEZO Model 2900082 whose 2-sample (Allan) variance meets the following stability requirements: 3.24 x 10...

  • Page 60: Rtcm16 Special Message

    Chapter 5 Message Formats Type 15 messages contain the following information for each satellite in view at the base station: · Satellite ID · Ionospheric delay · Iono rate of change When operating as a base station, the receiver must be in FIX POSITION mode and have the INTERFACEMODE command set before the data can be correctly logged.

  • Page 61: Rtcm20 And Rtcm21 Measurement Corrections (Rtk)

    Type 59 messages. NovAtel has defined only a Type 59N-0 message to date; it is to be used for operation in receivers capable of operating in RT-20 Carrier Phase Differential Positioning Mode. This log is primarily used by a base station to broadcast its RT-20 observation data (delta pseudorange and accumulated Doppler range) to rover RT-20 –...

  • Page 62: Cmr Format Messaging

    GPS industry The NovAtel implementation allows a NovAtel rover receiver to operate in either RT-2 or RT-20 mode while receiving pseudorange and carrier phase data via CMR messages (version 3.0) from a non-NovAtel base-station receiver.
  • Page 63 Volume 2 of this manual). CMRDESC is logged with an offset of 5 to allow interleaving with CMRREF. Novatel CMR Type 2 messages are for compatibility only. When received, a type 2 message is discarded. For transmission, all fields are permanently set as follows:...

  • Page 64: Nmea Format Data Logs

    Chapter 5 Message Formats NMEA Format Data Logs The NMEA log structures follow format standards as adopted by the National Marine Electronics Association. The reference document used is "Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 2.00". For further information, see the appendix on Standards and References in Volume 1 of this manual.

  • Page 65: Positioning Modes Of Operation

    See Appendix C, GPS Overview on Page 149 for an overview of GPS positioning. Single-Point or Autonomous The NovAtel OEM4 family receivers are capable of absolute single-point positioning accuracies of 1.8 meters CEP (GDOP < 2; no multipath). The general level of accuracy available from single-point operation may be suitable for many types of positioning such as ocean going vessels, general aviation, and recreational vessels that do not require position accuracies of better than 1.8 meters CEP.

  • Page 66: Single-Point Averaging (Typical Results)

    Chapter 6 Positioning Modes of Operation continue for a specified number of hours or until the averaged position is within specified accuracy limits. Averaging will stop when the time limit or the horizontal standard deviation limit or the vertical standard deviation limit is achieved. When averaging is complete, the FIX POSITION command will automatically be invoked.

  • Page 67: Gps System Errors

    Positioning Modes of Operation Chapter 6 The position averaging function is useful for obtaining the WGS84 position of a point to a reasonable accuracy without having to implement differential GPS. It is interesting to note that even a six hour occupation can improve single-point GPS accuracy from over 1.5 meters to better than a meter.

  • Page 68: Satellite-Based Augmentation System (Sbas)

    Chapter 6 Positioning Modes of Operation be equally offset, and this offset can generally be modeled or quite accurately estimated to effectively cancel the receiver clock offset bias. Thus, in single-point positioning, receiver clock offset is not a significant problem. However, in pseudorange differential operation, between-receiver clock offset is a source of uncorrelated bias.

  • Page 69: Sbas Receiver

    6.2.1 SBAS Receiver Many models of the NovAtel receivers (including 3151W, L1l2W, WAAS, EGNOS) are equipped with an SBAS option. The ability to simultaneously track two SBAS satellites, and incorporate the SBAS corrections into the position, is available in these models.

  • Page 70: Sbas Commands And Logs

    The “wide correlator” receiver design that predominates in the GPS industry yields accuracies of 3-5 m (SEP). NovAtel’s patented Narrow Correlator tracking technology reduces noise and multipath OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 71: Position Solutions

    Position Solutions Due to the many different applications for differential positioning systems, two types of position solutions are possible. NovAtel’s carrier-phase algorithms can generate both matched and low-latency position solutions, while NovAtel’s pseudorange algorithms generate only low-latency solutions. These are described below: The matched position solution is computed at the rover station when the observation infor- mation for a given epoch has arrived from the base station via the data link.

  • Page 72: Dual Station Differential Positioning

    Chapter 6 Positioning Modes of Operation 6.3.3 Dual Station Differential Positioning It is the objective of operating in differential mode to either eliminate or greatly reduce most of the errors introduced by the system biases discussed in GPS System Errors on Page 67. Pseudorange differential positioning is quite effective in removing most of the biases caused by satellite clock error, ionospheric and tropospheric delays (for baselines less than 50 km), and ephemeris prediction errors.
  • Page 73 Positioning Modes of Operation Chapter 6 6.3.3.1 The Base Station The nucleus of the differential network is the base station. To function as a base station, the GPS receiver antenna must be positioned at a control point whose position is precisely known in the GPS reference frame.

  • Page 74: Omnistar Positioning

    - regardless of your location relative to any base station. This achieves a truly wide-area system with consistent characteristics. NovAtel’s ProPak-LB provides GPS with OmniSTAR L-band corrections in one unit, using a common antenna. This means that, with a subscription to OmniSTAR service, the ProPak-LB is a high quality receiver with sub-meter capabilities.

  • Page 75: Omnistar Concept

    Positioning Modes of Operation Chapter 6 checked, compressed, and formed into packets for transmission up to the OmniSTAR satellite transponder. This occurs approximately every few seconds. A packet will contain the latest corrections from each of the North American base stations. The position from the GPSCard in the receiver is used as the OmniSTAR’s first approximation.

  • Page 76: High Performance (Hp)

    RTK types. OmniSTAR HP computes corrections in RTK float mode or within about 10 cm accuracy. For RTK models, AUTO means the NovAtel RTK filter is enabled and the first received RTCM, RTCA or CMR message is selected. For non-RTK models, AUTO means the OmniSTAR HP, if allowed, message is enabled.
  • Page 77 This baseline vector, when added to the position of the base station, yields the position of the rover station. In the NovAtel RTK system, the floating ambiguity and the integer position solutions (when both are OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 78: Real-Time Kinematic (Rtk)

    Real-Time Kinematic (RTK) RT-2 and RT-20 are real-time kinematic software products developed by NovAtel. They can only be used in conjunction with NovAtel GPS receivers. A quick comparison of RT-2 and RT-20 is shown in the following table: OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 79: Comparison Of Rt-2 And Rt-20

    Wide lane and narrow lane None NovAtel’s RTK software algorithms utilize both carrier and code phase measurements; thus, the solutions are robust, reliable, accurate and rapid. While both RT-20 and RT-2 operate along similar principles, RT-2 achieves its extra accuracy and precision due to its being able to utilize dual- frequency measurements.
  • Page 80 2 cm or pseudorange double-difference multipath errors greater than 2 m on satellites at 11° elevation or greater. For environments where there is greater multipath, please consult NovAtel Customer Service. • Typical unmodeled ionospheric, tropospheric and ephemeris errors must be within 2σ of their average values, at a given elevation angle and baseline length.

