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1. ETSA Structure SETSA week seconds solut oncstatus of observations prn tracking status 2 frequency C No residual in meters locktime pseudorange reject code 3 prn tracking status dopp frequency C No residual in meters locktime pseudorange reject code 3 CR LF Note 1 See Table 5 Page 58 2 See Table 10 Page 62 3 See Table 11 Page 63 Example carriage returns have been added between observations for clarity SETSA 929 164100 00 0 16 4 2 04 1445 1 45 035 2 476 1198 1 24134922 91 D 4 42 14 1446 7 41 569 0 000 1196 8 24134921 48 14 25 2 24 2190 3 48 623 3 596 4759 0 21665319 01 0 25 42E34 2188 9 50 119 0 000 4760 8 21665323 94 14 16 2E44 2059 2 49 170 15 356 4782 5 21498234 70 0 16 42E54 2060 7 49 719 0 000 4772 5 21498234 67 14 29 2E64 1579 9 49 370 3 138 4752 4 20906071 69 0 29 42E74 1578 7 51 031 0 000 4742 0 20906076 86 14 18 2E84 3364 4 42 860 6 097 657 1 23932470 03 0 18 42 94 3365 5 41 914 0 0000 655 9 23932469 14 14 30 3EA4 2411 1 45 143 5 654 299 6 24646657 60 0 30 42EB4 2709 9 42 301 0 000 296 5 24646661 30 14 22 2EC4 2925 0 46 189 6 827 4220 6 22425823 20 0 22 A2EDA 2926 1 47 117 0 000 4221 9 22425
2. Noite B Technical Specifications Table B 2 64 Pin I O Connector Description Row B Descriptions Pin RowA Descriptions GND Digital Ground 1 GND Digital Ground TV Input power supply 2 TV Input power supply n Reserved for future use 3 LNA PWR Optional external power to antenna other than a standard NovAtel 4 GND Digital Ground GPSAntenna jumper plug P301 must be correctly set IC 5 For factory use only IC 6 For factory use only IC 1 GND Digital Ground IC 8 DTR1 Data Terminal Ready for COM 1 CTS1 Clear to Send for COM 1 9 TXD1 Transmitted Data for COM 1 RTS1 Request to Send forCOM 1 10 RXD1 Received Data for COM 1 DSR1 Data Set Ready for COM 1 1 DCD1 Data Carrier Detected for COM 1 IC 12 13 For factory use only IC 14 For factory use only IC 15 GND Digital Ground IC 16 DTR2 Data Terminal Ready for COM 2 CTS2 Clear to Send for COM 2 17 TXD2 Transmitted Data for COM 2 RTS2 Requestto Send for COM 2 18 RXD2 Received Data for COM 2 DSR2 Data Set Ready for COM 2 19 DCD2 Data Carrier Detected for COM 2 N C 20 VARF Output Variable frequency pulse train normally high active low Pulse 21 GND Digital Ground width 100 ns 6 55 ms Frequency range 0 15 Hz 5 MHz PPS Output Normally high active low 1 ms 50 ns pulse is output at1 Hz 22 GND Digital Ground 50 ns when clock steering on Falling edge is used as reference Measure Normally high active low pu
3. 73 TABLES 1 Feature Summary BeeLine GPSCard a E eene 12 2 Antenna LNA Power Configuration 25 3 Latency Induced Extrapolation Error 2 0444000000 0 38 4 Attitude Type usce eem Rea ee ein eed 55 5 Solution Status ce eee nete 58 6 V ctot Type il ee o m me PIPERIS ans 58 7 Status for L1 Floating Ambiguity Position Vector 2 58 8 Status for L1 Fixed Ambiguity Position Vector 58 9 Receiver Self Test 5tatus Codes acte Eon ee dtes 59 I0 Channel Tracking Status oer eee eee eden pet 62 GPSsCard R nge Reject Codes tete e 63 12 Navigation Status creen eU eO ERN HO IRE 65 13 Velocity Status s coe Og tette mettent ueste lene Eee 71 BeeLine GPSCard User Manual Rev 2 5 Warranty Policy NovAtel WARRANTY POLICY NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time BeeLine GPSCard receiver One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days 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 limited solely to product
4. Ephemeris data for this satellite has not yet been received c Invalid IODE due to mismatch between differential stations m rum Locked Out satellite is excluded by user LOCKOUT command m N Low Power satellite rejected due to low signal noise ratio 9 L2 measurements are not currently used in the filter m Observations from the secondary antenna are not currently used the position filter BeeLine GPSCard User Manual Rev 2 63 8 NovAtel Format Logs NovAtel ETSA B Extended Channel Tracking Status This log provides channel tracking status information for each of the GPSCard parallel channels The ETSA example was produced using a BeeLine GPSCard A NOTE This log is intended for status display only since some of the data elements not synchronized together they are not to be used for measurement data Please use the RGEA B D log Page 66 or the SATA B log Page 69 to obtain synchronized data for post processing analysis If you are tracking both L1 signals with a primary and a secondary antenna two entries with the same PRN will appear in the channel tracking status logs As shown in Table 10 Channel Tracking Status Page 62 these entries can be differentiated by bit 18 which is set if there are multiple observables for a given PRN that denotes from which antenna the observation came from This is to aid in parsing the data
5. waypoint destination or destination waypoint BeeLine GPSCard User Manual Rev 2 97 E GPS Glossary of Terms Note Selective Availability SA the method used by the United States Department of Defence to control access to the full accuracy achievable by civilian GPS equipment generally by introducing timing and ephemeris errors Sequential receiver a GPS receiver in which the number of satellite signals to be tracked exceeds the number of available hardware channels Sequential receivers periodically reassign hardware channels to particular satellite signals in a predetermined sequence Spherical Error Probable SEP the radius of a sphere centered at the user s true location that contains 50 percent of the individual three dimensional position measurements made using a particular navigation system Spheroid sometimes known as ellipsoid a perfect mathematical figure which very closely approximates the geoid Used as a surface of reference for geodetic surveys The geoid affected by local gravity disturbances is irregular Standard Positioning Service SPS a positioning service made available by the United States Department of Defence which will be available to all GPS civilian users on a continuous worldwide basis typically using C A Code SV Space Vehicle ID sometimes used as SVID also used interchangeably with Pseudo Random Noise Number PRN SEP spherical error probable
6. Table B 1 continued PERFOR 4 bje o GP e aracte Frequency L1 1575 42 MHz 0 5 Codes tracked C A codes Channels 8 L1 channel pairs Re acquisition 1 5 5 s typical Computed Position Update Rate Up to 5 solutions per second Computed Attitude Update Rate Up to 5 solutions per second Measured Data Update Rate 10 data records per second Height Limit Up to 18 288 m 60 000 feet in accordance with export licensing Velocity Limit Up to 515 m s 1000 Nmi hr in accordance with export licensing Time to First Fix 70 s typical cold start no initial time or almanac Time to First Azimuth 5 to 10 minutes known baseline length Time to Azimuth Recovery Known short baseline 2 5 m static 70s kinematic 40s Known long baseline gt 2 5 m static 90s kinematic 120s Data Latency Delay from measurement epoch until the first bit of transmitted log PRTKB differential 95 ms typical ATTB 55 ms typical Pseudorange Single Point Position Accuracy 15 m CEP SA off GDOP lt 2 40 m CEP SA on real time Differential Without choke ring GDOP 4 With choke ring GDOP 4 lt 1 25 SEP 1 85m lt 0 75 SEP lt 1 00 RT 20 Position Accuracy PDOP 2 minimum five satellites and elevation 2 15 Performance achieved with standard L1 antennas no choke rings Static mode 0 25 m after a minimum tracking time of 3 m
7. Figure 3 Quick Antenna Orientation 7 3 EO See also GPSAntenna Page 13 RF Section Page 14 and GPS Antenna Considerations Page 26 Connect the Primary antenna to the port of the ProPak BeeLine or P101on the BeeLine GPSCard see Figure 5 Typical System Configuration Page 20 and Figure 12 ProPak BeeLine Rear End Cap Page 30 using interconnecting coaxial cable Connect the Secondary antenna to the RF2 port of the ProPak BeeLine or P201 on the BeeLine GPSCard using interconnecting coaxial cable A typical coaxial cable is shown in Figure 4 on the left 16 BeeLine GPSCard User Manual Rev 2 Noite 3 Quick Start Figure 4 NovAtel Coaxial and Serial Cables See RF Section Page 14 and Antenna Cable Considerations Page 27 4 Connect COMI on the receiver to a serial port on your PC with a null modem serial data cable NovAtel part number 01016329 with the ProPak BeeLine A typical serial cable is shown in Figure 4 on the right See also Digital Electronics Section Page 14 ProPak BeeLine Installation Page 29 and Chapter 6 Operation Page 34 5 Connect a power supply to the BeeLine The ProPak BeeLine is supplied with a LEMO to cigarette lighter power adapter cable If an alternative power source is preferred the cigarette lighter power cable adapter can be removed When the adapter is cut off and the cable stripped it will be observed that two leads are provided for each positive an
8. The wiring harness serves the following interconnect functions provide access to COMI and 2 serial communications ports e provide access to input and output timing strobes e provide power input s e provide access to control signals A 64 pin 0 1 DIN 41612 Type B female connector e g Harting 0902 164 6825 0902 264 6828 or equivalent is required to interface with connector P1 on the BeeLine GPSCard see Figure 6 Page 23 The connectors you choose for interfacing to the power source s COM ports and strobes will depend on your external equipment requirements Figure 6 Page 23 shows the pin names and locations on connector P1 NOTE See Table B 2 Page 81 for descriptions of the function of each connector pin 22 BeeLine GPSCard User Manual Rev 2 eee NovAtel 4 BeeLine GPSCard Installation Figure 6 Edge view of Connector P1 on the BeeLine 4 33 m2 34 E 3 EM TE M EAE kt E E A Se i E 7 8 m 36 m 10 I E E EAA L EA m 12 m 13 37 EUM MEET 15 m 15 m 38 m 17 m m 18 TU CU C m 20 E 2 22 23 39 24 HD od n OB MS ee eer Cox t
9. recycled paper E mail support novatel ca Web site http www novatel ca OM 20000024 Rev 2 99 02 18
10. MEDLL Multipath Estimation Delay Lock Loop MKI Mark In MKO Mark Out msb Most significant bit msec millisecond MSL Mean sea level N mi Nautical mile NAVSTAR NAVigation Satellite Timing And Ranging synonymous with GPS NCO Numerically Controlled Oscillator NMEA National Marine Electronics Association ns nanosecond OCXO Oven Controlled Crystal Oscillator OEM Original Equipment Manufacturer PC Personal Computer P Code Precise Code PDOP Position Dilution Of Precision PLL Phase Lock Loop PPS Precise Positioning Service or Pulse Per Second PRN PseudoRandom Noise number RAM Random Access Memory RF Radio Frequency RHCP Right Hand Circular Polarization ROM Read Only Memory RTCA Radio Technical Commission for Aviation Aeronautics RTCM Radio Technical Commission for Maritime Services RTK Real Time Kinematic RTS Request To Send RXD Received Data SA Selective Availability SCAT I Special Category I SEP Spherical Error Probable SNR Signal to Noise Ratio SPS Standard Positioning Service SV Space Vehicle SVN Space Vehicle Number TCXO Temperature Compensated Crystal Oscillator TDOP Time Dilution Of Precision TTFF Time To First Fix TTL Transistor Transistor Logic TXD Transmitted Data UART Universal Asynchronous Receiver Transmitter UDRE User Differential Range Error UTC Universal Time Coordinated VARF Variable Frequency VCTCXO Voltage Controlled Temperature Compensated Crystal Oscillator VDOP Vertical Diluti
11. The null modem cable 10 pin LEMO plug to 9 pin D connector DE9S socket is used to connect the ProPak BeeLine to a serial RS232C communication port on a terminal or computer Its NovAtel part number is 01016329 I O Strobe Port Cable The I O strobe lines can be accessed by inserting the 4 pin LEMO plug connector of the I O strobe port cable NovAtel part number 01016569 into the I O port on the ProPak BeeLine The other end of the cable is provided without a connector so that you can provide an application specific one the jacket insulation is cut away slightly from the end but the insulation on each wire is intact The Input Output Strobes section of Table B 1 Page 80 contains descriptions of each of the I O strobes along with their electrical specifications 5 2 RS232C COMMUNICATIONS The ProPak BeeLine is capable of communications in EIA RS232C serial data format via two ports COMI and 2 Each port has ground connection and supports the following signals e Data Terminal Ready e Clear To Send CTS Transmitted Data TXD Request To Send RTS Received Data RXD Data Set Ready DSR Data Carrier Detect DCD The port settings bit rate parity etc are software configurable These are further described in Chapter 6 Operation Page 34 See Table B 1 Page 80 for further information on data communications characteristics 5 3 STROBE SIGNALS The ProPak BeeLine has 3 TTL compatible I O
12. 20906071 69 51 031 0 000 4742 0 20906076 86 2 860 6 097 657 1 23932470 03 0 41 914 0 0000 655 9 23932469 14 45 143 5 654 299 6 24646657 60 42 301 0 000 296 5 24646661 30 6 189 6 827 4220 6 22425823 20 47 117 0 000 4221 9 22425829 64 9 440 13 383 4786 9 20366585 27 51 304 0 000 4790 0 20366588 40 25 63 01 46 39 0 29 89 61 59 27 3 138 30 30 62 9 43 5 654 0 14 235 60 73 11 13 383 dug Dy 0 DEAS 922 91 0 0 4 9 4 0 RON 0 m 14 4 14 Dy 14 0 14 0 14 9 4 5 6 9 9 4 0 29 Note For details on logs other than and SBLA B please see Chapter 8 Page 50 or refer to the MiLLennium Command Descriptions Manual Warning It is recommended that you do not use the ASSIGN command The BeeLine GPSCard tracks the 8 highest satellites By using the ASSIGN command and assigning channels you would be degrading the BeeLine filter BeeLine GPSCard User Manual Rev 2 89 D Common Unit Conversions NovAtel Common UNIT CONVERSIONS Section to D 4 list commonly used equivalents between the SI Syst me 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 D 5 while an example of the conversion from GPS time of week to calendar day is sh
13. 5 95 in Width 64 5 mm 2 54 in Weight Approx 2270 g 5 0 Ib Voltage 12V DC typica Rated Capacity 20 hour rate 7 2 A h Capacity 20 hour rate 360 mA 7 2 A h at 77 F 25 C 10 hour rate 680 mA 6 8 5 hour rate 1260 mA 6 3 A h 1 hour rate 4900 mA 4 9 A h 1 5 hour discharge to 10 5V 35A Capacity as affected 104 F 40 C 102 by temp 20 hour rate 77 25 100 32 F 0 C 85 5 F 15 65 Internal resistance Full charged battery 40 Self discharge 77 F 25 C Capacity after 3 month storage 91 Capacity after 6 month storage 82 Capacity after 12 month storage 64 Terminals Standard LCR12V6 5BP AMP Faston type 187 Operating temperature 15 to 50 C 5 to 122 F Storage temperature Low humidity no direct sunlight 15 to 40 C 5 to 104 F Remaining battery capacity can be estimated by measuring the open circuit voltage Capacity OPEN CIRCUIT VOLTAGE Minimum Maximum 0 115 11 8 20 117 121 40 12 0 12 4 60 12 3 12 7 80 12 5 12 9 10096 12 7 13 3 BeeLine GPSCard User Manual Rev 2 87 EN B Technical Specifications NovAtel B 3 2 Optional Power Cables Auto ranging AC DC Converter amp Power Cord NovAtel part number GPS APRO LEMO Pin Number Signal Color Code 1 Negative Black 2 Positive White 3 Positive Red 4 Negative Green Reference Descr
14. 8 dimensions in mm inches BeeLine GPSCard User Manual Rev 2 77 B Technical Specifications NovAtel Table B 1 continued ENVIRONMENTAL Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity 95 non condensing max Altitude Sea level to 5000 m may operate above 5000 m in a controlled environment however is not certified as such 4 0 Acceleration 6g maximum sustained tracking Voltage 4 875 5 250 V DC Allowable voltage ripple 75 mV p p max Power amp DA 4 8 W typ 9 2 W max Connector on BeeLine 64 pin 0 1 DIN 41612 Type B male right angle Q 5 Connector on BeeLine SMB male jack External Clock Input Connectors on BeeLine Frequency 5 MHz or 10 MHz CW Input Impedance 50 nominal Input VSWR 2 0 1 Signal Level 4 0 dBm minimum to 10 0 dBm maximum Freq stability 0 5 ppm maximum RF INPUT LNA POWER OUTPUT Two SMB right angle male jacks RF Input 1575 42 MHz L1 Frequency LNA Power Output Internal External LNA power output is determined by the LNA jumper plug P301 position internal external 4 25 5 25 V DC 0 180 mA current limit 200 20 mA lt 30 V DC 100 mA max user supplied 78 BeeLine GPSCard User Manual Rev 2 B Technical Specifications
