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Software Versions 4.52s3 (G PS/GEO) and 6.48s16 (G PS/GLONASS) OM-AD-0020 Rev 1 NovAtel Inc. Test Bed Receiver Addendum to the MiLLennium Command Description s Manual.
ii Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Test Bed Receiver Subsystem Addendum Publication Number: OM-AD-0020 Revision Level: 1 00/4/11 This manual reflects Test Bed fir mware revision levels 4.
Table of Contents Test B ed Re ce iver Subsyst em A ddendum – Rev 1 iii TABLE OF CONTENTS Foreword ....................................................................................................................... .... vii Scope ...............
Table of Contents iv Test B ed Rece i ver Sub system A ddendum – Rev 1 Datum .......................................................................................................................... .................................. 26 MiLLenniu m-GLONASS GPSCard Sys tem .
Table of Contents Test B ed Re ce iver Subsyst em A ddendum – Rev 1 v FIGURES Figure 1 The NovAtel Test B ed Receive r .................................................................................................. .................... 8 Figure 2 Test Bed Receiv er Function al Block Diagram.
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Foreword Test B ed Re ce iver Subsyst em A ddendum – Rev 1 vi i FOREWORD SCOPE The Test Be d Receiver Subsystem Addendum is written for users of th e Test Bed Receiver Subs ystem and co ntains information specific to th e TESTBEDW and TESTBEDGLO software mo dels.
1 - Introduction 8 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 1 INTRODUCTION The Test Bed Receiver is based on a Wide A rea Aug men tation Sy stem receiver (NovA tel WAAS ).
1 - Introduction Test B ed Re ce iver Subsyst em A ddendum – Rev 1 9 OPERATIONAL OVERVIEW The NovAtel Tes t Bed Receiv er has two fun ctional bl ocks (see Figure 2 ): • Single Fre que ncy GPS GLO .
1 - Introduction 10 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Single Frequency GPS GLONASS The GPS G LONA SS is configur ed to tr ack 12 L1 C/ A-code signals ( Narr ow Corr elator trac king technol ogy), and 6 L1 GLON A SS C/A-c ode signals.
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 11 2 INSTALLATION OF TEST BED RECEIVER This chapter provides suff icient information to allow you to set up and pr epar e the Test Bed Receiver f or initial oper ation.
2 - Installation 12 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 For the minimum configuration, setting up the T e st Bed Receiver involves the following steps: 1. Conn ect the user interface to the Test Bed Receiver ( “ GPS GLONASS ” and/or “ GPS GEO ” connect or s) 2.
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 13 command is disabled, or if the EXTERNAL clock command is disabled, then the two receivers will d rift away from each other in time. The n ormal mode of operation is to use either the in ternal OCXO or a highl y stable external os cillator.
2 - Installation 14 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 CONNECTING DATA COMMUNICATI O NS EQUI PMENT There ar e two ser ial ports on the back panel of the T est Bed Receiver; both are configur ed for RS-232 protocol.
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 15 CONNECTING THE EXTERNAL POWER INPUT The Test Bed Receiver re quires one source of external regulated power. T he input can be in the +22 to +30 V DC range. The receiver draws up to 3 A at start-up, b ut the stead y-state requ irement is app roximately 1 .
2 - Installation 16 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 ACCESSING THE STROBE SIGNALS A str obe por t i s loc ated on the enclosur e back pa nel. T his is a di agnostic c onnector and is in t he for m of a DE9S connecto r (see Figure 11 ).
3 - Operation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 17 3 OPERATION Before operating the Test Bed Receiver for the first time, ensur e that you have followed the installation instructions in Chapter 2 .
3 - Operation 18 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 INITI AL COMMUNI CATI ONS WITH THE TEST BED RECEI VER Commun icating with the Test Bed Receiver is a st raightforward process an d is accomplis hed by issuing desired comma nds to the COM1 ports fr om an exter nal seria l communic ations device.
4 - Update or Upgrade Test B ed Re ce iver Subsyst em A ddendum – Rev 1 19 4 UPDATE OR UPGRADE YOUR GPSCARD The M iLLennium stor es its program firmware in non- volatile memory, which allows you to perform f irmware upgr ades and update s without ha ving to ret urn the M iLL ennium to t he distr ibutor.