  • Page 81: Rt-2 Performance: Kinematic Mode

    If you were monitoring this using NovAtel’s GPSolution program, the convergence sequence might look something like what is shown in Figure 22, RT-2 Accuracy Convergence.

  • Page 82: Rt-2 Accuracy Convergence

    Chapter 6 Positioning Modes of Operation Figure 22: RT-2 Accuracy Convergence Single-point solution Floating ambiguity solution Narrow lane solution Figure 23: Typical RT-2 Horizontal Convergence - Static Mode Baselines 0.1 km 15 km 25 km 50 km 1200 1500 1800 2100 2400 2700...

  • Page 83: Rt-20 Performance

    Positioning Modes of Operation Chapter 6 6.5.1.2 RT-20 Performance As shown in Table 17, RT-20 Performance on Page 83, Figure 25, Typical RT-20 Convergence - Static Mode on Page 84 and Figure 26, Typical RT-20 Convergence - Kinematic Mode on Page 84 the RT-20 system provides nominal 20 cm accuracy (CEP) after 3 minutes of continuous lock in static mode.

  • Page 84: Typical Rt-20 Convergence - Static Mode

    Chapter 6 Positioning Modes of Operation Figure 25: Typical RT-20 Convergence - Static Mode Baselines 0.1 km 15 km 25 km 50 km 1200 1500 1800 2100 2400 2700 3000 3300 Seconds of Convergence Figure 26: Typical RT-20 Convergence - Kinematic Mode Baselines 0.1 km 15 km 25 km...
  • Page 85 Positioning Modes of Operation Chapter 6 6.5.1.3 Performance Considerations When referring to the “performance” of RTK software, two factors are introduced: Baseline length: the position estimate becomes less precise as the baseline length increases. Note that the baseline length is the distance between the phase centres of the two antennas. Identifying the exact position of your antenna’s phase centre is essential;...

  • Page 86: Rt-20 Re-Initialization Process

    Chapter 6 Positioning Modes of Operation ROVER TRACKING LOSS If less than 4 satellites are maintained, then the RTK filter can not produce a position. When this occurs, the BESTPOS and PSRPOS logs will be generated with differential (if RTCM Type 1 messages are transmitted with the Type 59 messages) or single point pseudorange solutions if possible.

  • Page 87: Pc Software And Firmware

    The software operates from your PC’s hard drive. You will need to install the software from the CD supplied by NovAtel: Start Microsoft Windows. Place the NovAtel CD in your CD-ROM drive. If the setup utility is not automatically accessible, follow these steps: Select Run from the Start menu.

  • Page 88: Gpsolution

    GPSolution is a 32-bit Windows application. The application provides a graphical user interface to allow users to set-up and monitor the operation of the NovAtel receiver by providing a series of windows whose functionality is explained in this section. A help file is included with GPSolution. To access the file, select Contents from the Help menu.
  • Page 89 PC Software and Firmware Chapter 7 • Channel Tracking Status Window: This window provides the user with the tracking status of the satellites in view. Information, such as channel, PRN, channel state, Doppler, carrier / noise, residual, locktime, reject-code, satellite system and measurement is displayed for all satellites being tracked.
  • Page 90 Chapter 7 PC Software and Firmware • ASCII Messages Window: This window displays ASCII formatted NovAtel logs. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 91: Convert

    PC Software and Firmware Chapter 7 Convert Convert is a 32-bit Windows application and is shown in Figure 28. Convert will accept GPS file formats and convert them to ASCII, Binary or Rinex format. The application also allows the user to screen out particular logs by selecting the desired logs from the list of available logs.

  • Page 92: Rinex Format

    RINEX output files (e.g. Company Name, Marker Name, Marker Number). For best results, the NovAtel receiver input data file should contain the logs as in Table 18. Table 18: NovAtel Logs for Rinex Conversion...

  • Page 93: Firmware Upgrades & Updates

    The first step in upgrading your receiver is to contact your local NovAtel dealer. Your dealer will assist you in selecting the best upgrade option that suits your specific GPS needs. If your needs are still unresolved after seeing your dealer then you can contact NovAtel directly through any of the methods described in the Customer Service section, see Page 13, at the beginning of this manual.

  • Page 94: Upgrading Using The Auth Command

    Chapter 7 PC Software and Firmware 7.4.1 Upgrading Using the AUTH Command The AUTH command is a special input command which authorizes the enabling or unlocking of the various model features. Use this command when upgrading to a higher performance OEM4 family model available within the same revision level as your current model (e.g., upgrading from a OEM4 Standard rev.

  • Page 95: Updating Using The Winload Utility

    If transferring is not possible, the file can be mailed to you on floppy disk. For more information on how to contact NovAtel Customer Service please see Page 13 at the beginning of this manual. You will need at least 1 MB of available space on your hard drive. For convenience, you may wish to copy this file to a GPS sub-directory (e.g., C:\GPS\LOADER).

  • Page 96: Main Screen Of Winload

    Chapter 7 PC Software and Firmware 7.4.2.2 Using the WinLoad Utility WinLoad is a windows based program used to download firmware to OEM4 family GPSCards. The main screen is shown in Figure 29. Figure 29: Main Screen of WinLoad If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct.

  • Page 97: Open File In Winload

    PC Software and Firmware Chapter 7 Once you have selected your file, the name should appear in the main display area and in the title bar, see Figure 31, Open File in WinLoad on Page 97. Figure 31: Open File in WinLoad 7.4.2.2.2 Communications Settings To set the communications port and baud rate, select COM Settings from the Settings menu.

  • Page 98: Authorization Code Dialog

    Chapter 7 PC Software and Firmware When the Authorization Code dialog opens, see Figure 33, enter the auth code and select OK. Figure 33: Authorization Code Dialog The receiver should finish downloading and reset. The process is complete when “Done.” is dis- played in the main display area, see Figure 34.

  • Page 99: Built-In Status Tests

    Chapter 8 Built-In Status Tests Overview The built in test monitors system performance and status to ensure the receiver is operating within its specifications. If an exceptional condition is detected, the user is informed through one or more indicators. The receiver status system is used to configure and monitor these indicators: Receiver status word Error strobe line RXSTATUSEVENT log...

  • Page 100: Error Strobe Signal

    Chapter 8 Built-In Status Tests RXSTATUS event log. These masks allow you to modify whether various status fields generate errors or event messages when they are set or cleared. This is meant to allow you to customize the operation of your OEM4 family receiver for your specific needs. See the RXSTATUS log and the STATUSCONFIG command in Volume 2 of this manual for more detailed descriptions of these messages.

  • Page 101: Error Word

    Built-In Status Tests Chapter 8 status word is 00000000, the receiver is operating normally. The numbering of the bits is shown in Figure 36 below. Figure 36: Reading the Bits in the Receiver Status Word 0 0 0 4 0 0 2 8 0000 0000 0000 0100 0000 0000 0010 1000 Bit 31 Bit 0...

  • Page 102: Status Code Arrays

    Chapter 8 Built-In Status Tests Figure 38: Reading the Bits in the Receiver Error Word 0 0 0 0 0 0 2 2 0000 0000 0000 0000 0000 0000 0010 0010 Bit 15 Bit 0 See the RXSTATUS and the RXSTATUSEVENT logs in Volume 2 of this manual for more detailed descriptions of these logs.