15. Receiver Self test Status Codes Page 59 The following table describes the format types used in the description of binary logs char 1 8 The char type is used to store the integer value of a member of the representable character set That integer value is the ASCII code corresponding to the specified character int 4 32 The size of a signed or unsigned int item is the standard size of an integer on a particular machine On a 32 bit processor such as the NovAtel GPSCard the int type is 32 bits or 4 bytes The int types all represent signed values unless specified otherwise Signed integers are represented in two s complement form The most significant bit holds the sign 1 for negative 0 for positive and zero double 8 64 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision float 4 32 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E 38 with at least 7 digits of precision BeeLine GPSCard User Manual Rev 2 51 8 NovAtel Format Logs NovAtel Each byte within an int has its own address and the smallest of the addresses is the address of the int The byte at this lowest address contains the eight least significant bits of the doubleword while the byte at the highest address contains the eight most significant bits The f
16. attmode static ATTMODE KINEMATIC forces the BeeLine software to treat the remote station as if it were in motion regardless of the output of the motion detector If the remote station is undergoing very slow steady motion 2 5 cm sec for more than 5 seconds you should declare KINEMATIC mode to prevent inaccurate results and possible resets Example attmode kinematic PITCH PITCH VARIATION ATTMODE CONSTRAIN PITCH where PITCH is the mean pitch angle in degrees and PITCH VARIATION is the maximum expected variation in pitch angle also in degrees As you can see from the default a pitch variation of more than 89 degrees will disable the constraint Example attmode constrain pitch 0 000 20 000 ATTMODE APPLY PITCH BIAS PITCH BIAS where PITCH BIAS is the angular difference measured from the axis of interest to the antenna axis A positive pitch bias will reduce the normal antenna axis output Example attmode apply pitch bias 30 BeeLine GPSCard User Manual Rev 2 43 7 BeeLine Commands NovAtel ATTMODE CONSTRAIN AZIMUTH AZIMUTH AZIMUTH VARIATION where AZIMUTH is the mean azimuth angle between the meridian see Page 27 and the antenna axis in degrees AZIMUTH VARIATION is the maximum expected variation in azimuth angle also in degrees A variation of more than 179 degrees will disable the use of the azimuth constraint Example attmode constrain azimuth 0 000
17. is much improved The disadvantage is that upon turning on the unit the receiver has to go through a calibration process which typically takes an additional 20 minutes approximately The reason the calibration has to take place is to estimate the line bias of the receiver The line bias is the difference in propagation delays between the signal paths associated with the primary and secondary antennas The line bias is slightly some fractional portion of an L1 cycle different every time the receiver is turned on because of variations in the downconversion process in the RF portion of the receiver Once the receiver is turned on however the line bias doesnt change significantly and therefore can be used to time align the observations from the secondary antenna with those of the primary antenna BeeLine GPSCard User Manual Rev 2 9 Foreword NavZtel It is strongly advised to measure the distance between the antennas by hand to an accuracy of 2mm before the line bias calibration takes place To enter this information use the ATTMODE KNOWN BASELINE LENGTH LENGTH command where LENGTH is the distance you have measured The line bias calibration takes up to 20 minutes provided the inter antenna baseline length is known but much more than this if it is not See also 7 2 1 Application Specific Examples Page 45 for examples and further discussion on line bias There are also several new syntaxes for the ATTMODE command ATTMODE CONST
18. measure of the latency in the velocity time tag and a new velocity status word which gives you quality velocity information The velocity status indicates varying degrees of velocity quality To ensure healthy velocity the position solution status must also be checked If the solution status is non zero the velocity will likely be invalid Also it includes the age of the differential corrections used in the velocity computation It should be noted that the BeeLine GPSCard does not determine the direction a vessel craft or vehicle is pointed heading but rather the direction of motion of the primary antenna relative to ground 70 BeeLine GPSCard User Manual Rev 2 NovAtel 8 NovAtel Format Logs VLHA Structure SVLHA week seconds velocity time tag latency age of GPS data hor speed direction wrt True North vert speed solution status 1 velocity status 2 CR LF Note 1 See Table 5 Page 58 2 See Table 13 Example SVLHA 640 333111 00 0 250 3 500 0 438 325 034 2 141 0 0 02 CR LF Table 13 Velocity Status Value Description Velocity computed from differentially corrected carrier phase data Velocity computed from differentially corrected Doppler data Old velocity from differentially corrected phase or Doppler higher latency Velocity from single point computations Old velocity from single point computations higher latency Invalid
19. pole and the Y axis in the equatorial plane 90 from the X axis with an orientation which forms a right handed XYZ system 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 Ellipsoidal Height height above a defined ellipsoid approximating the surface of the earth Ephemeris a set of satellite orbit parameters that is used by a GPS receiver to calculate precise GPS satellite positions and velocities The ephemeris is used in the determination of the navigation solution and is updated periodically by the satellite to maintain the accuracy of GPS receivers Ephemeris Data the data downlinked by a GPS satellite describing its own orbital position with time Epoch same as measurement time epoch The local time at which a GPSCard takes a measurement Field a character or string of characters immediately preceded by a field delimiter Fixed Ambiguity Estimates carrier phase ambiguity estimates which are set to a given number and held constant Usually they are set to integers or values derived from linear combinations of integers Fixed Discrete Ambiguity Estimates carrier phase ambiguities which are set to values which are members of a predetermined set of discrete possibilities and then held constant Fixed field a field in which the number of characters is fixed For data fields such fiel
20. 10 Use the Logging Control dialog from the View menu to control the BeeLine s logging to files and serial ports Refer to the GPSolution on line Help for more information For technical specifications and pinout configurations see Appendix B Page 77 See Appendix G Page 102 for the NovAtel part numbers of replacement parts and accessories BeeLine GPSCard User Manual Rev 2 19 4 BeeLine GPSCard Installation BEELINE GPSCARD INSTALLATION The BeeLine GPSCard receiver is an OEM product designed for flexibility of integration and configuration You are free to select an appropriate data and signal interface power supply system and mounting structure This concept allows OEM purchasers to custom design their own GPS based positioning system around the BeeLine BeeLine also comes in a ProPak enclosure please see ProPak BeeLine Installation Page 29 This section provides the necessary information for you to install and begin to use the BeeLine A typical system configuration is shown in Figure 5 Figure 5 Typical System Configuration 14 ins 18 Reference Description Reference Description 1 ProPak BeeLine or user supplied enclosure 7 5 VDC primary power 2 i RF signal amp LNA power SMB connector P101 8 Optional LNA DC power 1 pin male right angle to primary antenna via 9 COM1 8 pins interconnecting coaxial cable 10 COM 8 pins ii RF signal amp LNA power SMB connector P201 11 Input amp
21. 15 000 ATTMODE APPLY AZIMUTH BIAS ZIMUTH 5 where AZIMUTH BIAS is the angular difference measured clockwise on the horizontal plane between the body frame axis of interest projected on the horizontal plane and the antenna axis projected onto the horizontal plane This is a mechanism for removing a known bias between the antenna axis and the body frame axis of interest For example if the body frame axis has an azimuth of 75 degrees and the antenna axis has an azimuth of 189 degrees then the azimuth bias is 114 degrees If this command is invoked with an azimuth bias of 114 degrees then the output azimuth in the ATTA B log will be 189 minus 114 degrees or 75 degrees which is most likely the value you are interested in Example attmode apply azzimuth bias 114 ATTMODE CONSTRAIN VELOCITY SWITCH when enabled turns on BeeLine s ability to constrain velocity The use of this command requires that the nature of the velocity constraint has been set up with the ATTMODE VEL MISALIGNMENT command described below Example attmode constrain velocity enable ATTMODE VEL AZIMUTH MISALIGNMENT MISALIGNMENT MISALIGNMENT VARIATION where MISALIGNMENT is the counter clockwise angle in degrees measured from the typical direction of the velocity vector of the vehicle to the BeeLine axis vector MISALIGNMENT VARIATION is the maximum variation you would expect in the misalignment
22. 300 115 200 bps with a default of 9600 bps The digital section does the following converts the IF analog signals to a digital format tracks the C A codes and carrier phases of the satellites in use performs channel and loop control performs position computation performs attitude computation executes navigation software performs database management monitors self test system status controls diagnostic LEDs a red one which only lights up to indicate an error condition and a green one the heartbeat which blinks on and off at approximately 1 Hz to indicate normal operation controls I O functions The strobe signals are described as follows Mark input this signal provides a time tag to the signal processors which respond to a falling edge of the signal provided from an external device It can be enabled by you to provide a precise time and data output event Measure output an output set to 10 pulses per second This output is also routed to the signal processors where it provides a trigger for the measurement collection Variable frequency VARF output a user programmable variable frequency pulse train not available in the ProPak BeeLine option PPS output a 1 ms pulse repeating at a 1 Hz rate that is used to synchronize the board with external devices Status output an output that changes logic states when a valid GPS position is obtained not available in the ProPak BeeLine option You configure the BeeLine GPS
23. 51 11358042 114 04358013 1059 4105 RW34 log coml rtcaref ontime 10 log coml rtcaobs ontime 2 2 At the rover station accept comn rtca attmode known baseline length length Example accept com2 rtca attmode known baseline length 4 585 NOTE The computed baseline length between the rover s two antennas can be saved to non volatile memory by using the SAVECONFIG command 6 3 2 Initialization for RTCM Format Messaging RT 20 Although RT 20 can operate with either RTCA or RTCM format messaging the use of RTCA format messages is recommended Nevertheless the following commands will enable RTCM format messaging and allow RT 20 to operate with the rover station either at rest or in motion 1 At the base station fix position lat lon height station id station health log comn rtcm3 ontime interval log comn rtcm59 ontime interval Example fix position 51 11358042 114 04358013 1059 4105 119 0 log coml rtcm3 ontime 10 log 1 rtcm59 ontime 2 2 At the rover station accept comn rtcm attmode known_baseline_length length BeeLine GPSCard User Manual Rev 2 39 6 Operation NovAtel Example accept com2 rtcm attmode known baseline length 4 585 NOTE The computed baseline length between the rover s two antennas can be saved to non volatile memory by using the SAVECONFIG command 6 3 3 Monitoring Your RTK Output Data At the rover station you could now select any or all of these ou
24. Example attmode vel azimuth misalignment 0 000 30 000 ATTMODE UNKNOWN BASELINE LENGTH calculates the baseline but does not set it It prevents the system from using any baseline information in the initial calculation of ambiguities It cancels the effect of the ATTMODE KNOWN BASELINE LENGTH command It indicates to the software that the previously entered baseline can no longer be considered valid usually because the distance between the antennas is changing Example attmode unknown baseline length ATTMODE KNOWN BASELINE LENGTH LENGTH is used if the baseline length between the two antennas is known The BeeLine system uses this to initialize its ambiguities Example attmode known baseline length 4 585 ATTMODE LOW MULTIPATH ATTMODE MEDIUM MULTIPATH or ATTMODE HIGH MULTIPATH The low or medium multipath levels will cause BeeLine to provide an attitude measurement quickly but not as reliably in a high multipath i e ship or dockyard environment The HIGH MULTIPATH option is designed to address this deficiency You may wish to use LOW MULTIPATH in a kinematic environment fast resolutions rely on external integrity Example attmode high multipath A WARNING You must be very careful when using this last command Incorrect input will cause poor performance and incorrect output NOTE The above configurations can be saved to NVM using the SAVECONFIG command see Page 49 44 BeeLine GPSCard User Manual Rev 2 N
25. Gray 9 Pin 10 White not used Reference Description 11 Red marker at top of connector 12 Male LEMO 10 pin plug 13 DE9P male connector 14 10 conductor wire BeeLine GPSCard User Manual Rev 2 85 B Technical Specifications NovAtel Input Power Cable NovAtel part number 01016331 5 10 2 3 4 1 3 1 2 1 27 1 fi nin c 8 Reference Description Reference Description 1 Brown GND 5 Red marker at top of connector 2 Orange 100 36 V DC 6 Spring 3 Red 100 36 V DC 7 Universal tip 4 Black GND 8 3 amp slow blow fuse B 2 3 Mounting Plate NovAtel part number 70015024 8 9 Reference Description Reference Description 1 Thread for flat screw 6 Holes to mount plate to enclosure using 2 Rectangular nut flat screw 3 Grub screw 7 Holes to mount assembly to a surface 4 Channel using self tapping screws 5 Quick mount holes to mount 8 Back of receiver enclosure assembly to surface using 9 Front of mounting plate wood screws 86 BeeLine GPSCard User Manual Rev 2 gZ Technical Specifications B 3 OTHER OPTIONAL ACCESSORIES B 3 1 Battery Assembly NovAtel part number 01016698 Battery Specifications Description Absorbed electrolyte sealed lead acid in flame retardant case Dimensions Height 94 mm 3 70 in Length 151 mm
26. Interchange BIH Bureau l International de l Heure BIST Built In Self Test bps Bits per Second C A Code Coarse Acquisition Code C No Carrier to Noise Density Ratio CEP Circular Error Probable CPU Central Processing Unit CR Carriage Return CRC Cyclic Redundancy Check CTP Conventional Terrestrial Pole CTS Conventional Terrestrial System CTS Clear To Send dB Decibel DCE Data Communications Equipment DGNSS Differential Global Navigation Satellite System DGPS Differential Global Positioning System DOP Dilution Of Precision DSP Digital Signal Processor DSR Data Set Ready DTR Data Terminal Ready ECEF Earth Centered Earth Fixed EMC Electromagnetic Compatibility EMI Electromagnetic Immunity ESD Electrostatic Discharge FEC Forward Error Correction FIFO First In First Out GDOP Geometric Dilution Of Precision GMT Greenwich Mean Time GND Ground GPS Global Positioning System HDOP Horizontal Dilution Of Precision hex Hexadecimal HTDOP Horizontal position and Time Dilution Of Precision Hz Hertz IC Integrated Circuit IF Intermediate Frequency IGRF International Geomagnetic Reference Field Input Output IODE Issue of Data Ephemeris IRQ Interrupt Request LF Line Feed 100 BeeLine GPSCard User Manual Rev 2 eee NovAtel F GPS Glossary of Acronyms LHCP Left Hand Circular Polarization LNA Low Noise Amplifier LO Local Oscillator 156 Least significant bit MET Multipath Elimination Technology
