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Novatel SMART7 manuals available for free PDF download: Installation And Operation User Manual, Installation And Operation Manual
Novatel SMART7 Installation And Operation User Manual (146 pages)
Brand:
Novatel
| Category:
Receiver
| Size: 3 MB
Table of Contents
Table of Contents
3
SMART7 Notices
11
Customer Support
18
Chapter 1 SMART7 Overview
20
Features and Models
20
SMART7 Connectors Overview
21
Figure 1: SMART7 with Ethernet Model (Back)
21
Figure 2: SMART7 Interface Connector
21
Table 1: Hardware Options
21
Table 2: SMART7 Connector Pin-Out
21
SMART7 Leds
22
Figure 3: SMART7 Ethernet Connector (Model Dependent)
22
Table 3: Ethernet Connector Pin Outs
22
Figure 4: SMART7 Leds Location
23
Table 4: SMART7 Status Indicators
23
Table 5: Wi-Fi LED
23
Related Documents and Information
24
Table 6: Ethernet LED
24
Table 7: SMART7 Status LED
24
Chapter 2 SMART7 Installation
25
Figure 5: SMART7 Installation
25
SMART Antenna Additional Equipment Required
26
Mounting and Orienting the SMART7
26
Mounting
26
Orienting
26
SMART7 Mounting Hole Locations
27
Mounting Plate
27
Figure 6: SMART7 Orientation
27
Figure 7: SMART7 and SMART6 Mounting Hole Locations
27
Connect the SMART7 to Data Communication Equipment
28
Serial Ports
28
Figure 8: SMART7 Mounting Plate
28
Table 8: SMART7 Serial Port Protocol
28
Wi-Fi
29
Ethernet Port
29
CAN Bus Port
30
Connect I/O Signals to a SMART7
30
Connect Power to the SMART7
30
Fuse for the Power Supply
31
Table 9: SMART7 Recommended Fuse and Fuse Holders
31
Power Supply Requirements for the SMART7
32
Check that the SMART Antenna Is Working
32
Chapter 3 SMART7 Operation
34
Communications with the Receiver
34
Wi-Fi Communications
34
Serial Port Communications
34
Table 10: Serial Ports Supported
35
Ethernet Communications
36
ICOM Communications
36
CAN Bus Communications
37
Getting Started
37
Communicating with the Receiver
37
Transmitting and Receiving Corrections
38
Figure 9: Basic Differential Setup
39
Defining Antenna and Base Antenna
40
Base Station Configuration
40
Rover Station Configuration
41
Configuration Notes
42
ALIGN Heading Master and Remote Configurations
42
Automatic Set up for Direct-Wire Connection between Master and Rover Via COM2
43
Manual Set up Via COM2
43
Glide
43
Dual-Frequency GLIDE
44
PDP and GLIDE Configurations
44
Steadyline
44
Figure 10: Positioning Change Without STEADYLINE
44
Prefer Accuracy
45
Enabling SBAS Positioning
45
Enabling PPP
45
Figure 11: STEADYLINE Prefer Accuracy
45
Terrastar Subscriptions
46
Rtk Assist
47
Terrain Compensation
48
Figure 12: Terrain Compensation - Roll
49
Figure 13: Terrain Compensation - Pitch
49
Configuring Terrain Compensation
50
Figure 14: SMART Antenna Installation
51
Figure 15: SMART Antenna Orientation
51
Figure 16: Antenna Height Measurement
52
Configuring Terrain Compensation Using NMEA Command
53
SMART Antenna Emulated Radar
54
Emulated Radar (ER)
54
Logging Using Novatel Connect
54
Selecting the Logs to Collect
55
Modify the Logging Parameters
55
Start Collecting Logs
56
Stop Collecting Logs
56
Change the Log File Settings
56
Chapter 4 SMART7 with SPAN Operation
58
Fundamentals of GNSS+INS
58
Definition of Reference Frames Within SPAN
59
The Local-Level Frame (ENU)
59
Figure 17: Local-Level Frame (ENU)
59
The IMU Body Frame
60
The Vehicle Frame
60
The User Output Frame
60
Figure 18: Vehicle Frame
60
SPAN Translations and Rotations
61
Translational Offsets
61