  • Page 103: Status Led

    Built-In Status Tests Chapter 8 of the RXSTATUSEVENT log. 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.

  • Page 104: Troubleshooting

    Chapter 9 Troubleshooting When your receiver appears not to be working properly, often there are simple ways to diagnose and resolve the problem. In many cases, the issue can be resolved within a few minutes, avoiding the hassle and loss of productivity that results from having to return your receiver for repair. This chapter is designed to assist you in troubleshooting problems that occur and includes navigational instructions to bring you to the part of this manual that details resolutions to aid your receiver’s operation.
  • Page 105 Troubleshooting Chapter 9 A command is not accepted by the receiver See Section 4.1, Communications with the Receiver, Page 42 and refer to the FRESET command in Volume 2 of this manual. Differential mode is not working properly See Section 4.3, Transmitting and Receiving Corrections, Page 46 and refer to the COMCONFIG log in Volume 2 of this manual.

  • Page 106: Examining The Rxstatus Log

    Chapter 9 Troubleshooting Examining the RXSTATUS Log The RXSTATUS log provides detailed status information about your receiver and can be used to diagnose problems. Please refer to Volume 2 of this manual for details on this log and on how to read the receiver error word and status word.

  • Page 107: Resolving An Error In The Receiver Status Word

    Troubleshooting Chapter 9 Table 21: Resolving an Error in the Receiver Status Word Bit Set Action to Resolve Check the Error Word in the RXSTATUS log. See also Table 20, Resolving a Receiver Error Word, on Page 106. Check temperature ranges in the ENVIRONMENTAL table sections of Appendix A, Technical Specifications starting on Page 111.
  • Page 108 Chapter 9 Troubleshooting None. This bit simply indicates if clock steering has been manually disabled. Refer also to the FRESET command in Volume 2 of this manual. None. This bit only indicates if the clock model is valid. Refer also to the FRESET command in Volume 2 of this manual.

  • Page 109: Technical Specifications

    Appendix A Technical Specifications A.1 OEM4 Family Receiver Performance PERFORMANCE (Subject To GPS System Characteristics) Position Accuracy Standalone: L1 only 1.8 m CEP L1/L2 1.5 m CEP WAAS: L1 only 1.2 m CEP L1/L2 0.8 m CEP Code Differential 0.45 m CEP RT-20 0.20 m CEP RT-2...

  • Page 110: Oem4-G2L Board Dimensions

    Appendix A Technical Specifications A.2 OEM4-G2L GPSCard PHYSICAL Size 60mm x 100mm with connectors Weight 56 grams MECHANICAL DRAWINGS Figure 40: OEM4-G2L Board Dimensions ÿ 3.30 (6 PLACES) 60.0 56.12 9.32 (PIN 1) 49.0 96.8 98.02 100.0 1.6 (BOARD THICKNESS) 12.6 59.4 All dimensions are in millimeters.
  • Page 111 Technical Specifications Appendix A ENVIRONMENTAL Operating Temperature -40∞ C to +85∞ C Storage Temperature -40∞ C to +95∞ C Humidity Not to exceed 95% non-condensing POWER REQUIREMENTS ± Voltage +3.3 0.15 VDC Allowable Input Voltage Ripple 150 mV p-p (max.) Power consumption 1.8 W (typical) RF INPUT / LNA POWER OUTPUT...
  • Page 112 Appendix A Technical Specifications INPUT/OUTPUT DATA INTERFACE COM1 Electrical format RS232 300, 1200, 4800, 9600 (default), 19200, 38400, 57600, 115200, 230400, Bit rates 460800, 921600 bps Lead input Lead output Signals supported TX, RX, RTS, CTS COM2 Electrical format LVTTL 300, 1200, 4800, 9600 (default), 19200, 38400, 57600, 115200, 230400 bps Bit rates Lead input...
  • Page 113 Technical Specifications Appendix A INPUT/OUTPUT STROBES Event1 (Mark 1 Input) An input mark for which a pulse greater than 55 ns triggers certain logs to be generated. (Refer to the MARKPOS and MARKTIME logs and ONMARK trigger in Volume 2). Polarity is configurable using the MARKCONTROL command discussed in Volume 2.

  • Page 114: Top-View Of 24-Pin Connector On The Oem4-G2L

    Appendix A Technical Specifications Figure 41: Top-view of 24-Pin Connector on the OEM4-G2L Signal Descriptions Digital Ground Digital Ground VARF Variable frequency out Output pulse 1 ms wide for which the trailing edge is used as the reference. Polarity and period can be configured using the PPSCONTROL command described in Volume 2.

  • Page 115: Oem4-G2 Board Dimensions

    Technical Specifications Appendix A A.3 OEM4-G2 GPSCard PHYSICAL Size 85mm x 125mm with connectors Weight 85 grams MECHANICAL DRAWINGS Figure 42: OEM4-G2 Board Dimensions All dimensions are in millimeters [inches] b. The mounting holes on the OEM4-G2 GPSCard are designed for use with M3 screws. The hole size is actually 3.45 mm (#29 drill, 0.136î), which is a British Standard ìmedium fitî.
  • Page 116 Appendix A Technical Specifications ENVIRONMENTAL Operating Temperature -40∞ C to +85∞ C Storage Temperature -45∞ C to +95∞ C Humidity Not to exceed 95% non-condensing POWER REQUIREMENTS Voltage +4.5 to +18.0 VDC Allowable Input Voltage Ripple 100 mV p-p (max.) 2.2 W (typical) Power consumption RF INPUT / LNA POWER OUTPUT...
  • Page 117 Technical Specifications Appendix A INPUT/OUTPUT DATA INTERFACE COM1 Electrical format User-selectable. Defaults to RS232 but can be configured for RS422. See Section 3.2.5.1 on Page 36 for more details. (Can also be factory configured for LVTTL operation) 300, 1200, 4800, 9600 (default), 19200, 38400, 57600, 115200, 230400, Bit rates 460800, 921600 bps Lead input...
  • Page 118 Appendix A Technical Specifications INPUT/OUTPUT STROBES MSR (Measure Output) Normally high, active low where the pulse width is 1 ms. The falling edge is the receiver measurement strobe. Event1 (Mark 1 Input) An input mark for which a pulse greater than 65 ns triggers certain logs to be generated.