4 - Update or Upgrade 20 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 where $auth is a specia l com m and whi c h allow s pr ogram mode l upgr ades auth-code is the upgr ade author ization code.
4 - Update or Upgrade Test B ed Re ce iver Subsyst em A ddendum – Rev 1 21 USING THE LOADER UTILITY The Loader utility can opera te from any DOS direc tory or dr ive on your PC. The program is compri sed of three parts: Program Card (a uthoriz ation pr ocedur e), Setup (c omm unicati ons configur ation) and Term inal (terminal emulator).
Appendices 22 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 A WAAS OVERVIEW The Wide Area Augmentation System (WAAS) is a safety-critical system wh ich is desig ned to en able the GPS to meet th.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 23 B GLONASS OVERVIEW MILLENNIUM-GLONASS GPSCARD The MiLLennium- GLONASS GPSCard can receive L1 signals f rom combined GPS/GLONASS satellites. This hybrid receiver offers comb ined GPS/GLONASS pos ition solutio ns.
Appendices 24 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 The NovAtel MiL Lennium -GL ONASS GPSCar ds ca n be applied i n mining a nd machi ne contr ol, roboti cs, fl ight inspection , marine navigation, ag riculture, military, direction fin ding and other custom OEM ap plications.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 25 frequen cies used by the satellites and to gradually chan ge the L 1 frequencies to 1598.0625 - 1609.3125 MHz. Eventu ally the s yst em w ill only us e 12 primary frequen cy ch annels (plu s tw o additional channels for testing purposes).
Appendices 26 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 TIME The GLONASS satellites broadcast their time within th eir satellite messages. NovAtel ’ s MiLLennium GLON ASS GPSCard is ab le to receive and reco rd both time references as well as rep ort the offset informatio n between GPS an d GLONASS time (see the GCLA/B log on Page 41 ).
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 27 FUNCTIONAL OVERVIEW MILLENNIUM-GLONASS GPSCARD SYSTEM The MiLL ennium- GLON ASS GPSCa rd c onsists of a ra dio fre quency ( RF) and a digi tal el ectr onics sect ion. Prior to operation, a GPS/GLONASS antenna, power supply, and data and signal interfaces m ust be connected.
Appendices 28 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 GPS/GLONASS ANTENNA The pur pose of the GPS/GLONASS a ntenna is to convert the electr omagnetic wa ves transmitte d by the combined GPS/GLONASS satellites at the L1 fr equency (1575.42 M Hz for GPS and 1602 - 1615.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 29 comm unicat ions ports suppor t user- sele ctable bit ra tes of 300 - 115,200 bps, w ith a de fault of 9600 bps.
Appendices 30 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 C WAAS COMM ANDS AND LO GS These com mands and l ogs diffe r fr om the versi ons descri bed in the M iLL ennium Com mand D escr iptions Ma nual for the Test Bed Receiver at the time of this publication.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 31 IONOMODEL This comm and a llows the user to inf luence wha t ionosphe ric corr ections t he car d uses. T his com mand c urrent ly does not effe ct the ionospher ic model that is used when the c ard is operating in RTK m ode.
Appendices 32 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 WAASCORRECTION This com mand allows you to have a n affe ct on how the car d handles WAAS corr ections. T he card will switc h automatically to Pseudorange Differential (RTCM or RTCA) or RT K if the appropriate cor rections are being received, regar dless of t he curr ent set t i ng.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 33 LOGS RCCA RECEIVER CONFIGURATION This log out puts a list of all curre nt G PSCard comm and settings. Obser ving this log is a good way to m onitor the GPSCard c onfigura tion setti ngs.
Appendices 34 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 D GLONASS COMMANDS AND LOGS GLONASS-SPECIFIC COMMANDS This chapte r descr ibes Mi L Lennium -GLO NASS GPSCar d comm ands impor tant to GL ONASS. GLONASS-specific commands are generated by using info rmation obtained from the GLONASS satellite system.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 35 PZ90TOWGS84 This command allows the user to input the Helmert transfor mation relating the GL ONASS PZ90 refe rence fra me to the GPS WGS-84 reference frame. In th is case, ( x,y,z ) is the desir ed WGS- 84 coordinat e set a nd ( u,v, w ) is t he given coordina te se t in PZ 90.