27. Magnetic variation the angle between the magnetic and geographic meridians at any place expressed in degrees and minutes east or west to indicate the direction of magnetic north from true north Mask angle the minimum GPS satellite elevation angle permitted by a particular receiver design Satellites below this angle will not be used in the position solution For BeeLine the mask angle is 9 degrees Matched Observation Set Pair it contains observations from both the reference station and the local receiver which have been matched by time epoch contain the same satellites and are corrected for any known offsets Measurement error variance the square of the standard deviation of a measurement quantity The standard deviation is representative of the error typically expected in a measured value of that quantity Measurement Time Epoch the local time at which a GPSCard takes a measurement Multipath errors GPS positioning errors caused by the interaction of the GPS satellite signal and its reflections Nanosecond 1 x 10 second Nautical mile any of various units of distance for sea and air navigation in the U S since 1959 an international unit of linear measure equal to 1 minute of arc of a great circle of the Earth 1 852 meters 6 076 feet Non Volatile Memory a type of memory device that retains data in the absence of a power supply Null field by NMEA standard indicates that data is not
28. Rev 2 75 A Anti Static Practices NovAtel Do not allow chargeable plastics such as binders within 0 6 m of unshielded PCBs Do not allow a PCB to come within 0 3 m of a computer monitor A 3 PRIME STATIC ACCUMULATORS Table A 1 provides some background information on static accumulating materials Table A 1 Prime Static Accumulators Work Surfaces formica waxed or highly resistive finished wood synthetic mats writing materials note pads etc Floors wax finished vinyl Clothes common cleanroom smocks personal garments all textiles except virgin wool non conductive shoes Chairs finished wood vinyl fibreglass Packing and handling common polyethylene bags wraps envelopes and bubble pack pack foam common plastic trays and tote boxes Assembly cleaning test and repair areas spray cleaners common solder sucker common solder irons common solvent brushes synthetic bristles cleaning drying and temperature chambers A 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 After you are connected to the grounded wrist strap remove the circuit board from the frame and place it on a static controlled surface grounded floor or table mat 2 Remove the repl
29. 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 System GPS full name NAVSTAR Global Positioning System a space based radio positioning system which provides suitably equipped users with accurate position velocity and time data When fully operational GPS will provide this data free of direct user charge worldwide continuously and under all weather conditions The GPS constellation will consist of 24 orbiting satellites four equally spaced around each of six different orbiter planes The system is being developed by the Department of Defence under U S Air Force management Great circle the shortest distance between any two points along the surface of a sphere or ellipsoid and therefore the shortest navigation distance between any two points on the Earth Also called Geodesic Line HDOP Horizontal Dilution of Precision A numerical value expressing the confidence factor of the horizontal position solution based on current satellite geometry Makes no constraint assumptions about time and about height only if the FIX HEIGHT command has been invoked The lower the HDOP value the greater the confidence in the solution HTDOP Horizontal position and Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geome
30. connections for the I O strobe signals and serial ports power input and two RF inputs from the GPSAntennas There is an LED above each serial port connector If an LED glows red data is being received by the ProPak BeeLine on that port while if an LED glows green data is being transmitted by the ProPak BeeLine on that port If the LED appears yellow then the ProPak BeeLine is both receiving and transmitting data Figure 12 ProPak BeeLine Hear End Cap Red Receiving Green Transmitting Yellow Both the above 30 BeeLine GPSCard User Manual Rev 2 b4 NovAtel 5 ProPak BeeLine Installation 5 1 HARDWARE CONFIGURATION Installing the ProPak BeeLine is a straightforward process As shown in Figure 13 a minimum configuration is established with the following setup Set up the GPSAntennas see GPS Antenna Considerations Page 26 Route and connect coaxial cable between the GPS Antennas and the ProPak BeeLine The primary RF cable should go from the primary antenna to the RF1 connector on the ProPak BeeLine while the secondary RF cable should go from the secondary antenna to the RF2 connector on the ProPak BeeLine Connect an RS232C communication interface to one of the serial ports of the ProPak BeeLine The supplied null modem cables are intended for RS232C communications only Connect the output of the optional power converter to the input power jack of the ProPak BeeLine F
31. contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA logs The actual format for each parameter is indicated after its description Special Format Fields Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Longitude Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution
32. enne 52 8 3 NMEA Format Data Logs sira rere t EO 40 8 amp 4 Beeline Specifie Logs eer 53 ATTA B Attitude Measurements enne enne nnne rennen 54 SBLA B Baseline Measurements 56 8 5 Other Relevant GPS Card Logs sash deeem oed uo ede n aie 59 ETSA B Extended Channel Tracking Status ees 64 GPHDG Heading Data cto e te lee iem obe 65 NAVA B Waypoint Navigation nene eene 65 POSA B Computed POSItIOB tee 66 PVAA B XYZ Position Velocity and Acceleration 2 2 2242 22 66 RCCA Receiver Gontigufation eo eerie t eee rien ee RS 67 RGEA B D Channel Range Measurements 2 68 RVSA B Receiver 1 Mme 69 SATA B Satellite Specific Data seen 69 VERA B Receiver Hardware and Software Version Numbers 70 VLHA B Velocity Latency and Direction Over Ground 70 9 Firmware Updates 72 91 Updating Using the LOADER Utility 72 9 1 1 Transferring Firmware Files 2 2 enne 72 92 2 Using the LOADER Utility seca eerte eret vs 73 APPENDICES A Anti Static Practices 75 B Technical Specifications 77 C Output Logging Example 89 D Common Unit Conversions 90 E GPS Glossary of Terms 92 F
33. for RTCA Format Messaging eee 39 6 3 2 Initialization for RTCM Format Messaging RT 20 sese 39 6 3 3 Monitoring Your Output Data 2 40 BeeLine GPSCard User Manual Rev 2 3 Table of Contents NovAtel 7 BeeLine Commands 7 1 Commands in General 7 2 BeeLine Specific Commands itii eR RO E eerte 7 2 1 Application Specific Examples 45 7 3 Other Relevant GPSCard Commands 47 ANTENNAPOWER e o a nte aie e HW re ees 47 COMDB ig cheb e petentem rede cto erdt ms 47 uu ERE RIEF AG 47 RTS EDO p Ue 47 MAGVA R ra en eere eure 47 tt er DIRE DR DEO D tre e E CI 49 SEINAM uere V m edema 49 8 NovAtel Format Logs 50 S T General Loan ete Gee aed ads iex i vetas 50 8 1 1 ASCIL Log Structure eee etre ciet 51 8 1 2 Binary Log Str ctute rn Hg re rere deb rene 51 8 2 GPS Time ys Local Receiver Time tae PNIIPmaegaetae 52 8 2 1 GPS Time vs Local Receiver Time sessi 52 8 2 2 1023 Compliant GPS Week Rollover eee 52 8 2 3 Y2K Compliant Year 2000 enne nennen
34. higher charges than natural fibres Electrostatic voltage levels on insulators may be very high in the order of thousands of volts Various electrical and electronic components are vulnerable to electrostatic discharge ESD These include discrete components hybrid devices integrated circuits ICs and printed circuit boards PCBs assembled with these devices A 2 HANDLING ESD SENSITIVE DEVICES ESD sensitive devices must only be handled in static controlled locations Some recommendations for such handling practices follow Handling areas must be equipped with grounded table floor mats and wrist or ankle straps A relative humidity level must be maintained between 20 and 80 non condensing No ESD sensitive board or component should be removed from its protective package except in a static controlled location static controlled environment and correct static control procedures required at both repair stations and maintenance areas ESD sensitive devices must be handled only after personnel have grounded themselves via wrist or ankle straps and mats Boards components should never come in contact with clothing because normal grounding cannot dissipate static charges on fabrics A circuit board must be placed into an anti static plastic clamshell before being removed from the work location and must remain in the clamshell until it arrives at a static controlled repair test center Circuit boards m
35. is not required Defined field Some fields are specified to contain pre defined constants mostoften alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard hh hhmmss ss lll ll E ol Numeric Value Fields Variable Variable length integer or floating numeric field Optional leading and trailing zeros The decimal point numbers and associated decimal fraction are optional if full resolution is not required example 73 10 273 1 073 1 73 Fixed HEX field hh Fixed length HEX numbers only MSB on the left Information Fields Variable text C C Variable length valid character field Fixed alpha field aa 2 Fixed length field of uppercase or lowercase alpha characters Fixed number X Fixed length field of numeric characters Fixed textfield cc Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid or no data available 5 The NMEA Standard requires that messa
36. length gt 6 satellites at an elevation gt 12 after 2 minutes convergence with choke ring ground plane at base station Data Logging Rates Position Data up to 5 Hz Measured Data pseudorange amp carrier phase 10 Hz Attitude Data up to 5 Hz Output Data Log Formats NovAtel proprietary ASCII and binary NMEA Standard RINEX Standard RTCM Standard Version 2 2 Types 1 2 3 9 16 18 19 20 21 59N RTCA Standard Types 1 7 Trimble CMR differential corrections Version 3 Positioning Modes of Operation Single point Waypoint navigation Pseudorange differential corrections Pseudorange amp carrier phase double differencing Receiver Control Clock drift correction Ability to save receiver configuration settings amp almanac Reset hardware or software activated Serial port control Datum table or user definable Magnetic variation model or user defined correction Undulation table or user definable Position height attitude amp velocity constraints Satellite health lockout and elevation cutoff control Strobes Mark input position amp time 1PPS timing output Measurements strobe User defined frequency output pulse train Solution status output 12 BeeLine GPSCard User Manual Rev 2 NovZtel 2 Functional Overview FUNCTIONAL OVERVIEW The BeeLine GPSCard consists of a radio frequ
37. military GPS receivers to determine the range to the transmitting GPS satellite Uses a chipping rate of 10 23 MHz PDOP Position Dilution of Precision This is related to GDOP It describes the effects of geometry on 3 dimensional positioning accuracy It is defined to be the square root of the sum of the three diagonals of a normalized assume measurement noise 1 covariance matrix which correspond to position error Pitch the rising and falling of the bow and stern of a ship in a rough sea or the movement up or down of the nose and tail of an airplane 96 BeeLine GPSCard User Manual Rev 2 NovZltel E GPS Glossary of Terms Precise Positioning Service PPS the GPS positioning velocity and time service which will be available on a continuous worldwide basis to users authorized by the U S Department of Defence typically using P Code PRN number a number assigned by the GPS system designers to a given set of pseudorandom codes Typically a particular satellite will keep its PRN and hence its code assignment indefinitely or at least for a long period of time It is commonly used as a way to label a particular satellite Pseudolite an Earth based transmitter designed to mimic a satellite May be used to transmit differential corrections Pseudorange the calculated range from the GPS receiver to the satellite determined by taking the difference between the measured satellite transmit time and th
38. newer than the one stored in memory BeeLine GPSCard User Manual Rev 2 61 8 NovAtel Format Logs NavZtel Bit 22 Almanac Invalid 1 No almanac in use 0 Valid almanac in use Bit 23 Position Solution Invalid 1 Position solution is not valid 0 Valid position computed Bit 24 Position Fixed 1 A fix position command has been accepted 0 Position has not been fixed Bit 25 Clock Model Invalid 1 Clock model has not stabilized 0 Clock model is valid Bit 26 Clock Steering Disabled 1 Clockadjust disable command has been accepted 0 Clockadjust is enabled Table 10 Channel Tracking Status 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 o Bit Description Range Values Hex Isb 0 1 Tracking state 0 11 See below 0 0 first n last Channel number n depends on GPSCard Phase lock flag 1 Lock 0 Not locked 200 Code locked flag 1 Lock 0 Not locked 8 1000 Correlator spacing 0 7 See below 2000 4000 O GPS 3 Pseudolite GPS 8000 Satellite system 1 GLONASS 4 7Reserved 10000 1 2 4 8 10 20 40 80 100 oo Hoo Antenna 1 Secondary 0 Primary 40000 Grouping 1 Grouped 0 Not grouped 80000 Frequency 1 L2 0 L1 100000 0 2 P codeless 200000 1 3 Reserved 400000 Forward error correction 1 FEC enabled 0 no 800000 2 External range 1 Ext range 0 Int range 11 31 assignment 1
39. normal range Failure of this test could be the result of various possibilities such as bad antenna LNA excessive loss in the antenna cable faulty RF downconverter or a pulsating or high power jamming signal causing interference If this bit is continuously set clear and you cannot identify an external cause for the failed test please contact NovAtel Customer Service Secondary Jammer Detection Normal operation is indicated when this bit is 0 If set to 1 the receiver has detected a high power signal causing interference When this happens the receiver goes into a special anti jamming mode where it re maps the A D decode values as well as special SECONDARY AGC feedback control These adjustments help to minimize the loss that will occur in the presence of a jamming signal You should monitor this bit and if set to 1 do your best to remedy the cause of the jamming signal Nearby transmitters or other electronic equipment could be the cause of interference you may find it necessary to relocate your antenna position if the problem persists Secondary PLL When the Secondary RF downconverter passes self test the bit will be set to 1 If a fault is detected in the Secondary RF downconverter this bit is set to 0 Reserved Saved Almanac Needs Update When the almanac received is newer than the one currently stored in NVM non volatile memory the bit will be set to 1 This bit will be set to 0 if an almanac has not been received that is
40. of each argument 2 Defa 44 ATTMODE reset default default static kinematic kinematic constrain pitch constrain pitch 0 90 pitch 90 to 90 degrees pitch variation 0 to 90 degrees constrain azimuth constrain azimuth 0 180 azimuth 0 to 360 degrees azimuth variation 0 to 180 degrees constrain_velocity constrain_vleocity disable switch enable or disable apply_azimuth_bias apply_azimuth_bias 0 azimuth_bias 0 to 360 degrees apply_pitch_bias apply_pitch_bias 0 pitch_bias 90 to 90 degrees vel_azimuth_misalignment vel_azimuth_misalignment 0 180 misalignment 0 to 360 degrees misalignment variation 0 to 360 degrees known_baseline_length unknown baseline length unknown baseline length length 0 500 m low multipath medium multipath medium multipath high multipath ATTMODE RESET causes the BeeLine filter to undergo a complete reset Example attmode reset ATTMODE DEFAULT when issued all attitude parameters are returned to their default values Example attmode default ATTMODE STATIC forces the BeeLine software to treat the system as if it were stationary regardless of the output of the motion detector The performance can be increased by declaring STATIC mode when the BeeLine system is not undergoing any motion other than vibration For reliable performance the antenna should not move more than 5mm when in STATIC mode Example