  • Page 119: Top-View Of 40-Pin Connector On The Oem4-G2

    Technical Specifications Appendix A Figure 43: Top-view of 40-Pin Connector on the OEM4-G2 Signal Descriptions Voltage In, +4.5 to +18 VDC Output indicates 'good solution' or valid GPS position when high. USB D+ USB interface data (+) (Requires firmware version 2.100 or higher) Digital Ground USB D- USB interface data (-) (Requires firmware version 2.100 or higher)
  • Page 120 Reserved. LNA_PWR Optional external power to antenna other than a standard NovAtel GPSAntenna (see the ANTENNAPOWER command in Volume 2 of this manual) To create a common ground, tie together all digital grounds (GND) with the ground of the power supply.
  • Page 121 Technical Specifications Appendix A A.4 FlexPak INPUT/OUTPUT CONNECTORS Waterproof TNC female jack, 50 Ω nominal impedance +4.25 to +5.25 VDC, 90 mA max (output from FlexPak to antenna/LNA) 3-pin waterproof Deutsch connector +6 to +18 VDC (Deutsch PN 59065-09-98PN) COM1 13-pin waterproof Deutsch connector (Deutsch P/N 59065-11-35PF) COM2...
  • Page 122 Appendix A Technical Specifications DIMENSIONS a. All dimension are in millimeters, please use Appendix F, Unit Conversion on Page 163 for conversion to imperial measurements. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 123: Flexpak Com1 Port Pin-Out Descriptions

    Technical Specifications Appendix A A.4.1 Port Pin-Outs The pin numbering for each of the ports, is described in the tables that follow. Table 22: FlexPak COM1 Port Pin-Out Descriptions Deutsch RS-232 Only Connector Pin No. Signal Name GPIO RXD1 CTS1 EVENT1 EVENT2 RTS1...

  • Page 124: Flexpak Com2 Port Pin-Out Descriptions

    Appendix A Technical Specifications Table 23: FlexPak COM2 Port Pin-Out Descriptions Deutsch RS-232 Deutsch RS-422 Function Function RXD2 RXD2(+) CTS2 RXD2(-) Event 1 Event 1 Event 2 Event 2 RTS2 TXD2(-) TXD2 TXD2(+) POUT POUT USB D+ USB D+ USB D- USB D- ERROR ERROR...

  • Page 125: Flexpak Power Cable

    Cables A.4.2.1 Automobile Power Adapter Cable (NovAtel part number 60723067) The power adapter cable supplied with the FlexPak provides a convenient means for supplying +12 VDC while operating from an automobile. The figure below shows the cable and a wiring diagram of the automobile adapter.

  • Page 126: Flexpak 13-Pin Serial Cable

    Technical Specifications A.4.2.2 13-Pin Deutsch to DB9 Serial Cable (NovAtel part number 60723068) The null-modem serial cable shown below provides a means of interfacing between the COM1 or COM2 port on the FlexPak and another serial communications device, such as a PC. At the FlexPak end, the cable is equipped with a 13-pin Deutsch connector (Deutsch part number: 59064-11-35SF), which plugs directly into a COM port.

  • Page 127: Flexpak Usb Cable

    13-pin Deutsch connector (Deutsch part number: 59064-11-35SF), which plugs directly into the COM2 port. See also Section A.4.2.2, 13-Pin Deutsch to DB9 Serial Cable (NovAtel part number 60723068) on Page 126 . At the other end, a USB connector is provided.
  • Page 128 Appendix A Technical Specifications A.5 ProPak-G2 There are two versions of the ProPak-G2. One version has DB-9 connectors and the other uses LEMO-brand connectors. Unless otherwise indicated, the information given in this section applies to both versions. INPUT/OUTPUT CONNECTORS TNC female jack, 50 Ω nominal impedance Antenna Input +4.25 to +5.25 VDC, 90 mA max (output from ProPak to antenna/LNA)
  • Page 129 Technical Specifications Appendix A DIMENSIONS a. All dimension are in millimeters, please use Appendix F, Unit Conversion on Page 163 for conversion to imperial measurements. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 130: Propak-G2 (Db-9 Version) Serial Port Pin-Out Descriptions

    Appendix A Technical Specifications A.5.1 Port Pin-Outs Table 24: ProPak-G2 (DB-9 Version) Serial Port Pin-Out Descriptions COM1 COM2 Connector Pin No. RS232 RS232 RS422 RS232 RS422 Only RXD1 RXD1(+) RXD2 RXD3 RXD3(+) TXD1 TXD1(+) TXD2 TXD3 TXD3(+) POUT POUT RTS1 TXD1(-) RTS2 RTS3...

  • Page 131: Propak-G2 (Db-9 Version) I/O Port Pin-Out Descriptions

    Technical Specifications Appendix A Table 26: ProPak-G2 (DB-9 Version) I/O Port Pin-Out Descriptions Connector Pin Signal Signal Descriptions Name VARF Variable frequency out One pulse per second Not connected Event1 Mark 1 input Valid position available Not connected Not connected Digital ground Digital ground For strobe signal descriptions, please see Section 3.3.1, Strobes on Page 36 .

  • Page 132: Propak-G2 Power Cable

    A.5.2 Cables A.5.2.1 Automobile Power Adapter Cable (NovAtel part number 01017023) The power adapter cable supplied with the ProPak-G2, see Figure 47 , provides a convenient means for supplying +12 VDC while operating from an automobile. Input is provided through the standard automobile power outlet. The output from the power adapter utilizes a 4-pin LEMO connector and plugs directly into the PWR input located on the back panel of the ProPak-G2.

  • Page 133: Propak-G2 (Db-9 Version) Y-Type Null Modem Cable

    Appendix A A.5.2.2 Y-Type Null-Modem Cable for DB-9 Version (NovAtel part number 60715062) This cable supplied with the DB-9 version of the ProPak-G2, see Figure 48 , provides an easy means of communications with a PC. The cable is equipped with a 9-pin connector at the receiver end which can be plugged into the COM1 , COM2 , or AUX port.

  • Page 134: Propak-G2 (Db-9 Version) Straight Serial Cable

    Technical Specifications A.5.2.3 Straight Serial Cable for DB-9 Version (NovAtel part number 60723066) This cable can be used to connect the DB-9 version of the ProPak-G2 to a modem or radio transmitter to propagate differential corrections. The cable is equipped with a female DB9 connector at the receiver end.

  • Page 135: Propak-G2 (Db-9 Version) I/O Strobe Port Cable

    Appendix A A.5.2.4 I/O Strobe Port Cable for DB-9 Version (NovAtel part number 60723065) The strobe lines on the DB-9 version of the ProPak-G2 can be accessed by inserting the male DB9 connector of the I/O strobe port cable into the I/O port. The other end of this cable is provided without a connector to provide flexibility.

  • Page 136: Propak-G2 (Lemo Version) Null Modem Cable

    Technical Specifications A.5.2.5 Null Modem Cable for LEMO Version (NovAtel Part Number 403-0-0036) The LEMO version of the ProPak-G2 includes a null modem cable, which provides an easy means of communications with a PC. The cable is equipped with a 10-pin LEMO connector at the receiver end which can be plugged into the COM1 or COM2 port.