Rotational Offsets
62
Figure 19: ALIGN Translation Offset
62
Figure 20: SMART7-S and SMART7-SI IMU Body Frame
63
Figure 21: SMART7-S and SMART7-SI IMU Body Frame with Factory Configured Rotation
64
Figure 22: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame
65
Importance of RBV Calibration
66
Figure 23: Rear View of SMART7 on a Vehicle - Roof Camber
67
Figure 24: Side View of SMART7 on a Vehicle - Roof Tilt
67
Figure 25: Top View of SMART7 on a Vehicle - SMART7 Misalignment
67
Software Configuration
68
Minimum Recommended Configuration
68
GNSS Configuration
68
SPAN Configuration
68
Real-Time Operation
69
Table 11: Inertial Solution Status
70
System Start-Up and Alignment Techniques
71
INS Seed / Fast ins Initialization
72
Navigation Mode
74
Table 12: NVM Seed Indication
74
Data Collection
75
Table 13: Solution Parameters
75
Body to Vehicle Frame Rotation Calibration Routine
76
Multi-Line Body to Vehicle Frame Rotation Calibration Routine
77
Figure 26: Multi-Line IMU Body to Vehicle Calibration
78
Azimuth Sources on a SPAN System
79
Course over Ground
79
Inertial Azimuth
79
ALIGN Azimuth
80
Data Collection for Post Processing
80
Table 14: Logs with Azimuth Data
80
Chapter 5 Wi-Fi Configuration
82
Wi-Fi Modes
82
Access Point (AP)
82
Client
82
Concurrent
82
Table 15: Wi-Fi Default Configuration
82
Wi-Fi Modes
83
Enable the Wi-Fi Access Point
83
Enable the Wi-Fi Client
83
Enable the Wi-Fi Concurrent
85
Wi-Fi Changes
86
Change the Wi-Fi Passkey
86
Change the SSID
86
Change the Wi-Fi Channel
86
Change the Wi-Fi IP Address
87
Disable Wi-Fi
87
ALIGN over Wi-Fi Overview
87
Automatic Wi-Fi ALIGN Corrections
87
Manual Set up for Wi-Fi Connection between Master and Rover Via ICOM1
89
Chapter 6 Ethernet Configuration
91
Required Hardware
91
Static IP Address Configuration
91
Figure 27: Cross-Over Ethernet Cable Configuration-OEM7 Receiver
91
Static IP Address Configuration-Receiver
92
Static IP Address Configuration-Windows 7
92
Confirming Ethernet Setup
93
Dynamic IP Address Configuration
93
Figure 28: Dynamic IP Address Configuration through a DHCP Server-OEM7 Receiver
93
Base/Rover Configuration through Ethernet Connectivity
94
Figure 29: Base/Rover Ethernet Setup-OEM7 Receiver
95
Large Ethernet Port Data Throughput
96
Chapter 7 NTRIP Configuration
97
NTRIP Configuration over Ethernet
97
Figure 30: NTRIP System
97
NTRIP Configuration over Wi-Fi
98
Chapter 8 CAN Bus
100
Default Configuration
101
Configuring the CAN Bus
101
Configuration Notes
101
Table 16: Default NAME
101
Example of Enabling the CAN Bus
102
Example of Modifying the CAN Bus Parameters
102
Example of Detecting an Address Claim Failure and Reconfiguring
102
Address Claim Procedure
102
NMEA2000 Logging
103
Example of NMEA2000 Log Configuration
103
Corrections over CAN
103
Example for Receiving Corrections from any Source
104
Example for Transmitting Corrections to 0X1C Node
104
Novatel Messages over CAN
104
Configuring OEM7 Receivers to Use OEM6 CAN Settings
105
Configuration on OEM6
105
Configuration on OEM7
105
Chapter 9 Built-In Status Tests
106
RXSTATUSEVENT Log
106
RXSTATUS Log
106
Status Word
106
Figure 31: Location of Receiver Status Word
106
Error Word
107
Status Code Arrays
107
Figure 32: Reading the Bits in the Receiver Status Word
107
Figure 33: Location of Receiver Error Word
107
Figure 34: Reading the Bits in the Receiver Error Word
107
Receiver Status Code
108
Auxiliary Status Codes
108
Set and Clear Mask for All Status Code Arrays