41. off mask angle is employed therefore a range reject code of 6 indicates that the satellite is below the mask angle BeeLine GPSCard User Manual Rev 2 69 8 NovAtel Format Logs NavZtel SATA Structure SSATA week seconds solution status satellite obs prn azimuth elevation range residual reject code prn azimuth elevation range residual reject code CR LF Note 1 See Table 5 Page 58 2 See Table 11 Page 63 Example SSATA 929 164100 00 O0 8 4 322 89 16 57 2 476 0 25 63 01 46 39 3 596 0 16 299 26 47 72 15 356 0 29 89 61 59 27 3 138 0 18 279 18 16 62 6 097 0 30 30 62 9 43 5 654 0 22 140 76 30 89 6 827 0 14 235 60 73 11 13 383 0 22 VERA B Receiver Hardware and Software Version Numbers This log contains the current hardware type and software version number for the GPSCard The VERA example was produced using BeeLine Together with the RVSA B log Page 69 it supersedes any previous receiver status logs VERA Structure SVERA week seconds version X CR LF Example 933 160444 50 6 BEELINE SNL97500002 HW 3 1 SW 7 44512 2 03DB Nov 20 97 73 VLHA B Velocity Latency and Direction over Ground The actual speed and direction of the primary antenna over ground is provided The VLHA B log provides a
42. replacement or product repair at an authorized NovAtel loca tion only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NovAtel s SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLA TION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMI TIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NovAtel s SPECIFICATIONS OR AUTHORIZED BY NovAtel III NOR MAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PER SON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NovAtel IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NovAtel AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR
43. second can occur A NOTE These quantities are always referenced to the WGS84 ellipsoid regardless of the use of the DATUM or USERDATUM commands PVAA Structure SPVAA week seconds Pos x Pos y Pos z Vel x Vel y Vel z Acc x 2 Pos status Vel status Acc status CR LF Note 1 0 bad 1 good Example SPVAA 845 344559 00 1634953 141 3664681 855 4942249 361 0 025 0 140 0 078 0 000 0 000 0 000 1 1 1 02 RCCA Receiver Configuration This log outputs a list of all current GPSCard command settings It will include BeeLine GPSCard configurations Observing this log is a good way to monitor the GPSCard configuration settings The log is used to view the current configuration of the BeeLine GPS Card receiver The log will identify the setting of every user configurable parameter including the baseline length between BeeLine antennas This is useful since you can check to verify whether the correct value has been entered or calculated Upon initial power up the receiver will normally begin calculating the baseline length between the antennas An excerpt from the RCCA log will look something like this POSAVE DISABLE 59 SRCCA RTKMODE DEFAULT 16 SRCCA ATTMODE DEFAULT 1A SRCCA CONFIG BEELINE 55 SRCCA This indicates that the BeeLine system is currently calculating the baseline length Azimuth generation wil
44. see Table 4 4 unsigned long 92 Table 4 Attitude Type no attitude good 2D floating attitude solution good 2D integer attitude solution floating ambiguity attitude solution with line bias known fixed ambiguity attitude solution with line bias known BeeLine GPSCard User Manual Rev 2 55 8 NovAtel Format Logs NovAtel SBLA B Baseline Measurements This log contains the most recently matched baseline data representing the vector between the two antennas SBLA Structure SSBLA week seconds fsv high svs reserved dx dy dz std dx std dy std dz soln status rtk status vec type KRX CR LF Field Field type Data Description Example 1 SBLA Log Header SBLA 2 week GPS week number 929 3 Seconds GPS time into the week in seconds 160940 00 4 Number of matched satellites may differ from the number in view 8 5 high svs Number of matched satellites above the 9 degrees mask angle 8 6 reserved Reserved for future use 1 0 7 dx ECEF X baseline component in meters 3 2088 8 dy ECEF Y baseline component in meters 3 0425 9 dz ECEF Z baseline component in meters 1 2075 10 std dx Standard deviation of dX solution element in meters 0 0092 11 std dy Standard deviation of dY solution element in meters 0 0128 12 std dz Standard
45. square root of the diagonal of a normalized assume measurement noise 1 covariance matrix which corresponds to vertical position error Variable field by NMEA standards a data field which may or may not contain a decimal point and which may vary in precision following the decimal point depending on the requirements and the accuracy of the measuring device WGS84 World Geodetic System 1984 is an ellipsoid designed to fit the shape of the entire Earth as well as possible with a single ellipsoid It is often used as a reference on a worldwide basis while other ellipsoids are used locally to provide a better fit to the Earth in a local region GPS uses the center of the WGS84 ellipsoid as the center of the GPS ECEF reference frame Waypoint a reference point on a track Wide Lane a particular integer ambiguity value on one carrier phase range measurement or double difference carrier phase observation when the difference of the L1 and L2 measurements is used It is a carrier phase observable formed by subtracting L2 from L1 carrier phase data The corresponding wavelength is 86 2 cm BeeLine GPSCard User Manual Rev 2 99 F GPS Glossary of Acronyms NorAtei GPS GLOSSARY OF ACRONYMS 1PPS One Pulse Per Second 2D Two Dimensional 2DRMS Twice distance RMS 3D Three Dimensional A D Analog to Digital ADR Accumulated Doppler Range AGC Automatic Gain Control ASCII American Standard Code for Information
46. status 1 solution status CR LF Note 1 See Table 12 2 See Table 5 Page 58 2L Table 12 Navigation Status Ve ejt e 0 Good 1 No velocity 2 Bad navigation calculation Example SNAVA 640 333115 00 6399 6305 88 017 6396 9734 184 3929 657 51514 000 0 1 11 CR LF BeeLine GPSCard User Manual Rev 2 65 8 NovAtel Format Logs NovAtel See Figure 17 for an illustration of navigation parameters Figure 17 Navigation Parameters Reference Description Reference Description A FROM lat lon F Current GPS position B TO lat lon FD Current distance and bearing from F to D AB Great circle line drawn between E Xtrack perpendicular reference point FROM A lat lon and TO B lat lon EF Xtrack error from E to F AC Track offset from A to C perpendicular to CD BD Track offset from B to D FG Along track from F to G CD Offset track to steer parallel to AB perpendicular to BD H Variation local MAGVAR correction 20 Magnetic bearing J True bearing True bearing 70 Magnetic bearing True MAGVAR correction 70 20 50 POSA B Computed Position This log will contain the last valid position and time calculated referenced to the primary antenna phase center The position is in geographic coordinates in degrees based on your specified datum default is WGS84 The height is referenced to mean sea level The receiv
47. the FREQUENCY OUT command in the MiLLennium Command Descriptions Manual with pulse width from 100 ns to 6 55 ms This is a normally high active low pulse There may be as much as 50 ns jitter on this signal PPS Output A one pulse per second time synchronization output This is a normally high active low pulse 1 ms 50 ns where the falling edge is the reference Measure Output 10 pulses per second output normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe Mark 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 refer to the LOG command syntax ONMARK in the MiLLennium Command Descriptions Manual Status Output Indicates a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command has been set refer to the FIX POSITION command in the MiLLennium Command Descriptions Manual RESETOUT Polarity positive pulse 140 ms x pulse duration lt 280 ms RESETIN A high to low transition causes a system reset The electrical specifications of the strobe signals are as follows Output Voltage Standard TTL levels Sink Current 64 mA Source Current 15 mA Input Voltage Standard TTL levels Current lt 5mA 80 BeeLine GPSCard User Manual Rev 2
48. the true antenna position containing 50 percent of the points in the horizontal scatter plot Checksum by NMEA standard a validity check performed on the data contained in the sentences calculated by the talker appended to the message then recalculated by the listener for comparison to determine if the message was received correctly Required for some sentences optional for all others Circular Error Probable CEP the radius of a circle centered at the user s true location that contains 50 percent of the individual position measurements made using a particular navigation system 92 BeeLine GPSCard User Manual Hev 2 Noite E GPS Glossary of Terms Coarse Acquisition C A Code a spread spectrum direct sequence code that is used primarily by commercial GPS receivers to determine the range to the transmitting GPS satellite Uses a chip rate of 1 023 MHz Communication protocol a method established for message transfer between a talker and a listener which includes the message format and the sequence in which the messages are to be transferred Also includes the signalling requirements such as bit rate stop bits parity and bits per character Control segment the Master Control Station and the globally dispersed reference Stations used to manage the GPS satellites determine their precise orbital parameters and synchronize their clocks Course the horizontal direction in which a vessel is to b
49. this chapter 6 1 4 Getting Started Included with your BeeLine GPSCard are NovAtel s GPSolution and Convert and Loader programs together with their on line help GPSolution is a Microsoft Windows based graphical user interface which allows you to access the BeeLine s many features without struggling with communications protocol or writing special software GPSolution automatically recognizes the model of BeeLine GPSCard that you are using and adjusts the displays accordingly Figure 15 shows a sample GPSolution screen The Convert utility is a Windows based utility that allows you to convert between file formats and strips unwanted records for data file compilation Figure 15 Sample GPSolution Screen Thi Fere eet antes BeeLine GPSCard User Manual Rev 2 35 6 Operation NovAtel GPSolution s View menu options allow you to select or de select various visual aids and display screens Take a look at all of the options and keep open those you wish to display To send commands and log data the Command Console dialog should be visible ASCII format logs can be monitored on the ASCII Record dialog e g On the command line of the Command Console issue the command log atta After you hit the Enter key the ASCII Record dialog will display the output for your current attitude See Chapter 8 Page 54 for the ATTA B log description GPSolution is provided to facilit
50. 0 220 V AC and 50 60 Hz The power input is reverse polarity protected Refer to Table B 3 Page 82 for further information A WARNING ProPak BeeLine will suspend operation if the voltage supplied falls outside the input range of 10 to 36 V DC Mounting Considerations A mounting kit is provided with the ProPak BeeLine to facilitate mounting it to a surface The mounting kit includes the following materials four self tapping screws 10 16 x 15 LG two wood screws 10 x Man LG four flat screws M3 x 8 90 countersink aluminum mounting plate see Appendix B Section B 2 3 Mounting Plate Page 86 First the mounting plate needs to be attached to the ProPak BeeLine enclosure There are two channels running the length of the bottom of the ProPak BeeLine enclosure In each of these channels there are two rectangular nuts held in place by grub screws These four nuts are factory positioned so that the mounting plate can be attached to the ProPak BeeLine enclosure using the four flat screws Please ensure that the four flat screws are mounted from the countersunk side of the mounting plate Once the plate has been attached to the ProPak BeeLine enclosure the entire assembly can then be mounted onto a surface using either the four self drilling screws through the screw mount holes or the two tapping screws through the quick mount holes A WARNING mounting kit is not designed for use in high dynamics or high vi
51. 0 63 67 69 79 89 92 98 E 15 24 36 47 51 54 59 60 61 100 SANCIRE o oe RR die 33 34 84 85 102 software version 2 70 Space Vehicle Number 101 SDeed E E 14 70 93 97 strobe port cable see 33 83 Strobe signals sse 14 25 30 80 T e idee tbe idest 70 TDOP einst TT 93 95 98 time accuracy k eee 79 timing strobes essent 22 jure MUERE 83 93 98 37 61 64 67 68 78 79 92 93 96 isi RA AA Mbit 15 18 50 trie MOTD ise ic 47 48 92 95 96 98 U ndulation So eee reris 12 98 UTC iet etie INIM e oe RS 52 99 V aide eerte eene se 15 23 25 81 101 eere RESO ES 93 99 101 e eere een e e IR 12 18 58 66 67 70 71 79 94 97 quality Stats iere ro tee E pe Er EeePC VIDratiOB s ete brine eee tees 21 82 83 voltae 24 25 32 75 78 80 82 87 W Way OI ice e e Re me 12 37 49 65 92 93 96 97 99 101 WGSBS4 i decenni 49 66 67 99 wire harness aen 21 22 24 25 BeeLine GPSCard User Manual Rev 2 107 NovAtel NovAtel Inc Recyclable 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 aS lt gt GPS Hotline 1 800 NOVATEL Canada 0 5 only GPS Fax 403 295 4901 Printed in Canada on
52. 0000 22 1 invalid 0 valid 00400000 23 1 invalid 0 valid 00800000 25 1 invalid 0 valid 02000000 26 1 disabled 0 enabled 04000000 27 lt lt lt o 3 o o o Notes on Table 9 1 Bit 3 On OEM GPSCards includes all forms of non volatile memory 2 Bits 12 15 Flag is reset to 0 five minutes after the last overrun overload condition has occurred 3 Bits 1 5 11 Refer to the primary L1 RF digital path 4 Bits 17 19 Refer to the secondary L1 RF digital path BeeLine GPSCard User Manual Rev 2 59 8 NovAtel Format Logs NovAtel Receiver Status Detailed Bit Descriptions of Self Test Table 9 Bit 0 1 Bit 6 Bit 7 1 0 Antenna This bit will be set good if the antennas are drawing the appropriate amount of current from the GPSCard antenna jacks Overcurrent is tested not undercurrent If either or both antenna connections are shorted together then this bit will be clear 0 indicating a possible antenna port problem Primary PLL When the PRIMARY RF downconverter passes self test the bit will be set to 1 If a fault is detected in the PRIMARY RF downconverter this bit is set to 0 RAM When this bit is set to 1 the receiver RAM has passed the self test requirements If the bit has been set to 0 then RAM test has failed please contact NovAtel Customer Service ROM Note ROM includes all forms of non volatile memory NVM
53. 1 m baseline however time to resolution will increase Caution If the length of the inter antenna baseline is increased significantly beyond a few metres the reliability of the system will decrease This is true because the accuracy of the inter antenna distance is harder to maintain and because the pitch and velocity constraints are less effective in eliminating incorrect solutions if the antennas are spread too far apart e mount the antennas on secure stable structures capable of safe operation in the specific environment measure the distance between the two antennas and put it into the system see Chapter 7 Page 42 the ATTMODE arguments KNOWN BASELINE LENGTH and UNKNOWN BASELINE LENGTH It is strongly recommended that you measure the distance yourself 4 6 1 Primary and Secondary Antennas The primary antenna is assumed to be at the geometric center of the structure that is in motion System positions whether in single point differential or RT 20 mode are generated for only the primary antenna The secondary antenna is assumed to be located in the positive direction along the axis of interest for example in Figure 8 the roll axis Figure 8 Antenna Orientation shows a supertanker s coordinate system and orientation of attitude angles Figure 8 Antenna Orientation Y Reference Description Reference Description 1 Primary antenna 3 Pitch axis perpendicular to roll axis clockwise 2 Secondary antenna 4 Azi