  • Page 137: Propak-G2 (Lemo Version) Straight Serial Cable

    Appendix A A.5.2.6 Straight Serial Cable for LEMO Version (NovAtel Part Number 403-0-0037) This cable can be used to connect the LEMO version of the ProPak-G2 to a modem or radio transmitter to propagate differential corrections. The cable is equipped with a 10-pin LEMO connector at the receiver end that should ideally be plugged into COM2 on the receiver.
  • Page 138 Appendix A Technical Specifications A.6 ProPak-LB INPUT/OUTPUT CONNECTORS TNC female jack, 50 Ω nominal impedance +4.25 to +5.25 VDC, 90 mA max (output from ProPak-LB to antenna/LNA) 2-pin Switchcraft EN3 connector +7 to +15 VDC at 5 W typical (operating range) COM1 6-pin Switchcraft EN3 connector COM2...
  • Page 139 Technical Specifications Appendix A DIMENSIONS a. All dimension are in millimeters, please use Appendix F, Unit Conversion on Page 163 for conversion to imperial measurements. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 140: Propak-Lb Port Pin-Outs

    Appendix A Technical Specifications A.6.1 Port Pin-Outs Figure 53 is included to provide the pin numbering for each of the ports, which are described in the tables that follow. Figure 53: ProPak-LB Port Pin-Outs ALL 5 CONNECTORS ARE KEYED AT THE TOP LEFT 7-15 VDC Table 27: ProPak-LB PWR Port Pin-Out Descriptions...

  • Page 141: Propak-Lb Com2 Port Pin-Out Descriptions

    Technical Specifications Appendix A Table 29: ProPak-LB COM2 Port Pin-Out Descriptions Connector Pin No. Signal Name Signal Description SGND Signal ground RS232 ready to send from COM2 on the RTS2 receiver CTS2 RS232 clear to send to COM2 on the receiver POUT Power output RXD2...

  • Page 142: Propak-Lb Power Cable

    A.6.2 Cables A.6.2.1 Automobile Power Adapter Cable (NovAtel part number 60723064) The power adapter cable supplied with the ProPak-LB provides a convenient means for supplying +12 VDC while operating from an automobile. The output of the power adapter uses a 2-pin Switchcraft socket (Switchcraft part number: EN3C2F).

  • Page 143: Propak-Lb 6-Pin Serial Cable

    Appendix A A.6.2.2 6-Pin Switchcraft to DB9 Serial Cable (NovAtel part number 60723061) The serial cable shown below provides a means of interfacing between the COM1 port on the ProPak- LB and another serial communications device, such as a PC. At the ProPak-LB end, the cable is equipped with a 6-pin Switchcraft connector (Switchcraft part number: EN3C6F), which plugs directly into the COM1 port.

  • Page 144: Propak-Lb 7-Pin Serial Cable

    Technical Specifications A.6.2.3 7-Pin Switchcraft to DB9 Serial Cable (NovAtel part number 60723062) The serial cable shown below provides a means of interfacing between the COM2 port on the ProPak- LB and another serial communications device, such as a PC. At the ProPak-LB end, the cable is equipped with a 7-pin Switchcraft connector (Switchcraft part number: EN3C7F), which plugs directly into the COM2 port.

  • Page 145: Propak-Lb 8-Pin Serial Cable

    Appendix A A.6.2.4 8-Pin Switchcraft to DB9 Serial Cable (NovAtel part number 60723063) The serial cable shown below provides a means of interfacing between the COM3 port on the ProPak- LB and another serial communications device, such as a PC. At the ProPak-LB end, the cable is equipped with a 8-pin Switchcraft connector (Switchcraft part number: EN3C8F), which plugs directly into the COM3 port.
  • Page 146 Appendix B Anti-Static Practices B.1 Overview Static electricity is electrical charge stored in an electromagnetic field or on an insulating body. This charge can flow as soon as a low-impedance path to ground is established. Static-sensitive units can be permanently damaged by static discharge potentials of as little as 40 volts. Charges carried by the human body, which can be thousands of times higher than this 40 V threshold, can accumulate through as simple a mechanism as walking across non-conducting floor coverings such as carpet or tile.

  • Page 147: Static-Accumulating Materials

    Anti-Static Practices Appendix B • Where protective measures have not been installed, a suitable alternative would be the use of a Portable Field Service Grounding Kit. This consists of a portable mat and wrist strap which must be attached to a suitable ground. •...
  • Page 148 Appendix B Anti-Static Practices B.4 Handling Printed Circuit Boards ESD damage to unprotected sensitive devices may occur at any time. ESD events can occur far below the threshold of human sensitivity. Follow this sequence when it becomes necessary to install or remove a circuit board: 1.

  • Page 149: Navstar Satellite Orbit Arrangement

    Appendix C GPS Overview The Global Positioning System (GPS) is a satellite navigation system capable of providing a highly accurate, continuous global navigation service independent of other positioning aids. GPS provides 24-hour, all-weather, worldwide coverage with position, velocity and timing information. The system uses the NAVSTAR (NAVigation Satellite Timing And Ranging) satellites which consists of 24 operational satellites to provide a GPS receiver with at least six satellites in view at all times.
  • Page 150 C.1.3 The User Segment The user segment, such as the NovAtel receiver, consists of equipment which tracks and receives the satellite signals. The user equipment must be capable of simultaneously processing the signals from a minimum of four satellites to obtain accurate position, velocity and timing measurements.

  • Page 151: Illustration Of Receiver Height Measurements

    This value is not easy to determine. A world- wide model is generally used to provide these values. NovAtel GPS receivers store this value internally. This model can also be augmented with local height and gravity information. A more precise geoid model is available from government survey agencies e.g.

  • Page 152: Accuracy Versus Precision

    Appendix C GPS Overview hairs, the centre of the shaded area is the "location" of the mean estimate, and the radius of the shaded area is a measure of the uncertainty contained in the estimate. Figure 60: Accuracy versus Precision High accuracy, Low accuracy, high precision...

  • Page 153: Example Of Differential Positioning

    GPS Overview Appendix C real-time) or else post-processing of the data collected by the rover station. At least four GPS satellites in view are still required. The absolute accuracy of the rover station’s computed position will depend on the accuracy of the base station’s position. Figure 61: Example of Differential Positioning GPS satellites GPS antenna...

  • Page 154: Illustration Of Gps Signal Multipath

    GPS pseudorange differential positioning systems. This section will provide a brief look at the problems of multipath reception and some solutions developed by NovAtel. Multipath occurs when an RF signal arrives at the receiving antenna from more than one propagation route (multiple propagation paths).
  • Page 155 Multipath Appendix D reflected signals generally sustain some degree of signal amplitude attenuation. It is generally understood that, in multipath conditions, both the direct and reflected signals are present at the antenna and the multipath signals are lower in amplitude than the direct signal. However, in some situations, the direct signal may be obstructed or greatly attenuated to a level well below that of the received multipath signal.

  • Page 156: Gps Signal Multipath Vs. Increased Antenna Height

    Appendix D Multipath 0.45 meter CEP level (with no multipath). Obviously, multipath biases now become a major consideration in trying to achieve the best possible pseudorange measurements and position accuracy. If a differential base station is subject to significant multipath conditions, this in turn will bias the range corrections transmitted to the differential rover receiver.
  • Page 157 LHCP multipath signals will automatically be attenuated somewhat during the induction into the antenna. To further enhance performance, antennas can be designed to increase the rejection of LHCP signals. NovAtel’s GPSAntenna model 501 is an example of an antenna optimized to further reject LHCP signals by more than 10 dB.