108
Figure 35: Status Code Arrays
108
Chapter 10 Troubleshooting
110
Table 17: Troubleshooting Based on Symptoms
110
Examining the RXSTATUS Log
111
Table 18: Resolving a Receiver Error Word
111
Table 19: Resolving an Error in the Receiver Status Word
113
Examining the AUX1 Status Word
114
Table 20: Resolving an Error in the AUX1 Status Word
114
High Temperature Environments
115
Indicators of an Error State
115
Recovering from a Temperature Status Error
115
Mitigating High Receiver Temperature
115
Monitoring the Receiver Temperature
115
Safe Mode
116
Reset Loop Detection
117
Recovery Steps
117
Chapter 11 Novatel Firmware and Software
118
Firmware Updates and Model Upgrades
118
Firmware Updates
118
Model Upgrades
118
Authorization Code
119
Downloading Firmware Files
119
Format of Firmware Files
120
Updating or Upgrading Using the Winload Utility
120
Using the Winload Utility
120
Figure 36: Winload's Open Window
121
Figure 37: Open File in Winload
121
Updating the Firmware Using Novatel Connect
122
Figure 38: COM Port Setup
122
Updating the Firmware Using Novatel Web UI
123
Updating Using Softload Commands
123
Softload Commands and Logs
124
Working with S-Records
124
Sending Firmware Data
125
Softload Update Method
126
Softload Errors
128
Upgrading Using an Auth-Code
129
Entering an Auth-Code Using Novatel Connect
129
Entering an Auth-Code Using Novatel Web UI
129
Entering an Auth-Code Using the Command Line
129
Update the Web UI
130
Update the Web UI Content Using Novatel Connect
130
Update the Web UI Content Using Web UI
131
APPENDIX A SMART7 Technical Specifications
132
Table 21: SMART7 Physical Description
132
SMART7 Performance Specifications
133
Table 22: SMART7 Receiver Performance
133
Table 23: SMART7-S IMU Performance
135
SMART7 Mechanical Specifications
136
Figure 39: SMART7 Dimensions
136
Figure 40: SMART7-S and SMART7-SI Center of Navigation
137
SMART7 Environmental and Electrical Specifications
138
Table 24: SMART7 Environmental Specifications
138
Table 25: SMART7 Power Requirements
138
SMART7 Data Communication Specifications
139
Table 26: Data Communications Interfaces
139
SMART7 Strobe Specifications
140
Table 27: SMART7 Strobes Description
140
SMART Antenna Interface Cable (Optional Accessory)
141
Figure 41: SMART Antenna Interface Cable
141
SMART Antenna Custom Cable Recommendation
142
Table 28: SMART Antenna Interface Cable Connector Pin out
142
Table 29: 14-Pin Interface Connector
142
Table 30: I/O Connector
143
SMART7 Mounting Plate Specifications
144
Figure 42: SMART7 Mounting Plate Dimensions
144
APPENDIX B SMART7 Accessories and Replacement Parts
145
Table 31: SMART7 Hardware Options
145
Table 32: RELAY7 Accessory Products
145
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Novatel SMART7 Installation And Operation Manual (140 pages)
High performance GNSS receiver and antenna
Brand:
Novatel
| Category:
Receiver
| Size: 4 MB
Table of Contents
Table of Contents
3
SMART7 Notices
10
Customer Support
14
Chapter 1 SMART7 Overview
16
Features and Models
16
Table 1: Model Variants
16
SMART7 Connectors Overview
17
Figure 1: SMART7 with Ethernet Model (Back)
17
Figure 2: SMART7 Interface Connector
17
Figure 3: SMART7 Ethernet Connector (Model Dependent)
17
Table 2: Ethernet Connector Pin Outs
17
SMART7 Leds
18
Figure 4: SMART7 Leds Location
18
Table 3: SMART7 Status Indicators
18
Table 4: Wi-Fi LED
18
Table 5: Ethernet LED
19
Table 6: Status LED
19
Related Documents and Information