54. 15 20 30 line bias 9 10 17 45 55 58 ENA ess 13 14 20 23 24 25 47 60 61 78 81 82 101 longitude eu uere 53 93 96 loop control eene 15 M magnetic variation 2 2 36 38 47 48 54 55 96 m rk put uS 80 81 56 57 69 96 master control station sse 93 mean sea level bes 66 94 101 13 miscelosute REIS 63 97 MOJEM 31 33 102 MOUNUNG ter a eee a 11 16 20 21 22 32 83 86 mounting bracket see 102 mounting plate 29 32 86 multipath 11 14 68 96 101 GPSCard User Manual Rev 2 105 H Index NavZtel N Narrow Correlator tracking technology 11 12 63 11 12 15 37 49 65 67 92 94 98 100 101 NANSTAR 95 12 38 53 80 non volatile memory 2 59 60 61 68 72 96 null modem 17 29 31 33 34 84 102 Offselu ice pa HERE EOS Te EE 38 49 50 52 55 57 93 96 operational configuration 34 output pulse 12 P PDOP sei hed oes 79 93 96 101 phase accuracy ERREUR RR 79 phase lock 101 E AAE 11 12 16 18 26 27 42 50 54 55 63 79 polarity sas e RUE 24 32 80 12 15 16 17 19 25 29 30 31 33 38 41 47 50 51 60 72 74 83 position
55. 202 0 000 0 155 0 161 0 000 2 2B 00 8 8 0 3 2088 2 0425 1 2075 0 0092 0 0128 0 0135 0 1 4 25 PRTKA 929 160940 00 0 000 8 0 0 51 11632379566 114 03814200794 1050 7277 l6s2714 6 SBLA 929 164100 1 18 9419 17 2991 42 6683 0 10 1 16 0 55 U0 8 873 2051 3 0489 L 2077 0 0121 0 0150 1 4 2F PRTKA 929 164100 00 0 000 8 0 0 51 11624673005 114 0 485152816 1073 2384 16 2709 6 DOPA 929 SATA 929 4 322 89 16 299 26 18 279 18 22 140 76 ETSA 929 4 2E04 1 4 42E14 25 2E24 25 42534 16 44 16 E54 29 64 29 E74 18 84 18 E94 30 3EA4 30 EBA 22 2EC4 22 ED4 14 E4 14 EFA BHO BM aS aS ND aS ND ANY aS NO E NO Dd NO Ed NO Ed NO Ed NO EH 164041 16 57 4 445 1 1446 7 2 2188 2059 2 2060 7 1578 3364 4 3365 5 2411 1 27084 2925 0 2926 1 207 206 5 164100 00 Wd 16 62 30 89 164100 00 9052 1 28 8863 19 06101 47 6908 010 1 24 0 55 05 2 0805 1 8269 1 4708 1 020998 0 9955 90 4 25 16 29 18 30 22 14 1Y 0 8 2 476 0 15 356 6 097 0 6 827 0 0 16 45 035 2 476 1198 1 24134 41 569 0 000 1196 8 24134921 48 14 48 623 3 596 4759 0 21665319 01 50 119 0 000 4760 8 21665323 94 9 170 15 356 4782 5 21498234 70 49 719 0 000 4772 5 21498234 67 49 370 3 138 4752 4
56. 26 nere eb duds 21 75 ASCI 3 ela 12 36 50 51 52 92 96 100 at t de 9 11 12 15 26 27 36 42 43 50 54 55 79 axis of 11 26 27 9 11 12 16 18 26 42 50 54 55 67 70 79 92 B baseline length sese 12 17 36 39 40 67 Battery iet ee Una ly ivre PINAY 55 255 ee tei e ERAS log header URED dee efte a buffer overload iere ette 51 C A COde 5 cite dle 11 15 79 98 100 CINO icta e BRE 68 79 83 Cala Tate xs sik eee eret tees 43 BeeLine GPSCard User Manual Rev 2 103 H Index NavZtel eee EHE 11 12 15 60 68 79 92 97 99 channel 12 15 32 36 37 41 62 64 68 79 89 94 96 97 98 tracking cet mtt teintes 37 63 64 Ghli cks nm eben es 51 54 57 92 94 96 choke ring ground plane 11 12 79 tees on ees ere ia 12 13 20 52 60 62 68 78 81 93 94 97 Offset ER E 52 97 coaxial cables bee tied cer 11 14 16 20 21 27 29 31 com 61 POLE Sica ines de ORNL S RT 47 communications port 15 22 communications protocol 25 33 configuration 11 12 14 17 20 21 24 25 27 31 34 37 49 51 67 73 83 configure 15 24 34 3
57. 7 38 47 74 constellation 11 37 95 contr l segment uicit He 93 CONVENE ios 29 31 32 88 102 S rns tice deni 14 DCI DC i tas OS 31 32 88 102 DC DC 22 39 DC DG oa St SERRE NN 32 coordinates 38 49 93 95 course over 93 o ERR Bod e 11 13 51 61 100 overload xe ESSI E 51 61 CIOSSAFACK eee eH diee 93 D datum 12 49 66 67 95 DC Ass 13 14 17 20 23 32 DC DC 32 default 12 15 24 34 37 42 43 47 49 50 51 74 80 delay lock loop eee 101 differential COTITECUOTIS 12 33 50 59 70 97 positioring ute atte 15 97 digital electronics 13 14 17 direction 9 14 26 35 47 92 93 94 95 96 98 over ground os espe ees 70 distance be e eee en 27 44 49 58 65 66 90 92 93 95 96 98 100 Dopplet 60 94 100 double differencing sss 12 97 DSP EUG 14 60 100 E BCELE ath etre e obe tee 56 66 94 99 100 electrostatic discharge ESD 6 21 75 76 100 elevation test 12 70 79 96 97 ellipsoid 49 67 94 95 98 99 63 94 98 100 equipment configuration 2 2 2 21 EITOL message ise eter edes 36 38 61 68 93 95 96 98 e
58. 829 64 14 14 2EE4 207 9 49 440 13 383 4786 9 20366585 27 0 14 42EF4 206 5 51 304 0 000 4790 0 20366588 40 14 29 64 BeeLine GPSCard User Manual Rev 2 NovAtel 8 NovAtel Format Logs GPHDG Heading Data Magnetic heading and magnetic correction data This is an NMEA format data log The NMEA structures follow format standards as adopted by the National Marine Electronics Association Structure SGPHDG magnetic heading heading correction heading correction indicator magnetic correction magnetic correction indicator CR LF Example SGPHDG 294 7 0 0 E 0 0 E 56 CR LF 1 National Marine Electronics Association NMEA 0183 Standard for Interfacing Marine Electronic Devices Version 2 00 January 1 1992 Reference NMEA Executive Director P O Box 50040 Mobile Alabama 36605 U S A Website http www4 coastalnet com nmea NAVA B Waypoint Navigation Data This log reports the status of your waypoint navigation progress It is used in conjunction with the SETNAV command A REMEMBER The SETNAV command must be enabled before valid data will be reported from this log NAVA Structure SNAVA week seconds distance to destination bearing to destination along track xtrack estimated week at destination estimated seconds at destination navigation
59. 9 and Table 9 Page 59 for receiver self test status codes If no LNA power is required remove the jumper at P301 completely In contrast to the physical jumper settings it is the ANTENNAPOWER command which actually enables or disables the supply of electrical power from the internal power source of the card to Pin 1 of jumper P301 By default ANTENNAPOWER ON Table 2 Page 25 illustrates the usage of this command in relation to the jumper position The setting of this command will also affect the way the BeeLine s self test diagnostics report the antennas status please see the description of the ANTENNAPOWER command Page 47 24 BeeLine GPSCard User Manual Rev 2 Noite 4 BeeLine GPSCard Installation Table 2 Antenna LNA Power Configuration P301 plug conne D P301 plug conne D BeeLine powers antennas internal power External power connected to LNA connected to LNA BeeLine does not power antennas internal External power connected to LNA power cut off from LNA A CAUTION e The P301 jumper plug must be jumpered to the external position pins 2 and 3 before external LNA power is connected to pin 4B of the 64 pin wire harness connector to prevent power from feeding back into the receiver Should it be necessary due to extended length antenna cable to supply external power to GPS Antennas or to use an optional in line LNA amplifier be careful not to exceed the voltage ratings of either the anten
60. ANY PARTICULAR PURPOSE ARE EXCLUDED NovAtel SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE OR EXPENSE ARISING DIRECTLY OR IN DIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PROD UCTS OR SERVICES IN NO EVENT SHALL NovAtel BE LIABLE FOR SPECIAL INDIRECT INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the BeeLine GPSCard receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc You must obtain a Return Material Authorization RMA number by calling the NovAtel Customer Service Department at 1 800 NOV ATEL U S and Canada only or 403 295 4900 before shipping any product to NovAtel or a Dealer Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return all original diskettes along with the defective product in the original packaging to avoid ESD and shipping damage 6 BeeLine GPSCard User Manual Rev 2 NovAtel Customer Service CUSTOMER SERVICE If you require customer service please provide the following information along with a detailed description of the problem when you call or write Serial No Model No Software Release No Date Purchased Purchased from User name Title Co
61. Card using special commands see Quick Start Page 16 In turn the BeeLine GPSCard presents information to you in the form of pre defined logs in a number of formats In addition when a BeeLine GPSCard is linked to a NovAtel GPSCard receiver or second BeeLine GPSCard for differential positioning they can communicate directly through their serial ports BeeLine GPSCard User Manual Rev 2 15 3 Quick Start NovAtel QUICK START The total system consists of a BeeLine receiver a pair of antennas on a fixed baseline cables and a PC 1 Prepare the BeeLine card so that it is complete with mounting and wiring interfaces and ready for operation as described in Chapter 4 BeeLine GPSCard Installation Page 20 If you purchased a ProPak BeeLine it is ready for immediate operation see Chapter 5 ProPak BeeLine Installation Page 29 Mount the antennas such that the distance between them is fixed and the line between them is parallel to the structure s axis of interest One antenna is the Primary antenna 1 while the other is the Secondary antenna 2 as seen in Figure 3 In the top diagram of Figure 3 the azimuth angle 90 degrees because the secondary antenna is on an axis 90 degrees to the direction of motion and the roll angle are measured while in the lower diagram which is the usual configuration the azimuth and pitch angles are measured For more examples of antenna orientation see the case studies starting on Page 45
62. Correlator are registered trademarks of NovAtel Inc All other brand or product names are either trademarks or registered trademarks of their respective holders Copyright 1999 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable SO 2 BeeLine GPSCard User Manual Rev 2 Table of Contents TABLE OF CONTENTS Warranty Policy 6 Customer Service 7 Notice 8 Foreword 9 Congratulations ete eere eto tene On pee Rb ee Butts 9 Np 9 Prer quisit S c aether toe 9 Whats New 4t teh itte dom ee tuse iege e ertet 9 1 Introduction 2 Functional Overview 2 1 5 neget e ie eee 2 2 Principal Power Supply ud 2 3 Optional LNA Power Supply eie nane he EE He e ete 14 2 4 Radio Frequency RF Section eese tete tenente nennen een nennen 14 2 5 Digital Electronics Section eee een e t EE PH oe Ee etre n 14 3 Quick Start 16 4 BeeLine GPSCard Installation 20 4 1 Minimum Configuration eoo eoi iet d Ron Peta tp Meet des 21 4 2 Anti Static Precautions 4 3 Installation Procedure een ert ORE E Se hr RE 4 4 Mounting The Printed Circuit Board esee 21 4 5 Preparing the Data Signal amp Power Harness eese e
63. Forced 0 Automatic Code type 62 BeeLine GPSCard User Manual Rev 2 rS e NovAtel 8 NovAtel Format Logs Table 10 Bits 0 3 Channel Tracking State L1 Idle L1Sky search L1 Wide frequency band pull in L1 Narrow frequency band pull in 1 Phase lock loop L1 Re acquisition L1Steering L1 Frequency lock loop Higher numbers are reserved for future use Table 10 Bits 12 14 Correlator Spacing e 0 Unknown this only appears in versions of software previous to x 4x which didn t use this field 1 Standard correlator spacing 1 chip 2 Narrow Correlator tracking technology spacing lt 1 chip Higher numbers are reserved for future use Table 11 GPSCard Range Reject Codes Observations are good Bad satellite health is indicated by ephemeris data Old ephemeris due to data not being updated during last 3 hours Eccentric anomaly error during computation of the satellite s position True anomaly error during computation of the satellite s position Satellite coordinate error during computation of the satellite s position Pitch error due to the satellite being below the cutoff angle 9 degrees Misclosure too large due to excessive gap between estimated and actual positions No differential correction is available for this particular satellite
64. GPS Glossary of Acronyms 100 4 BeeLine GPSCard User Manual Rev 2 NovAtel Table of Contents G Replacement Parts and Accessories 102 H Index 103 FIGURES 1 Th Beeline Concepts uii ettet erret toit d ie nite ein 11 2 BeeLine GPSCard System Functional Diagram 2 13 3 Quick Antenna Orientation 11 221 2 1 00000000000 enne enhn ener 16 4 NovAtel Coaxial and Serial Cables essere eene enne 17 5 System Configuration ide t e Hei ete tib ede 20 6 Edgeview of Connector on the BeeLine esee 23 7 ENA P ower Jumper P30 L ttim rte eimi o HERR Re E debate eee 24 8 Antenna Orientation rennen BAR ee en a ee ae oie 26 9 Azimuth and Pitch Orientation s ro eeose spere een eene iet eee 27 10 ProPak BeeLine Enclosure 0 1 eren 29 11 ProPak Beel ine Bront End Cap e oie eR em Diete c teens 30 12 ProPak BeeLine Rear End Cap eese 30 13 Typical ProPak BeeLine Installation Configuration 31 14 Typical Operational Configuration ennen rene 34 19 Sample GPSol tion Screen eee imei tie eet ete Sect A le reb e 35 16 Illustration of Magnetic Variation amp Correction sese 48 17 Navigation Parameters enne qp eaqueipsa merus 66 18 Screen of LOADER Program 2
65. NovAtel OM 20000024 Rev 2 BeeLine GPSCard User Manual GPSolution ine Beta Plan Settings View Window Help x5 EET m m i Mel Sala Cami mmi Cmi prem 1 NovAtel Inc NovAtel BeeLine GPSCard User Manual Publication Number OM 20000024 Revision Level 2 99 02 18 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 license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication GPSCard GPSAntenna RT 20 and BeeLine are trademarks of NovAtel Inc NovAtel GPSolution MiLLennium ProPak and Narrow
66. RAIN PITCH ATTMODE CONSTRAIN AZIMUTH ATTMODE VEL AZIMUTH MISALIGNMENT ATTMODE CONSTRAIN VELOCITY ATTMODE LOW MULTIPATH ATTMODE MEDIUM MULTIPATH ATTMODE HIGH MULTIPATH ATTMODE APPLY AZIMUTH BIAS ATTMODE APPLY PITCH BIAS For more information on the ATTMODE command and a description of these syntaxes please see Chapter 7 BeeLine Commands Page 41 Also new in this revision e Passive antennas are no longer supported active antennas are required The commands ATTMODE AUTO DYNAMICS and ATTMODE CALIBRATE BASELINE LENGTH are no longer available The commands ATTMODE KINEMATIC and ATTMODE UNKOWN BASELINE LENGTH are now the defaults respectively 10 BeeLine GPSCard User Manual Rev 2 b4 NaovZtel 1 Introduction INTRODUCTION The BeeLine GPSCard is a single stand alone printed circuit board with integrated radio frequency RF and digital sections It is a high performance GPS receiver capable of receiving and tuning to the L1 C A code and L1 carrier phase of up to 8 GPS satellites from two separate antennas One antenna is the BeeLine system s primary antenna and the other is the system s secondary antenna The use of a primary and secondary antenna is described in GPSAntenna Considerations Page 26 The system will function best with two active antennas The performance specifications of the BeeLine GPSCard are only warranted when two NovAtel active antennas are used The BeeLine GPSCard can be used for both single po
67. S receivers L2 frequency a secondary GPS carrier containing only encrypted P code used primarily to calculate signal delays caused by the ionosphere The L2 frequency is 1227 60 MHz 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 Local Observation Set an observation set as described below taken by the receiver on which the software is operating as opposed to an observation taken at another receiver the reference station and transmitted through a radio link Local Tangent Plane a coordinate system based on a plane tangent to the ellipsoid s surface at the user s location The three coordinates are east north and up Latitude longitude and height positions operate in this coordinate system Low latency Solution a position solution which is based on a prediction A model based on previous reference station observations is used to estimate what the observations will be at a given time epoch These estimated reference station observations are combined with actual measurements taken at the remote station to provide a position solution BeeLine GPSCard User Manual Rev 2 95 E GPS Glossary of Terms Note Magnetic bearing bearing relative to magnetic north compass bearing corrected for deviation Magnetic heading heading relative to magnetic north