  • Page 158: Illustration Of Quadrifilar Vs. Microstrip Patch Antennae

    Appendix D Multipath Figure 64: Illustration of Quadrifilar vs. Microstrip Patch Antennae Quadrifilar Elements Radome Antenna Patch Dielectric Patch Ground Plane Quadrifilar Helix Antenna Microstrip Patch Antenna D.2.3 Antenna Ground Planes Nearby objects can influence the radiation pattern of an antenna. Thus, one of the roles of the antenna ground plane is to create a stabilizing artificial environment on which the antenna rests and which becomes a part of the antenna structure and its resultant radiation pattern.
  • Page 159 Appendix D sharper amplitude, roll-off near the horizon and better phase center stability (there are smaller variations in 2 axes). This is what makes NovAtel's GPS antennas so successful when used with the NovAtel GPSAntenna choke ring ground plane. D.2.4 NovAtel’s Internal Receiver Solutions for Multipath Reduction...

  • Page 160: Comparison Of Multipath Envelopes

    Appendix D Multipath accuracies in the order of 0.75m CEP while NovAtel's PAC technology receivers are able to achieve accuracies in the 0.35 to 0.5 m CEP. PAC technology achieves this higher accuracy through a combination of low noise ranging measurements combined with a very narrow correlation window that dramatically reduces the effects of multipath interference and distortion.

  • Page 161: Typical Receiver Ttff

    Appendix E TTFF and Satellite Acquisition Time to First Fix, or TTFF, is the time it takes the receiver to calculate a position after a reset or upon power-up. The TTFF varies and depends on what is stored in non-volatile memory (NVM) at the time of power-up, and on what other information is available.

  • Page 162: Approximate Time And Position Methods

    Appendix E TTFF and Satellite Acquisition Upon power-up, the receiver does not know its position or time, and therefore, cannot use almanac information to aid satellite acquisition. You can set an approximate GPS time using the SETAPPROXTIME command or RTCAEPHEM message. The RTCAEPHEM message contains GPS week and seconds and the receiver will use that GPS time if the time is not yet known.
  • Page 163 Appendix F Unit Conversion Section E.1 to E.4 list commonly used equivalents between the SI (Système Internationale) units of weights and measures used in the metric system, and those used in the imperial system. A complete list of hexadecimal values with their binary equivalents is given in Section E.5 while an example of the conversion from GPS time of week to calendar day is shown in Section E.6 .
  • Page 164 Appendix F Unit Conversion Hexadecimal, Binary and Decimal Equivalents Binary Decimal Binary Decimal Binary Decimal Binary Decimal 0000 0100 1000 1100 0001 0101 1001 1101 0010 0110 1010 1110 0011 0111 1011 1111 Binary Decimal Binary Decimal Binary Decimal Binary Decimal 10000 100101...
  • Page 165 Unit Conversion Appendix F GPS Time Conversions The following sections provided examples for converting to and from GPS time. F.6.1 GPS Time of Week To Day of Week with Time of Day The value given for GPS Time of Week represents the number of seconds into the week. Therefore, to determine the day and time from that value, calculations are performed to break down the number of seconds into day, hour, minute, and second values.
  • Page 166 Appendix G Standards/References RTCM STANDARDS REFERENCE For detailed specifications of , refer to RTCM SC104 Version 2.1 of "RTCM Recommended RTCM Standards For Differential NAVSTAR GPS Service", January 3, 1994 Radio Technical Commission For Maritime Services 1800 Diagonal Road, Suite 600 Alexandria, VA 22314-2480, USA Phone: +1-703-684-4481 Fax: +1-703-836-4229...
  • Page 167 Standards/References Appendix G U.S. NATIONAL GEODETIC SURVEY NGS Information Services 1315 East-West Highway Station 9244 Silver Springs, MD 20910-3282 Phone: (301)713-2692 Fax: (301)713-4172 E-Mail: info_center @ ngs.noaa.gov Website: http://www.ngs.noaa.gov Website addresses may be subject to change however they are accurate at the time of publication. OEM4 Family Installation and Operation User Manual Rev 12...
  • Page 168 Appendix H GPS Glossary A 7-bit wide serial code describing numbers, upper and lower case ASCII characters, special and non-printing characters. Typically used for textual data. Acquisition The process of locking onto a satellite’s C/A code and P code. A receiver acquires all available satellites when it is first powered up, then acquires additional satellites as they become available and continues tracking them until they become unavailable.
  • Page 169 GPS Glossary Appendix H Carrier Phase These are “accumulated doppler range” (ADR) measurements. They contain the instantaneous phase of the signal (modulo 1 cycle) plus some arbitrary Measurements number of integer cycles. Once the receiver is tracking the satellite, the integer number of cycles correctly accumulates the change in range seen by the receiver.
  • Page 170 Appendix H GPS Glossary Cross Track Error The distance from the vessel’s present position to the closest point on a great (XTE) Circle line connecting the current waypoint coordinates. If a track offset has been specified in the receiver SETNAV command, the cross track error will be relative to the offset track great circle line.
  • Page 171 GPS Glossary Appendix H Elevation The angle from the horizon to the observed position of a satellite. Ellipsoid A smooth mathematical surface which represents the earth’s shape and very closely approximates the geoid. It is used as a reference surface for geodetic surveys, refer to the MATCHEDPOS log in user manual Volume 2, Command and Log Reference.
  • Page 172 Appendix H GPS Glossary Geostationary A satellite orbit along the equator that results in a constant fixed position over a particular reference point on the earth’s surface. (GPS satellites are not geostationary.) Global Positioning Full name is NAVSTAR Global Positioning System. A space-based radio System (GPS) Positioning system which provides suitably equipped users with accurate position, velocity and time data.
  • Page 173 GPS Glossary Appendix H L2 Frequency The 1227.60 MHz. secondary GPS carrier frequency, containing only encrypted P-code, used primarily to calculate signal delays caused by the ionosphere. Lane A particular discrete ambiguity value on one carrier phase range measurement or double difference carrier phase observation. The type of measurement is not specified (L1, L2, L1-L2, iono-free) L-Band The range of radio frequencies that includes the GPS carrier frequencies L1...
  • Page 174 Term used to describe periods of time when a GPS receiver’s line-of-sight to GPS satellites is blocked by natural or man-made objects. Observation Any measurement. The two observations used in NovAtel’s RTK algorithms are the pseudorange measurement and the carrier phase measurement. Observation Set...
  • Page 175 GPS positions. (The terms remote and rover are interchangeable.) RT-20 NovAtel’s Double Differencing Technology for real-time kinematic (RTK) carrier phase floating ambiguity resolution. Radio Technical An organization which developed and defined a message format for differential positioning.
  • Page 176 Appendix H GPS Glossary Satellite-Based A type of geo-stationary satellite system that improves the accuracy, Augmentation integrity, and availability of the basic GPS signals. This includes WAAS, System (SBAS) EGNOS, and MSAS. See Satellite-Based Augmentation System (SBAS) on page 68. Selected Waypoint The waypoint currently selected to be the point toward which the vessel is travelling.
  • Page 177 GPS Glossary Appendix H Coverage visible satellites can be used to determine location if the GPS receiver is designed to accept an external altitude input. Two-Dimensional Navigation mode in which a fixed value of altitude is used for one or more (2D) Navigation position calculations while horizontal (2D) position can vary freely based on satellite range measurements.
  • Page 178 Appendix I GPS Acronyms 1PPS One Pulse Per Second Two Dimensional Three Dimensional Analog-to-Digital Analog-to-Digital Converter Accumulated Doppler Range Automatic Gain Control Anti-Spoofing ASCII American Standard Code for Information Interchange Automated Vehicle Locations Bureau l’International de l’Heure BIST Built-In-Self-Test Bits per Second C/A Code Coarse/Acquisition Code Controller Area Network...
  • Page 179 GPS Acronyms Appendix I Greenwich Mean Time Ground Global Positioning System GPAI General Purpose Analog Input HDOP Horizontal Dilution Of Precision High Performance ( see also OmniSTAR in Appendix H, GPS Glossary ) HTDOP Horizontal position and Time Dilution Of Precision Integrated Circuit Intermediate Frequency IGRF...
  • Page 180 Appendix I GPS Acronyms RTCM Radio Technical Commission for Maritime Services Real Time Kinematic Request To Send Received Data SBAS Satellite-Based Augmentation System SCAT-I Special Category I Spherical Error Probable Signal-to-Noise Ratio Standard Positioning Service Space Vehicle Space Vehicle Number TCXO Temperature Compensated Crystal Oscillator TDOP...