20
SMART7 Emulated Radar
20
Emulated Radar (ER)
20
Chapter 2 SMART7 Installation Overview
21
Figure 5: SMART7 Installation
21
Power Supply Requirements for the SMART7
22
Mounting and Orienting the SMART7
22
Mounting
22
Orienting
23
SMART7 and SMART6 Mounting Hole Locations
23
Figure 6: SMART7 Magnetic Mounting Plate
23
Figure 7: SMART7 Orientation
23
Connect the SMART7 to Data Communication Equipment
24
Serial Ports
24
Figure 8: SMART7 and SMART6 Mounting Hole Locations
24
Table 7: SMART7 Serial Port Protocol
24
Wi-Fi
25
Ethernet Port
25
CAN Bus Port
26
Connect I/O Signals to the SMART7
26
Connect Power to the SMART7
26
Fuse for the Power Supply
26
Check that the SMART7 Is Working
27
SMART7 Additional Equipment Required
28
Table 8: SMART7 Recommended Fuse and Fuse Holders
28
SMART7 Operation
30
Communications with the Receiver
30
Serial Port Communications
30
Table 9: Serial Ports Supported
31
Ethernet Communications
32
ICOM Communications
32
CAN Bus Communications
33
Getting Started
33
Communicating with the Receiver
33
Transmitting and Receiving Corrections
34
Figure 9: Basic Differential Setup
35
Base Station Configuration
36
Defining Antenna and Base Antenna
36
Configuration Notes
37
Rover Station Configuration
37
ALIGN Heading Master and Remote Configurations
38
Automatic Set up for Direct-Wire Connection between Master and Rover Via COM2
38
Manual Set up Via COM2
39
Glide
39
Dual-Frequency GLIDE
39
PDP and GLIDE Configurations
40
Steadyline
40
Figure 10: Positioning Change Without STEADYLINE
40
Figure 11: STEADYLINE Maintain
41
Figure 12: STEADYLINE Transition
41
Maintain
41
Prefer Accuracy
41
Transition
41
Figure 13: STEADYLINE Prefer Accuracy
42
Figure 14: STEADYLINE UAL- Warning Limit Example
42
Ual
42
Enabling SBAS Positioning
43
Enabling Novatel CORRECT with PPP
43
Figure 15: STEADYLINE UAL - out of Bounds Example
43
Terrastar Subscriptions
44
Veripos Subscriptions
45
Rtk Assist
45
Logging Using Novatel Connect
46
Selecting the Logs to Collect
47
Modify the Logging Parameters
47
Start Collecting Logs
48
Stop Collecting Logs
48
Change the Log File Settings
48
SMART7 with SPAN Operation
50
Fundamentals of GNSS+INS
50
Definition of Reference Frames Within SPAN
51
The Local-Level Frame (ENU)
51
The IMU Body Frame
52
The Vehicle Frame
52
Figure 16: Local-Level Frame (ENU)
52
The User Output Frame
53
SPAN Translations and Rotations
53
Figure 17: Vehicle Frame
53
Translational Offsets
54
Figure 18: ALIGN Translation Offset
55
Rotational Offsets
56
Figure 19: SMART7-S IMU Body Frame
57
Figure 20: SMART7-S IMU Body Frame with Factory Configured Rotation
58
Figure 21: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame
59
Figure 22: Rear View of SMART7 on a Vehicle - Roof Camber
61
Figure 23: Side View of SMART7 on a Vehicle - Roof Tilt
61
Importance of RBV Calibration
61
Software Configuration
62
Minimum Recommended Configuration
62
Figure 24: Top View of SMART7 on a Vehicle - SMART7 Misalignment
62
GNSS Configuration
63
SPAN Configuration
63
Real-Time Operation
64
Table 10: Inertial Solution Status
65
System Start-Up and Alignment Techniques
66
INS Seed / Fast ins Initialization
67
Table 11: NVM Seed Indication
69
Data Collection
70
Navigation Mode
70
Table 12: Solution Parameters
70
Body to Vehicle Frame Rotation Calibration Routine
71
Multi-Line Body to Vehicle Frame Rotation Calibration Routine
72
Figure 25: Multi-Line IMU Body to Vehicle Calibration
73
Azimuth Sources on a SPAN System
74