68. TTMODE CONSTRAIN PITCH 0 000 10 000 ATTMODE VEL AZIMUTH MISALIGNMENT 0 000 20 000 ATTMODE CONSTRAIN VELOCITY ENABLE Consider a static application with severe multipath because the antennas are within 7 meters of a tall building An azimuth constraint command could be used as the orientation of the antenna axis is known to be very close to due north ATTMODE KNOWN BASELINE LENGTH 2 000 ATTMODE CONSTRAIN PITCH 0 000 5 000 ATTMODE CONSTRAIN AZIMUTH 0 000 10 000 ATTMODE HIGH MULTIPATH Note that the azimuth is constrained to due north within a tolerance of 10 degrees To disable the azimuth contstraint the following command is given ATTMODE CONSTRAIN AZIMUTH 0 000 180 000 And similarly the constrain pitch is disabled via ATTMODE CONSTRAIN PITCH 0 000 90 000 Consider a helicopter application with the primary antenna mounted over the rotor and the secondary antenna mounted on the tail The following set of commands could be given Note that there is no velocity constraint because the amount of crab angle the apparent sideways motion of an aircraft with respect to the ground when headed into a crosswind experienced by a helicopter can be significant Also the variation on the pitch expected on a helicopter 50 degrees makes the pitch constraint unusable for such a long baseline ATTMODE KNOWN BASELINE LENGTH 6 512 ATTMODE APPLY AZIMUTH BIAS 180 000 ATTMODE APPLY PITCH BIAS 35 000 In a shipboard application a shorter baselin
69. Time DOP latitude longitude time HDOP Horizontal DOP latitude longitude VDOP Vertical DOP height only TDOP Time DOP clock offset BeeLine GPSCard User Manual Rev 2 93 E GPS Glossary of Terms Nolte Doppler the change in frequency of sound light or other wave caused by movement of its source relative to the observer Doppler aiding a signal processing strategy which uses a measured Doppler shift to help a receiver smoothly track the GPS signal to allow more precise velocity and position measurement Double Difference a position estimation mechanization which uses observations which are differenced between receiver channels and between the reference and remote receivers Double Difference Carrier Phase Ambiguity or sometimes double difference ambiguity or ambiguity for short carrier phase ambiguities which are differenced between receiver channels and between the reference and remote receivers They are estimated when a double difference mechanism is used for carrier phase positioning Earth Centered Earth Fixed ECEF a right hand Cartesian coordinate system with its origin located at the center of the Earth The coordinate system used by GPS to describe three dimensional location ECEF Earth Centered Earth Fixed This is a coordinate ordinate system which has the X coordinate in the earth s equatorial plane pointing to the Greenwich prime meridian the Z axis pointing to the north
70. When this bit is set to 1 the receiver ROM test has passed the self test requirements A zero bit indicates the receiver has failed the ROM test DSP This bit will be set to 1 when the digital signal processors DSP have passed the self test requirements If this bit is set to 0 one or both of the DSP chips has failed self test please contact NovAtel Customer Service Primary AGC When set to 1 the PRIMARY AGC circuits are operating within normal range of control This bit will be set clear if the PRIMARY AGC is operating out of normal range Failure of this test could be the result of various possibilities such as bad antenna LNA excessive loss in the antenna cable faulty RF downconverter or a pulsating or high power jamming signal causing interference If this bit is continuously set clear and you cannot identify an external cause for the failed test please contact NovAtel Customer Service COMI When set to 1 the COM1 UART has passed the self test requirements If set to 0 the COMI UART has failed self test and cannot be used for reliable communications COM2 When set to 1 the COM2 UART has passed the self test requirements If set to 0 the COM2 UART has failed self test and cannot be used for reliable communications Bits 8 9 10 Week No Coarsetime No Finetime 0 1 These bits indicate the state of the receiver time and are set only once generally in the first few minutes of operation in the presence of adequa
71. a sphere s radius centered at the true antenna position containing 50 percent of the points in the three dimensional scatter plot Static the user s GPS antenna does not move TDOP Time Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the TDOP value the greater the confidence factor Three dimensional coverage hours the number of hours per day when four or more satellites are available with acceptable positioning geometry Four visible satellites are required to determine location and altitude Three dimensional 3D navigation navigation mode in which altitude and horizontal position are determined from satellite range measurements Time To First Fix TTFF the actual time required by a GPS receiver to achieve a position solution This specification will vary with the operating state of the receiver the length of time since the last position fix the location of the last fix and the specific receiver design Track a planned or intended horizontal path of travel with respect to the Earth rather than the air or water The track is expressed in degrees from 000 clockwise through 360 true magnetic or grid Track made good the single resultant direction from a point of departure to a point of arrival or subsequent position at any given time may be considered synonymous with Course Made Good True bearin
72. accuracy 79 position update rate 249 pog EIS 11 21 28 78 powet cable creep 29 32 86 88 102 power Supply a tote ede teres 13 20 21 22 81 DrOGCeS Sg uote e eerie 11 13 14 61 64 68 94 97 100 222 9 11 16 17 22 24 30 33 75 82 83 102 eine i aste 12 60 68 79 93 95 96 97 Q Quick SATE eee tet 15 R radio frequency 13 14 101 RAM 60 101 range reject codes 59 63 raw data 79 ett 11 67 79 Tedlstim6 os eb EQ Ee Nt 9 11 79 97 AAU AEE ie t 51 52 59 60 66 68 70 92 99 EIU NM T 18 35 36 37 51 55 59 60 61 69 70 reference station siesena inin 11 34 93 97 reject code 59 63 69 remote station 2 2 95 acd egentem nt edens 75 76 TESOL zit e o EGRE 12 23 32 37 42 43 52 59 61 80 81 residual seien 97 RF downconverter 8 60 61 antenna cable 31 102 SIGMA a ete EE 13 14 20 92 RMS secus E EORR PU IRE 12 79 97 100 Toll dene 16 26 27 ROM p M 60 101 eee 25 33 34 80 80 12 38 39 97 101 106 BeeLine GPSCard User Manual Rev 2 H Index eae EE RE 12 18 38 97 101 S satellites RR RR IN 11 13 15 26 34 36 37 39 41 56 6
73. acement circuit board from the static shielding bag or clamshell and insert it into the equipment 3 Place the original board into the shielding bag or clamshell and seal it with a label 4 Do not put repair tags inside the shielding bag or clamshell Disconnect the wrist strap 76 BeeLine GPSCard User Manual Rev 2 NovAtel B Technical Specifications TECHNICAL SPECIFICATIONS B 1 BeeLine GPSCard Table B 1 BeeLine GPSCard Specifications 4 Size 100 00 x 179 27 x 18 09 mm with connectors Eurocard format Weight 175 grams 4 DRA Figure B 1 11 11 Series Board Dimensions 1 7 10 i am o 8 n e E 8 Lg 167 00 Figure B 2 L1 L1 Series Side amp End Views S E _ 179 27 7 06 a T l 4 94 0 19 E 8 23 04 0 91 exe 14 48 0 57 2 92 0 12 ex ree L e 2 96 0 12 ES S c lt T P REN A 39 35 1 62 10 2 0 42 Di Ez J TE L 3 2 08 0 08 2 08 008 4 Notes 8 Card Guide Zone Card Guide Zone Not to scale x M S o N 1 jc 3 2000000000000000000000000000000 d W 87 40 3 44 93 90 3 70 B i 100 00 3 94 8 e
74. and variable e g fix position 51 5455523 117 289534 1002 e g fix position 51 3455323 117 289534 1002 e g attmode known baseline length 4 585 e g attmode known baseline length 4 565 e g log coml atta ontime 15 e g log com atta ontime 15 At the end of a command or command string issue a carriage return command which is usually the same as pressing the terminal s Enter key A carriage return is what the card is looking for Most command entries do not provide a response to the entered command Exceptions to this statement are the VERSION and HELP commands Otherwise successful entry of a command is verified by receipt of the COM port prompt i e COMI or 2 gt A WARNING Itis recommended that you do not use the ASSIGN command BeeLine GPSCard tracks the 8 highest satellites By using the ASSIGN command and assigning channels you would be degrading the BeeLine filter NOTE syntax for a command can contain optional parameters OPT1 OPT2 OPT2 may only be used if itis preceded by OPT1 OPT3 may only be used if it is preceded by OPT2 and so on Parameters after and including OPT will be surrounded by square brackets An optional parameter such as hold surrounded by braces may be used with the log without any preceding optional parameters Example log coml posa 60 1 hold log posa hold BeeLine GPSCard User Manual Rev 2 41 7 BeeLine Commands NovAtel 7 2 BeeL
75. ate your interaction with the BeeLine However it certainly is possible to communicate with the BeeLine GPSCard through DOS or a Windows based communications program this is discussed in greater detail later in this section 6 1 5 Starting the BeeLine The BeeLine s software resides in read only memory As such the unit self boots when turned on and undergoes a complete self test If an error condition is detected during a self test the self test status word would change this self test status word can be viewed in the RGEA B D and RVSA B data output logs see Chapter 8 Pages 68 and 69 respectively 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 Page 7 When the BeeLine GPSCard is first turned on no activity information is transmitted from the COM ports except for the port prompt the external data communications equipment screen will display one of these two messages 1 gt if connected to COMI port Or 2 gt if connected to COM2 port Either prompt indicates that the BeeLine GPSCard is ready and waiting for command input Commands are typed at the interfacing terminal s keyboard and sent after issuing a carriage return command which is usually the same as pressing the terminal s Enter key NOTE Most valid commands do not echo a response to a command input th
76. available for the field Indicated by two ASCII commas i e HEX 2C2C or for the last data field in a sentence one comma followed by either the checksum delimiter HEX 2A or the sentence delimiters lt CR gt lt LF gt HEX Note the ASCII Null character HEX 00 is not to be used for null fields Obscuration 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 an input to an estimation algorithm The two observations used in NovAtel s RTK algorithms are the pseudorange measurement and the carrier phase measurement Observation Set a set of GPSCard measurements taken at a given time which includes one time for all measurements and the following for each satellite tracked PRN number pseudorange or carrier phase or both lock time count signal strength and channel tracking status Either L1 only or L1 and L2 measurements are included in the set The observation set is assumed to contain information indicating how many satellites it contains and which ones have L1 only and which ones have L1 L2 pairs Origin waypoint the starting point of the present navigation leg expressed in latitude and longitude Parallel receiver a receiver that monitors four or more satellites simultaneously with independent channels P Code precise or protected a spread spectrum direct sequence code that is used primarily by
77. beyond the scope of this manual to provide service details Please consult your local NovAtel dealer for any customer service problems or inquiries Should the need arise to contact NovAtel directly please see the Customer Support section on Page 7 The standard for measurement throughout this document is metric SI units See Appendix D Page 90 for help with any conversions to imperial measurements PREREQUISITES The BeeLine GPSCard is an OEM product requiring the addition of an enclosure and peripheral equipment before it can become a fully functional GPS receiver Chapter 4 BeeLine GPSCard Installation provides information concerning installation requirements and considerations WHAT S NEW IN THIS EDITION The previous BeeLine GPSCard software used double difference carrier and pseudorange observations to generate a precise baseline vector between the primary and secondary antennas This precise baseline was subsequently rotated to the local geographic N E Up reference frame and this rotated vector used to compute the required azimuth and pitch angles The new process also computes a precise vector between the antennas but does so with the use of single difference observations The advantages of this process are that only three satellites are required for the solution the resolution is faster because there are more redundant measurements and the accuracy of the final output especially pitch which is now just as accurate as the azimuth
78. bration environments Contact your dealer or NovAtel Customer Service if your application requires the ProPak BeeLine to be mounted in these types of environment Cables Please consult Appendix B Page 77 for the technical specifications of all cables and optional accessories For field replacement of the LEMO connectors and to find part numbers of optional accessories please see Appendix G Page 102 Input Power Cables The following cables allow you to power the ProPak BeeLine from either an AC source an automotive DC source or an optional battery NovAtel part number 01016698 e 4 LEMO socket connector to cigarette lighter plug with built in 3 amp slow blow fuse NovAtel part number 01016331 e Optional 4 pin LEMO socket connector to auto ranging AC DC converter and AC power cord NovAtel part number GPS APRO Optional 4 pin LEMO plug connector to 4 pin LEMO plug connector NovAtel part number 01016724 33 5 cm or 01016725 75 cm 32 BeeLine GPSCard User Manual Rev 2 set NovZtel 5 ProPak BeeLine Installation Serial Data Cables Two serial data cables are supplied with the ProPak BeeLine to connect it to a PC or modem radio They both look identical but their uses and part numbers differ The straight cable 10 pin LEMO plug to 9 pin D connector DE9P plug is used to connect the ProPak BeeLine to a modem or radio transmitter to propagate differential corrections Its NovAtel part number is 01016383
79. command ATTMODE KNOWN BASELINE LENGTH XX XXX see Pages 42 46 where xx xxx is the baseline measurement in meters and should be accurate to a millimeter This command will prevent the system from calculating the baseline length itself and expedite the availability of accurate attitude measurements It is strongly advised to measure the distance between the antennas by hand to an accuracy of 2mm before the line bias calibration takes place The line bias calibration takes up to 20 minutes provided the inter antenna baseline length is known but much more than this if it is not Your configuration can be saved to non volatile memory using the SAVECONFIG command if the antenna baseline length is unlikely to change from session to session SAVECONFIG see Page 49 Ensure that the distance between the antennas does not change If it does both a new measurement must BeeLine GPSCard User Manual Rev 2 17 Quick Start 3 be taken and the command in the step above re issued or the attitude function must be reset using the command ATTMODE RESET see Page 42 If differential corrections are available from a local base station issue the following command in order to have the BeeLine generate a DGPS position ACCEPT COMx RTCM where x is the communications port of the BeeLine that is connected to the source of differential corrections Example accept For more information on th
80. d negative connection This allows for parallel power sources such as dual batteries The DC power must be in the range from 10 to 36 V DC and the use of a 3 amp slow blow fuse is recommended perhaps the one from the cigarette lighter power adapter if you do not intend to use it See Principal Power Supply Page 14 ProPak BeeLine Installation Page 29 and Preparing the Data Signal amp Power Harness Page 22 6 Start GPSolution on your PC Select Card Open from the menu To connect to BeeLine in GPSolution you must open a configuration A configuration is a group of settings that define the type of card the communication protocol window positions and file locations The Open Configuration dialog will appear All created configurations are displayed in the listbox Choose a configuration from the list and click the OK button If there are no configurations available you must create a new configuration GPSolution will attempt to open BeeLine using the specifications in the selected configuration The BeeLine default port settings are as follows RS232C 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off See Communications with the BeeLine GPSCard Page 34 7 Select View Command Console and then View ASCII Records from the menu You may also open other visual displays from the View menu at any stage See Getting Started Page 35 8 At the Command Console window if the antenna baseline length is known issue the