  • Page 181: Replacement Parts

    Appendix J Replacement Parts The following are a list of the replacement parts available for your NovAtel GPS receiver. Should you require assistance or need to order additional components, please contact your local NovAtel dealer or Customer Service representative. FlexPak...
  • Page 182 C032 22 cm interconnect adapter cable GPS-C002 Manufacturerís Part Numbers The following original manufacturer’s part numbers, for the ProPak cables, are provided for information only and are not available from NovAtel as separate parts: J.5.1 FlexPak Part Description Deutsch Part...

  • Page 183: Voltage Input Ranges For Gpscards

    All PowerPak and ProPak enclosures provide a TNC female connector, which can be connected to the antenna directly with any of NovAtel’s coaxial cables. For the GPSCards, an interconnect adapter cable is required to convert the TNC male end of the coaxial cable to the card’s specific RF input connector type, which is given in the table below.

  • Page 184: Default Serial Port Configurations

    Appendix K Specifications Archive The default configuration available for each of the receiver types is given in the table below. Table 38: Default Serial Port Configurations Receiver COM1 COM2 COM3 OEM4 RS-232 RS-232 LVTTL Euro4 RS-232 RS-232 RS-232 PowerPak-4 RS-232 RS-232 RS-232 PowerPak-4E...

  • Page 185: Oem4 Board Dimensions

    Specifications Archive Appendix K K.2 OEM4 GPSCard PHYSICAL Size 85mm x 125mm with connectors Weight 120 grams MECHANICAL DRAWINGS Figure 66: OEM4 Board Dimensions a. All dimensions are in millimeters [inches]. b. The mounting holes on the OEM4 GPSCard are designed for use with M3 screws. The hole size is actually 3.45mm (#29 drill, 0.136"), which is a British Standard "medium fit".
  • Page 186 Appendix K Specifications Archive ENVIRONMENTAL Operating Temperature -40∞ C to +85∞ C Storage Temperature -45∞ C to +95∞ C Humidity Not to exceed 95% non-condensing POWER REQUIREMENTS Voltage +6 to +18 VDC Allowable Input Voltage Ripple 100 mV p-p (max.) 2.7 W (typical) Power consumption RF INPUT / LNA POWER OUTPUT...
  • Page 187 Specifications Archive Appendix K INPUT/OUTPUT DATA INTERFACE COM1 AND COM2 Electrical format RS232 (Can be factory configured for LVTTL operation) 300, 1200, 4800, 9600 (default), 19200, 57600, 115200, 230400 bps Bit rate Lead input CTS (and DCD on COM2) Lead output RTS (and DTR on COM2) Signals supported TX, RX, RTS, CTS, DTR, DCD (DTR and DCD are on COM2 only)
  • Page 188 Appendix K Specifications Archive INPUT/OUTPUT STROBES MSR (Measure Output) Normally high, active low where the pulse width is 1 ms. The falling edge is the receiver measurement strobe. Event1 (Mark 1 Input) An input mark (negative pulse > 55 ns), time tags output log data to the time of the falling edge of the mark input pulse.

  • Page 189: Top-View Of 40-Pin Connector On The Oem4

    Specifications Archive Appendix K Figure 67: Top-view of 40-Pin Connector on the OEM4 Signal Descriptions Voltage In, +6 to +18 VDC Output indicates 'good solution' or valid GPS position when high. Reserved Digital Ground Reserved Digital Ground Normally high, active low output pulse is 1 ms wide @ 1 Hz. Falling edge is used as the reference.
  • Page 190 Reserved. LNA_PWR Optional external power to antenna other than a standard NovAtel GPSAntenna (see the ANTENNAPOWER command in Volume 2 of this manual) To create a common ground, tie together all digital grounds (GND) with the ground of the power supply.

  • Page 191: Euro4 Board Dimensions

    Specifications Archive Appendix K K.3 Euro4 GPSCard PHYSICAL Size 100 mm x 167 mm excluding the 64 position I/O connector Weight 135 grams MECHANICAL DRAWINGS Figure 68: Euro4 Board Dimensions (3.9”) 88.90 (0.38”) (3.500”) 15.6 (0.61”) 116.5 (4.6”) (4.59”) 120.8 (4.76”) 170.7 (6.72”)
  • Page 192 Appendix K Specifications Archive ENVIRONMENTAL Operating Temperature -40∞ C to +85∞ C Storage Temperature -45∞ C to +95∞ C Humidity Not to exceed 95% non-condensing POWER REQUIREMENTS Voltage ± +5.0 0.125 VDC Allowable Input Voltage Ripple 50 mV p-p (max.) 2.3 W (typical) Power consumption RF INPUT / LNA POWER OUTPUT...
  • Page 193 Specifications Archive Appendix K INPUT/OUTPUT DATA INTERFACE COM1, COM2 AND COM3 Electrical format RS232 (Can be factory configured for LVTTL or RS422 operation) 300, 1200, 4800, 9600 (default), 19200, 57600, 115200, 230400 bps Bit rate Lead input CTS (and DCD on COM2) Lead output RTS (and DTR on COM2) Signals supported...