Course over Ground
74
Inertial Azimuth
75
ALIGN Azimuth
75
Table 13: Logs with Azimuth Data
75
Data Collection for Post Processing
76
Chapter 5 Built-In Status Tests
77
RXSTATUSEVENT Log
77
RXSTATUS Log
77
Status Word
77
Figure 26: Location of Receiver Status Word
77
Error Word
78
Figure 27: Reading the Bits in the Receiver Status Word
78
Figure 28: Location of Receiver Error Word
78
Figure 29: Reading the Bits in the Receiver Error Word
78
Status Code Arrays
79
Receiver Status Code
79
Auxiliary Status Codes
79
Figure 30: Status Code Arrays
79
Set and Clear Mask for All Status Code Arrays
80
SMART7-I and SMART7-W Wi-Fi Configuration Overview
81
Wi-Fi Modes
81
Access Point (AP)
81
Client
81
Concurrent
81
SMART7-I and SMART7-W Wi-Fi Modes
82
Enable the Wi-Fi Access Point
82
Table 14: Wi-Fi Default Configuration
82
Enable the Wi-Fi Client
83
Enable the Wi-Fi Concurrent
84
SMART7-I and SMART7-W Wi-Fi Changes
85
Change the Wi-Fi Passkey
85
Change the SSID
86
Change the Wi-Fi Channel
86
Change the Wi-Fi IP Address
86
Disable Wi-Fi
86
SMART7-I and SMART7-W ALIGN over Wi-Fi Overview
87
SMART7-I and SMART7-W Automatic Wi-Fi ALIGN Corrections
87
SMART7-I and SMART7-W Manual Set up for Wi-Fi Connection between Master and Rover Via ICOM1
88
Chapter 6 Ethernet Configuration
91
Required Hardware
91
Static IP Address Configuration
91
Static IP Address Configuration-Receiver
92
Figure 31: Cross-Over Ethernet Cable Configuration-OEM7 Receiver
92
Static IP Address Configuration-Windows 7
93
Confirming Ethernet Setup
93
Dynamic IP Address Configuration
94
Base/Rover Configuration through Ethernet Connectivity
94
Figure 32: Dynamic IP Address Configuration through a DHCP Server-OEM7 Receiver
94
Figure 33: Base/Rover Ethernet Setup-OEM7 Receiver
95
Large Ethernet Port Data Throughput
96
NTRIP Configuration
96
Figure 34: NTRIP System
97
Chapter 7 CAN Bus
99
Default Configuration
100
Configuring the CAN Bus
100
Configuration Notes
100
Table 15: Default NAME
100
Example of Enabling the CAN Bus
101
Example of Modifying the CAN Bus Parameters
101
Example of Detecting an Address Claim Failure and Reconfiguring
101
Address Claim Procedure
102
NMEA2000 Logging
102
Example of NMEA2000 Log Configuration
103
Example of Custom PGN Configuration
103
Corrections over CAN
103
Example for Receiving Corrections from any Source
104
Example for Transmitting Corrections to 0X1C Node
104
Novatel Messages over CAN
104
Configuring OEM7 Receivers to Use OEM6 CAN Settings
104
Configuration on OEM6
105
Configuration on OEM7
105
Chapter 8 Troubleshooting
106
Table 16: Troubleshooting Based on Symptoms
106
Examining the RXSTATUS Log
107
Table 17: Resolving a Receiver Error Word
108
Table 18: Resolving an Error in the Receiver Status Word
109
Examining the AUX1 Status Word
110
Table 19: Resolving an Error in the AUX1 Status Word
110
High Temperature Environments
111
Indicators of an Error State
111
Recovering from a Temperature Status Error
112
Mitigating High Receiver Temperature
112
Monitoring the Receiver Temperature
112
Safe Mode
113
Reset Loop Detection
113
Recovery Steps
113
Chapter 9 Novatel Firmware and Software
115
Firmware Updates and Model Upgrades
115
Firmware Updates
115
Model Upgrades
115
Authorization Code
116
Updating or Upgrading Using the Winload Utility
117
Transferring Firmware Files
117
Using the Winload Utility
117
Figure 35: Winload's Open Window
118
Figure 36: Open File in Winload
118
Updating Using Softload Commands
119