81. deviation of dZ solution element in meters 0 0135 13 soln status Solution status see Table 5 Page 58 0 14 rtk status RTK status see Table 7 and Table 8 Page 58 1 15 vec type Vector type while calibration is taking place the vector position status 4 will be 1 or 2 but once calibration is complete the status should be 3 or 4 See Table 6 Page 58 16 XX Checksum 25 17 CRLF Sentence terminator CRLF 1 For BeeLine this is always zero 2 The reported status refers to the BeeLine filter As a result this status will often differ from that found in the BSLA log although both reference the same table Example SSBLA 929 160940 00 8 8 0 3 2088 3 0425 1 2075 0 0092 0 0128 0 0135 0 1 4 25 CR LF 56 BeeLine GPSCard User Manual Rev 2 8 NovAtel Format Logs SBLB Format Message ID 73 Message byte count 96 BE O 1 Sync 3 char 0 header Checksum 1 char 3 ID word 4 integer 4 Length word 4 integer bytes 8 2 Week Number 4 unsigned weeks 12 long Seconds of week 8 double seconds 16 Number of SVs with matching observations 4 unsigned 24 long 5 Number of SVs with matching observations 4 unsigned 28 above the 9 degrees mask angle long 6 Reserved for future use 1 4 used 32 ong 7 X component of the vector from the primary 8 double meters 36 antenna to the secondary antenna 8 Y compo
82. dio serial cable NovAtel part number 01016383 supplied with the ProPak BeeLine For information about the BeeLine specific commands and logs and those that are useful to BeeLine see Chapters 7 and 8 6 1 1 Serial Port Default Settings The BeeLine GPSCard communicates with your PC or terminal via the COMI or COM2 serial port For communication to occur both the BeeLine GPSCard and the operator interface have to be configured properly The BeeLine s default port settings are as follows 4 RS232C 9600 bps no parity 8 data bits 1 stop bit no handshaking echo off Changing the default settings requires using the COMn command which is described in Chapter 7 BeeLine Commands Page 47 It is recommended that you become thoroughly familiar with these commands and logs to ensure maximum utilization of the BeeLine s capabilities The data transfer rate you choose will determine how fast information is transmitted Take for example the SBLA B log whose message byte count is 96 The default port settings will allow 10 bits byte It will therefore take 960 bits per message To get 10 messages per second then will require 9600 bps Please also remember that even if you set the bps to 9600 the actual data transfer rate will be less and depends on the number of satellites being tracked 34 BeeLine GPSCard User Manual Rev 2 NovZltel 6 Operation filters in use or idle time It is therefore suggested that you leave yourself a margin when cho
83. ds are shown in the sentence definitions with no decimal point Other fields which fall into this category are the address field and the checksum field if present Fixed Integer Ambiguity Estimates carrier phase ambiguities which are setto integer values and then held constant Flash ROM Programmable read only memory Floating Ambiguity Estimates ambiguity estimates which are not held to a constant value but are allowed to gradually converge to the correct solution GDOP Geometric Dilution of Precision A numerical value expressing the confidence factor of the position solution based on current satellite geometry Assumes that 3D position latitude longitude height and receiver clock offset time are variables in the solution The lower the GDOP value the greater the confidence in the solution Geoid the shape of the earth if it were considered as a sea level surface extended continuously through the continents The geoid is an equipotential surface coincident with mean sea level to which at every point the plumb line direction in which gravity acts is perpendicular The geoid affected by local gravity disturbances has an irregular shape Refer to the PRTKA B log in the MiLLennium Command Descriptions Manual Appendix D 94 BeeLine GPSCard User Manual Rev 2 NovZltel E GPS Glossary of Terms Geodetic datum the reference ellipsoid surface that defines the coordinate system Geostationary
84. e 10 Page 62 68 BeeLine GPSCard User Manual Rev 2 NovAtel 8 NovAtel Format Logs Example carriage returns have been added between observations for clarity SRGEA 933 160444 75 16 BOOFF 29 22491280 858 0 081 118192474 192 0 006 2726 672 48 2 19303 070 2 04 29 22491276 277 0 122 118192444 618 0 007 2726 271 45 4 19303 580 42E14 22 21137694 401 0 051 111079390 186 0 004 1002 078 50 7 7472 350 2 24 22 21137690 384 0 082 111079371 893 0 005 1002 479 48 1 7479 330 42E34 6 20771391 694 0 051 109154415 434 0 004 102 016 50 8 9071 840 2E44 6 20771392 411 0 069 109154419 197 0 005 102 229 49 2 9073 140 42E54 25 23363282 558 0 123 122774889 322 0 010 3075 641 45 3 16924 660 2 64 25 23363278 217 0 171 122774866 796 0 011 3075 271 42 8 16924 920 42E74 9 24816732 033 0 240 130412815 585 0 015 3445 453 39 9 251 890 2E84 9 24816733 693 0 151 130412821 795 0 009 3445 979 43 8 252 370 42 94 8 21899663 534 0 081 115083543 381 0 005 2771 172 48 2 4001 860 2EA4 8 21899666 161 0 096 115083552 265 0 006 2771 479 47 1 4003 520 42EB4 4 23858493 525 0 214 125377233 250 0 013 601 891 40 9 4570 580 2 4 4 23858497 147 0 191 125377253 248 0 011 602 146 41 9 4573 550 42ED4 4 21076943 960 0 055 110760085 505 0 004 2134 266 50 4 13993 750 2 4 4 21076942 661 0 072 110760075 881 0 005 2134 146 48 9 13993 600 42 4 41 RVSA B Receiver Status This log conveys various status
85. e ACCEPT command please refer to the MiLLennium Command Descriptions Manual 9 Use the ATTA log to monitor attitude data receiver status and magnetic variations Use the SBLA log to monitor the x y and z components of the vector between the Primary and Secondary antennas You may request these logs in the Command Console window as follows 1 gt 104 1 atta ontime 15 Carriage Return see Page 54 1 gt 104 1 sbla ontime 15 Carriage Return see Page 56 As an example take the ATTA log with a trigger of once 4 Command Console Coml gt log coml atta once x Coml gt The data from this log may be seen in the ASCII Records window Records olx ATT 929 160940 00 B00FF 0 318 0 504 294 536 0 202 0 000 0 155 0 161 0 000 2 2B z n See Page 54 for details on the ATTA B log Other relevant logs and what they represent may be found in Chapter 8 NovAtel Format Logs Page 50 The azimuth pitch and position can be monitored graphically via the position and velocity windows in GPSolution The following figure is a screen capture of the velocity window taken from the software while connected to a BeeLine 18 BeeLine GPSCard User Manual Rev 2 NovAtel 3 Quick Start Velocity BeeLine 38400 178 8 Azimuth along antenna baseline pitch 0 7 Direction of antenna movement Pitch along antenna baseline Horiz 0 358 mis
86. e ADR ifthe parity known flag in the tracking status field is not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays RGEA and RGEB contain all of the new extended channel tracking status bits see Table 10 Page 62 while RGED contains only the lowest 24 bits If you are tracking both L1 signals with a primary and secondary antenna two entries with the same PRN will appear in the channel tracking status logs As shown in Table 10 Page 62 these entries can be differentiated by bit 18 which is set if there are multiple observables for a given PRN that denotes from which antenna the observation came from This is to aid in parsing the data RGEA Structure SRGEA week seconds satellite observations storie pseudorange measurement pseudorange measurement std carrier phase carrier phase std Doppler frequency N lockti ANS tracking status 2 prn pseudorange measurement pseudorange measurement std carrier phase carrier phase std Doppler frequency C No locktime x tracking status 2 CR LF Note 1 See Table 9 Page 59 2 See Tabl
87. e 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 Example C NGPSNLOADER The file is available in a compressed format with password protection your local dealer will provide you with the required password After copying the file to your computer it must be decompressed The syntax for decompression is as follows Syntax filename s password 72 BeeLine GPSCard User Manual Rev 2 gZ NovZtel 9 Firmware Updates where filename is the name of the compressed file but not including the EXE extension 5 is the password command switch password is the password required to allow decompression Example oem442 s12345678 The self extracting archive will then generate the following files LOADER EXE Loader utility program LOADER TXT Instructions on how to use the Loader utility e XYZ BIN Firmware version update file where XYZ program version level e g 746 BIN 9 2 2 Using the LOADER Utility The Loader utility can operate from any DOS directory or drive on your PC The program is comprised of three parts Program Card authorization procedure Setup communications configuration and Terminal terminal emulator The main screen is shown in Figure 18 following Figure 18 Main screen of LOADER program Menu Setup Terminal Quit If you are running Loader for the first time be
88. e indication that they have been accepted is a return of the port prompt from the BeeLine VERSION HELP and are the only commands that do provide a data response other than the port prompt A WARNING Itis recommended that you do not use the ASSIGN command The BeeLine GPSCard tracks the 8 highest satellites By using the ASSIGN command and assigning channels you would be degrading the BeeLine filter An example of no echo response to an input command is the ATTMODE command Page 42 It can be entered COM2 gt attmode known_baseline_length 4 585 Carriage Return COM2 gt The above example illustrates command input to BeeLine COM port which sets BeeLine baseline length as fixed to 4 585 m between the two antennas However your only confirmation that the command was actually accepted is the return of the COM2 gt prompt Ifa command is incorrectly entered BeeLine GPSCard will respond with Invalid Command or a more detailed error message followed by the port prompt After initially turning on the BeeLine you may find the following logs useful for observing the BeeLine GPSCard activities While GPSolution is the easiest way to do this you can also use DOS or a Windows based communications program examples of both are provided below e Use the ATTA log to monitor attitude data receiver status and magnetic variation Use the SBLA log to monitor the x y z components of the vector between the primary and s
89. e makes the use of the pitch and velocity constraints appropriate The MAGVAR command is used because the magnetic variation correction as computed from the International Geomagnetic Reference Field IGRF 95 variation model is required in the ATTA log ATTMODE KNOWN BASELINE LENGTH 1 00 ATTMODE CONSTRAIN PITCH 0 000 15 000 ATTMODE VEL AZIMUTH MISALIGNMENT 0 000 30 000 ATTMODE CONSTRAIN VELOCITY ENABLE MAGVAR AUTO 46 BeeLine GPSCard User Manual Rev 2 7 BeeLine Commands 7 3 OTHER RELEVANT GPSCARD COMMANDS Please refer to the MiLLennium Command Descriptions Manual s commands chapter for a list of GPSCard commands categorized by function For a complete description of individual commands please consult Appendix C of the same manual where commands are listed alphabetically ANTENNAPOWER On BeeLine GPSCards this command enables or disables the supply of electrical power from the internal power source of the card to the low noise amplifier LNA of an active antenna Jumper P301 allows you to power the LNA either by an internal power source plug connects pins 1 amp 2 or an optional external power source plug connects pins 2 amp 3 or you can cut off all power to the antenna plug removed The ANTENNAPOWER command which is only relevant when Jumper P301 is set to connect pins 1 amp 2 determines whether or not internal power is applied to pin 1 of Jumper P301 Table 2 Page 25 summarized the combina
90. e receiver time of measurement and multiplying by the speed of light This measurement generally contains a large receiver clock offset error Pseudorange Measurements measurements made using one of the pseudorandom codes on the GPS signals They provide an unambiguous measure of the range to the satellite including the effect of the satellite and user clock biases Receiver channels a GPS receiver specification which indicates the number of independent hardware signal processing channels included in the receiver design Reference Satellite in a double difference implementation measurements are differenced between different satellites on one receiver in order to cancel the clock bias effect Usually one satellite is chosen as the reference and all others are differenced with it Reference Station the GPS receiver which is acting as the stationary reference It has a known position and transmits messages for the remote receiver to use to calculate its position Relative bearing bearing relative to heading or to the vessel Remote Receiver the GPS receiver which does not know its position and needs to receive measurements from a reference station to calculate differential GPS positions The terms remote and rover are interchangeable Residual in the context of measurement the residual is the misclosure between the calculated measurements using the position solution and actual measurements RMS root mean
91. e steered or is being steered the direction of travel through the air or water Expressed as angular distance from reference North either true magnetic compass or grid usually 000 north clockwise through 360 Strictly the term applies to direction through the air or water not the direction intended to be made good over the ground see track Page 98 Differs from heading Course Made Good CMG the single resultant direction from a given point of departure to a subsequent position the direction of the net movement from one point to the other This often varies from the track caused by inaccuracies in steering currents cross winds etc This term is often considered to be synonymous with Track Made Good however track made good is the more correct term Course Over Ground COG the actual path of a vessel with respect to the Earth a misnomer in that courses are directions steered or intended to be steered through the water with respect to a reference meridian this will not be a straight line if the vessel s heading yaws back and forth across the course Crab the apparent sideways motion of an aircraft with respect to the ground when headed into a crosswind Cross Track Error XTE the distance from the vessel s present position to the closest point on a great circle line connecting the current waypoint coordinates If a track offset has been specified in the GPSCard SETNAV command the cross track error will be r
92. e wiring the I O harness and the 64 pin DIN female connector for power and communications then connecting them to the BeeLine 3 installing the GPSAntennas then connecting them to the BeeLine 44 MOUNTING THE PRINTED CIRCUIT BOAHD The BeeLine GPSCard is an OEM product and therefore the printed circuit board is not enclosed in a housing structure This allows flexibility in creating a mounting environment to suit particular product and marketing requirements The mounting and enclosure must provide the following mounting of external connectors protection from hostile physical environments e g rain snow sand salt water extreme temperatures protection from vibration conditions electromagnetic shielding to protect from hostile RF environments e g nearby transmitters electromagnetic shielding so that the final product itself conforms to RF emissions guides protection from ESD BeeLine GPSCard User Manual Rev 2 21 4 BeeLine GPSCard Installation Noel The BeeLine GPSCard can be held in place by screws card rails or both Please see Appendix B Page 77 for mechanical drawings For some applications the ProPak BeeLine Figure 10 Page 29 in the chapter following is ideal This is an enclosure kit that comes complete with mounting and wiring interfaces and allows immediate operation of the BeeLine The ProPak BeeLine is designed for rugged operating environments 4 5 PREPARING THE DATA SIGNAL amp POWER HARNESS