  • Page 194: Front-View Of 64-Pin Connector On The Euro4

    Appendix K Specifications Archive Figure 69: Front-view of 64-Pin Connector on the Euro4 Keying tab Component side of Euro4 GPSCard Signal Descriptions Row A Pin Digital Ground 5VIN Voltage in, 5 VDC ± 0.125 VDC Reserved for future use. Digital Ground Ω...
  • Page 195 Voltage in, 5 VDC ± 0.125 VDC Reserved for future use. LNA_PWR Optional external power to antenna other than a standard NovAtel GPSAntenna (see Section 3.3.5, External Antenna LNA Power (OEM4-G2 Only) on Page 40 and the ANTENNAPOWER command in Volume 2 of this manual).
  • Page 196 Appendix K Specifications Archive K.4 PowerPak-4/PowerPak-4E INPUT/OUTPUT CONNECTORS TNC female jack, 50 Ω nominal impedance Antenna Input +4.25 to +5.25 VDC, 90 mA max (output from PowerPak to antenna/LNA) Power 2.1 mm plug with screw-on retaining nut, centre positive PowerPak-4 +6 to +18 VDC at 2.8 W typical PowerPak-4E +10 to +36 VDC at 3.3 W typical...
  • Page 197 Specifications Archive Appendix K DIMENSIONS PowerPak-4E: PowerPak-4: a. All dimension are in millimeters, please use Appendix F, Unit Conversion on Page 163 for conversion to imperial measurements. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 198: Powerpak Serial Port Pin-Out Descriptions

    Appendix K Specifications Archive K.4.1 Port Pin-Outs Table 41: PowerPak Serial Port Pin-Out Descriptions COM1 COM2 COM3 (PowerPak-4 only) Connector Pin No. RS232 RS422 RS232 RS422 RS232 Only RXD1(-) DCD2 RXD2(-) RXD1 RXD1(+) RXD2 RXD2(+) RXD3 TXD1 TXD1(+) TXD2 TXD2(+) TXD3 RTS1(-) DTR2...

  • Page 199: Powerpak Power Adapter

    K.4.2 Cables K.4.2.1 Automobile Power Adapter Cable (NovAtel part number 01014989) The power adapter cable supplied with the PowerPak, see Figure 70 , provides a convenient means for supplying +12 VDC while operating from an automobile. Input is provided through the standard automobile power outlet. The output from the power adapter utilizes a standard 2.1 mm plug where the center is a female contact (positive) and the outer jacket...

  • Page 200: Powerpak Y-Type Null Modem Cable

    Specifications Archive K.4.2.2 Y-Type Null-Modem Cable (NovAtel part number 60715062) This cable supplied with the PowerPak, see Figure 71 , provides an easy means of communications with the receiver’s RS232 port from a PC. The cable is equipped with a 9-pin connector at the PowerPak end which can be plugged into either COM1 or COM2.
  • Page 201 Specifications Archive Appendix K K.5 ProPak-4E INPUT/OUTPUT CONNECTORS TNC female jack, 50 Ω nominal impedance Antenna Input +4.25 to +5.25 VDC, 90 mA max (output from ProPak-4E to antenna/LNA) Power 4-pin LEMO +10 to +36 VDC continuous at 3.3 W typical COM1 10-pin LEMO COM2...
  • Page 202 Appendix K Specifications Archive DIMENSIONS a. All dimension are in millimeters, please use Appendix F, Unit Conversion on Page 163 for conversion to imperial measurements. OEM4 Family Installation and Operation User Manual Rev 12...

  • Page 203: Propak-4E Serial Port Pin-Out Descriptions

    Specifications Archive Appendix K K.5.1 Port Pin-Outs Table 43: ProPak-4E Serial Port Pin-Out Descriptions COM1 COM2 Connector Pin No. RS232 RS422 RS232 RS422 RXD1(-) RXD2(-) DCD2 RXD1(+) RXD2(+) RXD1 RXD2 TXD1(+) TXD2(+) TXD1 TXD2 RTS1(-) RTS2(-) DTR2 CTS1(-) CTS2(-) RTS1 RTS1(+) RTS2 RTS2(+)

  • Page 204: Propak-4E Power Cable

    Cables K.5.2.1 Automobile Power Adapter Cable (NovAtel part number 01016331) The power cable supplied, see Figure 72 , allows you to connect a DC power source of your choice. It is conveniently equipped with an automobile power adapter for supplying +12 VDC while operating from an automobile.

  • Page 205: Propak-4E Straight Serial Cable

    Appendix K K.5.2.2 Straight Serial Port Cable (NovAtel part number 01016383) The straight serial cable, see Figure 73 , is used to connect the ProPak-4E to a modem or radio transmitter to propagate differential corrections. The end connectors are a 10-pin LEMO plug (LEMO part number: FGG.1K.310.CLAC55Z) to a 9-pin D-connector (DE9P plug).

  • Page 206: Propak-4E Null Modem Cable

    Specifications Archive K.5.2.3 Null Modem Serial Port Cable (NovAtel part number 01016329) The null modem serial cable, see Figure 74 , is used to connect the ProPak-4E to a serial (RS232) communication port on a terminal or computer. The end connectors are a 10-pin LEMO plug (LEMO part number: FGG.1K.310.CLAC55Z) to 9-pin D-connector (DE9S socket).

  • Page 207: Propak-4E Strobe Cable

    Appendix K K.5.2.4 I/O Strobe Port Cable (NovAtel part number 01016330) The ProPak-4E I/O strobe lines, see Figure 75 , are available on the ProPak-4E back end-cap from the 8 pin LEMO connector (LEMO part number: FGL.1K.308.CLLC45Z). For field replacement of the LEMO connector, please see Appendix J, Page 181 for a list of the manufacturers' part numbers.
  • Page 208 Index , 170, 177 , 17, 73, 80 atmosphere , 170, 176 , 94 AUTH command , 94 authorization , 102 auxiliary status , 168 azimuth , 61 accumulated Doppler accuracy , 73 base station , 86 decrease in base station , 170 , 47, 72 differential positioning...
  • Page 209 Index , 42 , 99 serial status indicators , 12 , 100 warranty status logs , 42 carrier phase typical hardware , 17, 168 , 33–34 ambiguities connector , 70 , 121, 128, 138, 196, 201 differential positioning antenna , 80, 155 , 121, 128, 138, 196 multipath errors , 17...
  • Page 210 Index , 67, 70–73, 76–77, 149– overview , 77, 80, 83, 156–157 elevation , 58, 172, 176–177 , 166 ellipsoid standards and references , 13 , 50, 67, 92, 161–162, 165 e-mail time , 55, 162 , 12, 182 ephemeris GPSAntenna , 58 , 87, 182...
  • Page 211 , 173 RTCM non-volatile memory (NVM) , 81, 83 , 14 notices , 99, 102 , 2, 12–13 status NovAtel Inc. , 182 , 42 Volume 2 null-modem , 73, 149, 170, 174 longitude , 77, 162 loss of lock...
  • Page 212 Index , 30, 154 , 76, 153 polarity positioning , 157 , 175 poor reception RT-20 , 92 ports receiver , 44, 57 , 99–100, 102 receiver status , 47, 54 , 49 communication redirect data , 100 RXSTATUSEVENT log reference station, see base station , 43, 45 serial...
  • Page 213 Index , 43, 55 , 83, 169 records, number of satellites , 83 , 174 tracking status , 26 , 155 transmit triangulation , 161–162 , 99 visibility trigger , 68–69 , 155 SBAS trilateration , 70 , 67, 80 commands tropospheric , 72...
  • Page 214 Recyclable Printed in Canada on recycled paper OM-20000046 Rev 12 2003/07/31...

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