Appendices 36 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 UNIMPLEMENTED COMMANDS Currently, the ability to set satellite health, and the ab ility to de-weight th e range of a satellite in the solu tion computatio ns, is not enabled for GLONASS.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 37 Field # Field Description Example 1 $CAL A Log Header $CAL A 2 Week G PS week numbe r 992 3 Sec G PS time into w eek , in seconds 453075 4 Reserved for future use 5 Reserved for future use 6,7 8, 9, 10, 11, .
Appendices 38 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 CALB Form at: Messag e ID = 87 Message by te cou nt = 32 + (16 * 32) Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 c.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 39 GALA/B ALMANAC INFORMATION The GLONASS almanac reference time and week are in GPS time coord inates.
Appendices 40 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 GALB Form at: Message ID = 78 Message by te cou nt = 112 Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 char 3 Messag.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 41 GCLA/B CLOCK INFORMATION This log contains th e time difference info rmation between GPS and GLONASS time as well as status flags. Th e statu s flags are used to indicate th e type of time pro cessing u sed in the leas t squ ares adjus tment.
Appendices 42 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Table 2 Time Status Value Description 0 GL ONASS tim e floa ting 1 GLONA SS time fixed Example : $GCL A,994,149871.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 43 GEPA/B EPHEMERIS INFORMATION GLONASS epheme rides are r efe renced to the Par ame try Ze mli 1990 ( PZ-90) geodetic datum, and GLONASS epheme ris information is available through the GE PA/B log.
Appendices 44 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 16 VelZ Z coordinate f or satellite velocity at re fere nce tim e (PZ90), in mete rs/s -3.387468338012698E+003 17 LSAccX X co ordi n ate for luni solar acceleratio n at reference time (PZ 9 0), in meters/s/s -1 .
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 45 GEPB Format: Message ID = 77 Me ssage byte c ount = 156 Field # Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Messa.
Appendices 46 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Table 3 GLONASS Ephe me ris Flags Coding N 7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni bble Number 31 30 29 28 27 26 25 24 23 22 21 2.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 47 OTHER NOVATEL LOGS RCCA RECEIVER CONFIGURATION This log out puts a list of all curre nt G PSCard comm and settings. Obser ving this log is a good way to m onitor the GPSCard c onfigura tion setti ngs.
Appendices 48 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 E TEST BED RECEI VER - TECHNI CAL SPECIFICATI ONS PHYSICAL Size 448.8 x 361 x 183.5 mm (without the 19” mounti ng brackets) Weight 10.
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 49 INPUT/OUTPUT DATA INTERFACE Serial Bit rates: 300, 600,1200, 4800, 9600, 19200, 38400, 57600, 115200 bps, user s electable Default: 9600 bps (GPS GLONASS, GPS GEO) Connect or DE9P Electrical format RS-232C OUTPUT STROBES 1PPS Output A one-pulse-per-second T ime Sync output.
Appendices 50 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Default Channel Assi gnments Config Channel SV Ty pe Code DLL Ty pe Fra me Nav Ty pe Sy mbol Rate FEC Sky S earch 12 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic 1 GPS L1 C/A, L2 P Narrow Corr .
Index Test B ed Re ce iver Subsyst em A ddendum – Rev 1 51 INDEX 10 mh z outpu t, 12, 15 1pps, 12, 16 a/d, 28 accessories, 11 anten na, 11, 12, 17, 27, 28; activ e, 28; conn ector, 14; inst allation.
Index 52 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 segm ent, con trol, 24 segm ent, space, 24 segment, user , 24 self-te s t , 29 serial n um ber, 19 serial port , 19, 20, 21 space segm ent,.
Test B ed Re ce iver Subsyst em A ddendum – Rev 1 53.
OM-AD-0020 R ev 1 00/04/11 Software Version s 4.52s3 (GPS/GEO ) and 6.48s16 (GPS/GLO NASS) NovAtel Inc. 1120- 68 Avenue N.E. Calgary, Alberta, Canad a T2E 8S5 GPS Hotline: 1-800-NOVATEL ( U.S. and Canada o nly) Phone: 1-403-295-4900 GPS Fax: 1- 403-295-4901 E - m a il: s uppo r t@no va t e l.
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