Softload Commands and Logs
119
Figure 37: COM Port Setup
119
Working with S-Records
120
Sending Firmware Data
121
Softload Update Method
122
Softload Errors
125
Upgrading Using the AUTH Command
125
Upgrade Procedure
125
APPENDIX A SMART7 Technical Specifications
127
Table 20: SMART7 Physical Description
127
SMART7 Performance Specifications
128
Table 21: SMART7 Receiver Performance
128
Table 22: SMART7-S IMU Performance
130
Figure 38: SMART7 Dimensions
131
SMART7 Mechanical Specifications
131
Figure 39: SMART7-S Center of Navigation
132
SMART7 Environmental and Electrical Specifications
133
Table 23: SMART7 Environmental Specifications
133
Table 24: SMART7 Power Requirements
133
SMART7 Data Communication Specifications
134
SMART7 Strobe Specifications
134
Table 25: Data Communications Interfaces
134
Table 26: SMART7 Strobes Description
135
SMART7 Interface Cable (Optional Accessory)
136
Table 27: SMART7 Connector Pin out
136
SMART7 Custom Cable Recommendation
137
Table 28: 14-Pin Interface Connector
137
Table 29: I/O Connector
137
SMART7 Mounting Plate Specifications
138
APPENDIX B SMART7 Accessories and Replacement Parts
139
Table 30: SMART7 Products
139
Novatel SMART7 Installation And Operation User Manual (35 pages)
Brand:
Novatel
| Category:
Antenna
| Size: 1 MB
Table of Contents
Table of Contents
3
SMART7 Notices
6
Customer Support
9
Chapter 1 SMART7 Overview
11
Features and Models
11
Table 1: Model Variants
11
SMART7 Connectors Overview
12
Figure 1: SMART7 with Ethernet Model
12
Figure 2: SMART7 Interface Connector
12
Figure 3: SMART7 Ethernet Connector (Model Dependent)
12
SMART7 Leds
13
Figure 4: SMART7 Leds Location
13
Table 2: Ethernet Connector Pin Outs
13
Table 3: SMART7 Status Indicators
13
Table 4: Wi-Fi LED
14
Table 5: Ethernet LED
14
Table 6: Status LED
14
SMART7 Emulated Radar
15
Emulated Radar (ER)
15
Configuring the CAN Bus
15
Configuration Notes
15
Example of Enabling the CAN Bus
16
Example of Modifying the CAN Bus Parameters
16
Example of Detecting an Address Claim Failure and Reconfiguring
16
Address Claim Procedure
16
Chapter 2 SMART7 Installation Overview
18
Figure 5: SMART7 Installation
18
Power Supply Requirements for the SMART7
19
Mounting and Orienting the SMART7
19
Mounting
19
Orienting
20
Figure 6: SMART7 Magnetic Mounting Plate
20
Figure 7: SMART7 Orientation
20
Connect the SMART7 to Data Communication Equipment
21
Wi-Fi
21
Ethernet Port
21
CAN Bus Port
22
Connect I/O Signals to the SMART7
22
Connect Power to the SMART7
22
Fuse for the Power Supply
22
Check that the SMART7 Is Working
23
APPENDIX A SMART7 Technical Specifications
25
Table 7: SMART7 Physical Description
25
SMART7 Performance Specifications
26
Table 8: SMART7 Receiver Performance
26
Table 9: SMART7 IMU Performance
28
SMART7 Mechanical Specifications
29
Figure 8: SMART7 Dimensions
29
Figure 9: SMART7-SPAN Center of Navigation
29
SMART7 Environmental and Electrical Specifications
30
Table 10: SMART7 Environmental Specifications
30
Table 11: SMART7 Power Requirements
30
SMART7 Data Communication Specifications
31
SMART7 Strobe Specifications
31
Table 12: Data Communications Interfaces
31
Table 13: SMART7 Strobes Description
32
SMART7 Interface Cable
33
Figure 10: SMART7 Interface Cable
33
Table 14: SMART7 Connector Pin out
33
Table 15: 14-Pin Interface Connector
34
SMART7 Mounting Plate Specifications
35
Figure 11: SMART7 Mounting Plate Dimensions (Optional)
35
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