93. ear a year that is divisible by 4 but not by 100 each 100 years a leap year is skipped 4 days Days into 1995 22nd is not finished 21 days Total days 5500 days Deduct 5 days Jan 1 through 5 1980 5495 days GPS Week 5495 x 86400 seconds per day 474768000 seconds 604800 sec per week 785 Seconds into week 22nd day 11 5 hrs x 3600 sec hr 41400 GPS time of week Week 785 41400 seconds E g 13 30 hours January 28 2005 after GPS week rollover August 22 1999 Days from August 22 1999 to January 28 20052 years x 365 days year 2190 days Add one day for each leap year 2 days Days into 2005 28th day is not finished 27 days Total days 2219 days Deduct 21 days August 1 through 21 1999 2198 days GPS Week 2198 x 86400 seconds per day 189907200 seconds 604800 sec per week 314 Seconds into week 28 day 13 5 hrs x 3600 sec hr 48600 GPS time of week Week 314 48600 seconds D 7 ANGULAR CONVERSIONS T pi 3 1415927 radians degrees x 180 7 degrees radians x 1 180 Magnetic bearing True bearing Magnetic variation 1 True bearing Magnetic bearing Magnetic variation NOTE variation west is negative while a variation east is positive see Pages 48 and 66 for illustrations BeeLine GPSCard User Manual Rev 2 91 E GPS Glossary of Terms NovAtel GPS GLOSSARY OF TERMS ASCII A 7 bit wide serial code describing numbers upper and lower case characters special and non print
94. ecimal degrees 0 202 9 reserved Reserved for future use 0 000 10 std dev azimuth Standard deviation of the azimuth in decimal degrees 0 155 11 std dev pitch Standard deviation of the pitch in decimal degrees 0 161 12 reserved Reserved for future use 0 000 13 attitude type While calibration is taking place the attitude type status willbe 2 lor2 butonce calibration is complete the status should be 3 or 4 See Table 4 Page 55 14 XX Checksum 2B 15 CRLF Sentence Terminator CRLF Example 5 929 160940 00 00 0 318 0 504 294 536 0 202 0 000 0 155 0 161 0 000 2 2B CR LF 54 BeeLine GPSCard User Manual Rev 2 55 NovAtel 8 NovAtel Format Logs ATTB Format Message ID 72 Message byte count 88 eld Data Byte O 5 9 1 Sync 3 char 0 header Checksum 1 char 3 ID word 4 integer 4 Length word 4 integer bytes 8 2 Week number 4 unsigned long weeks 12 3 Seconds of week 8 double seconds 16 4 Receiver status see Table 9 Page 59 4 unsigned long 24 5 Magnetic variation correction 8 double decimal degrees 28 6 Standard deviation for magvar correction 8 double decimal degrees 36 7 Azimuth 8 double decimal degrees 44 8 Pitch 8 double decimal degrees 52 9 Reserved for future use 8 double 60 10 Standard deviation for azimuth 8 double decimal degrees 68 11 Standard deviation for pitch 8 double decimal degrees 76 12 Reserved for future use 8 double 84 13 Attitude type
95. econdary antennas 36 BeeLine GPSCard User Manual Rev 2 rS e NovZltel 6 Operation See Chapters 7 and 8 for more details on BeeLine specific commands and logs and also those useful to BeeLine e Use the RCCA log to list the default command settings After the BeeLine GPSCard has been operational for a while the RCCA log will indicate the status of all current command settings Displaying the RCCA log after a RESET will show the saved configuration see the SAVECONFIG command in Chapter 7 Page 49 for more information e Use the ETSA log to monitor the channel tracking status e Use the SATA log to observe the satellite specific data Use the PRTKA log to observe the current computed position solutions e Use DOPA log to monitor the dilution of precision of the current satellite constellation e Use the RVSA log to monitor the receiver status e Use the BSLA log to monitor RT 20 data baseline data and x z components of the vector between the BeeLine GPSCard and a base station e Use the HELP command to list all available commands e Use the HELP LOG command to list all available logs The ATTA SBLA ETSA RCCA RVSA and SATA logs are described further in Chapter 8 Page 50 For information on the other logs and for procedures and further explanations related to data logging please refer to the MiLLennium Command Descriptions Manual 6 2 REMOTE TERMINAL PC AND BeeLine GPSCARD GPSolution is the preferred
96. ector with line bias known L1 fixed ambiguity vector with line bias known gt Table 7 Status for L1 Floating Ambiguity Position Vector Floating ambiguity solution converged Floating ambiguity solution not yet converged Reserved Insufficient observations Reserved Residuals too big Reserved Reserved RTK position not computed Table 8 Status for L1 Fixed Ambiguity Position Vector Reserved L1 fixed ambiguity solution Floating ambiguity solution converged Floating ambiguity solution not yet converged Reserved Insufficient observations Reserved Residuals too big Reserved Reserved RTK vector not computed lt pa 58 BeeLine GPSCard User Manual Rev 2 rS e NovAtel 8 NovAtel Format Logs 8 5 OTHER RELEVANT GPSCARD LOGS Please refer to the MiLLennium Command Descriptions Manual s logs chapter for a list of GPSCard logs categorized by function The binary format descriptions and further details on individual logs may be found in Appendix D of the same manual where logs are listed alphabetically Table 9 is a table of the receiver s self test status codes The status field output consists of 8 hexadecimal numbers which you must then convert to binary see Page 90 Reading from right to l
97. eft the first bit indicates if the antenna signal is good 1 or bad 0 This bit is an OR condition of both antennas If the signal from both antennas is good then the status is good 1 If either antenna signal is bad then the status is bad 0 This table is referenced by the RGEA B D log Page 66 the RVSA B log Page 69 and the ATTA B log Page 54 Bit 18 Table 10 Page 62 is used for the antennas where a 0 value signifies the primary antenna and a 1 value signifies the secondary antenna in a two antenna system This table is referenced by the ETSA B log Page 64 and the RGEA B D log Page 66 Table 11 Page 63 is an updated list of the GPSCard range reject codes The reject code 14 see value column is there for use with the secondary antenna This table comes into effect when using the ETSA B log Page 64 or the SATA B log Page 69 Table 9 Receiver Self Test Status Codes N6 N5 4 N3 N2 N 1 NO lt lt Nibble Number 3 22 21 20 19 18 17 16 15 14 13 12 1 10 9 8 7 6 5 4 2 Bit Description Range Values Hex Value O ANTEWNA SS eee 009 0 baa 9 1 not set 0 set 00000200 10 1 not set 0 set 00000400 11 1 present 0 normal 00000800 12 1 overrun 0 normal 00001000 18 1 overrun 0 normal 00002000 14 1 overrun 0 normal 00004000 15 1 overload 0 normal 00008000 17 1 good 0 bad 00020000 18 1 present 0 normal 00040000 19 1 good 0 bad 0008
98. elative to the offset track great circle line Cycle Slip when the carrier phase measurement jumps by an arbitrary number of integer cycles It is generally caused by a break in the signal tracking due to shading or some similar occurrence Dead Reckoning DR the process of determining a vessel s approximate position by applying from its last known position a vector or a series of consecutive vectors representing the run that has since been made using only the courses being steered and the distance run as determined by log engine rpm or calculations from speed measurements Destination the immediate geographic point of interest to which a vessel is navigating It may be the next waypoint along a route of waypoints or the final destination of a voyage Differential GPS DGPS a technique to improve GPS accuracy that uses pseudorange errors at a known location to improve the measurements made by other GPS receivers within the same general geographic area Dilution of Precision DOP a numerical value expressing the confidence factor of the position solution based on current satellite geometry The lower the value the greater the confidence in the solution The DOP values have no units depend on the parameters of the position fix and can be expressed in the following forms GDOP Geometric DOP latitude longitude height clock offset PDOP Position DOP latitude longitude height HTDOP Horizontal Postition and
99. ence Description 5 Red marker at top of connector 6 Female LEMO 4 pin plug 7 4 conductor wire BeeLine GPSCard User Manual Rev 2 83 B Technical Specifications NovAtel Null modem Serial Cable receiver to radio NovAtel part number 01016329 S5 S1 e aee S9 S6 12 13 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 69 100 14 H elle ode DEY D Pin1 DCD Brown Pin 4 Pin 2 RXD Black Pin 3 Pin 3 TXD Red Pin 2 Pin 4 DTR Orange Pin 6 Pin 5 GND Yellow Pin 5 Pin 6 DSR Green Pin 4 7 RTS Blue Pin 8 Pin8 CTS Violet 7 9 NULL Gray Pin 9 Pin 10 White not used Pin 1 jumpered to Pin 6 Reference Description 11 Red marker at top of connector 12 Male LEMO 10 pin plug 13 DEQS female connector 14 10 conductor wire 84 BeeLine GPSCard User Manual Rev 2 eee Noite B Technical Specifications Straight Serial Cable receiver to PC NovAtel part number 01016383 1 5 Bu 6 9 13 1 2e o2 30 40 4 50 o5 66 o6 7 o7 90 9 14 1 DCD Brown 1 2 RXD Black Pin2 Pin3 TXD Red Pin 3 Pin 4 DTR Orange Pin 4 Pin 5 GND Yellow Pin5 Pin 6 DSR Green Pin6 7 RTS Blue Pin7 Pin 8 CTS Violet 8 9 NULL
100. enclosure It is possible to supply power to the LNA on an active antenna either from the BeeLine GPSCard or from an external source The BeeLine GPSCard is factory configured for operation with any of the single frequency GPSAntenna models in which case no special wiring or configuration is required the P301 jumper see Figure 5 Page 20 and Figure 7 following is normally set for internal operation connects pins and 2 The BeeLine s internal antenna power supply can produce 4 25 5 25 V D C at up to 180 mA If both antennas draws more than 180 mA of current power to the antennas will be disabled and the antenna self test status flag set to zero see Chapter 6 the RVSA B log Page 69 and Table 9 Page 59 for receiver self test status codes Figure 7 LNA Power Jumper P301 3 Cases 4 5 6 Reference Description 1 Pin 1 2 Pin 2 3 Pin 3 4 Case 1 No power to LNA 5 Case 2 Internal power source default 6 Case 3 External power source If a different antenna is used whose LNA requires voltage and or current capacity beyond what the BeeLine GPSCard can produce then the external LNA power option must be utilized this requires that P301 must be jumpered between pins 2 and 3 The input cannot exceed 30 V D C at 100 mA When the LNA jumper plug is in the external position the antenna sensing circuit will cause the receiver self test status code to always report antenna status as 1 good See Chapter 6 the RVSA B log Page 6
101. ency RF and a digital electronics section Prior to operation a primary antenna a secondary antenna power supply and data and signal interfaces must be connected The installation instructions for a BeeLine GPSCard and a ProPak BeeLine may be found in Chapter 4 Page 20 and Chapter 5 Page 29 respectively The overall system is represented in Figure 2 A brief description of each section follows Figure 2 BeeLine GPSCard System Functional Diagram 7 Reference Description Reference Description 1 BeeLine L1 L1 GPSCard 11 Output timing strobe 2 RF section 12 VCTCXO 3 Digital section 13 RF IF sections 4 Antenna capable of receiving L1 signal 14 Signal Processor NovAtel GPSAntenna or user supplied 15 32 bit CPU 5 Optional user supplied LNA power 16 System I O 0 30 VDC 17 LNA 6 User supplied power 5 VDC 18 Clock signals 7 User supplied data and signal processing 19 AGC signals equipment 20 Control signals 8 COM1 21 RF and power connectors 9 COM2 22 Primary antenna feed 10 Input timing strobe 23 Secondary antenna feed 2 1 GPS ANTENNA The purpose of the GPS antenna is to convert the electromagnetic waves transmitted by the GPS satellites at the L1 frequency 1575 42 MHz into RF signals An active GPS antenna is required for the BeeLine to function properly there is a hardware provision to select an internal or external DC power
102. ene 22 4 5 1 External eise eet eek eere ER eese tpe repere 24 4 5 2 RS232C Communications 2 252 25 4 5 3 Strobe Signals ee diee dee HEURE HERR 25 4 6 GPSAntenna Considerations 26 4 6 1 Primary and Secondary 2 26 4 6 2 Antenna Cable Considerations esee essere enne 27 5 ProPak BeeLine Installation 29 Hardware Conti guration EU anc hen Meat ania toe 31 5 2 RS232C Communications 2 een 33 5 37 SttODe SIgnals 2 dos endo ete eh hes eee ee teste ird dte 33 6 Operation 34 6 1 Communications with the BeeLine GPSCard sess 34 6 1 1 Serial Port Default Settings eoceno ircen niae nennen nennen nene 34 6 1 2 Communicating Using a Remote Terminal esee 35 6 1 3 Communicating Using a Personal Computer 2 35 6 14 Getting Started eater ed dH e tel ee 35 6 1 5 Starting the Beeline dedere heb ee pet 36 6 2 Remote Terminal PC and Beeline GPSCard esses eene eerte nnne 37 6 21 DOS eerte eb ipee eee e e et eb EU deo 37 6 22 Microsoft WiIndOWs re HE ORE 37 6 3 Differential Position Operation ette ee HER eerie eer Etienne 38 6 3 1 Initialization
103. er time is in GPS weeks and seconds into the week The estimated standard deviations of the solution and current filter status are also included POSA Structure SPOSA week seconds lat lon hgt undulation datum ID lat std 1 std hgt std sol status CR LF Note 1 See Table 5 Page 58 Example SPOSA 637 511251 00 51 11161847 114 03922149 1072 436 16 198 61 26 636 6 758 78 459 0 12 LF PVAA B XYZ Position Velocity and Acceleration The PVAA B log contains the BeeLine GPSCard receiver s latest computed position velocity and acceleration in ECEF coordinates Compare this to the VLHA B log where the velocity latency is an average velocity based on 66 BeeLine GPSCard User Manual Rev 2 NovAtel 8 NovAtel Format Logs the time difference between successive position computations In the PVAA B log position velocity and acceleration status fields indicate whether or not the corresponding data are valid This command supports INS Inertial Navigation System integration PVA logs can be injected into the receiver from an INS This information is only used by the tracking loops of the receiver to aid in reacquisition of satellites after loss of lock otherwise it is ignored This command is only useful for very high dynamics where expected velocity changes during the signal blockage of more than 100 meters per
104. from the ATTA B and RVSA B log consists of 8 hexadecimal numbers which you must then convert to binary Complete hexadecimal to binary conversions are shown on Page 90 Reading from right to left the first bit indicates if the antenna signal is good 1 or bad 0 Please see Chapter 6 the RVSA B log Page 69 the ATTA B log Page 54 and Table 9 Page 59 for receiver self test status codes 4 6 2 Antenna Cable Considerations An appropriate coaxial cable is one that is matched to the impedance of antenna being used and whose line loss does not exceed the recommendation of 13 0 dB for an active antenna NovAtel offers a variety of coaxial cables to meet your single frequency GPSAntenna interconnection requirements Your local NovAtel dealer can advise you about your specific configuration BeeLine GPSCard User Manual Rev 2 27 4 BeeLine GPSCard Installation Noel NovAtel provides optional coaxial cables in the following lengths 22 interconnect adapter cable SMB female TNC bulkhead female NovAtel part number GPS C001 e 5 15 or 30 m antenna cable TNC male TNC male NovAtel part numbers C005 C015 and C030 respectively High quality coaxial cables should be used because a mismatch in impedance possible with lower quality cable produces reflections in the cable that increases signal loss Though it is possible to use other high quality antenna cables no warrant is made that the BeeLine GPSCard will meet its performa
105. g bearing relative to true north compass bearing corrected for compass error True heading heading relative to true north Two dimensional coverage hours the number of hours per day with three or more satellites visible Three visible satellites can be used to determine location if the GPS receiver is designed to accept an external altitude input Two dimensional 2D navigation navigation mode in which a fixed value of altitude is used for one or more position calculations while horizontal 2D position can vary freely based on satellite range measurements Undulation the distance of the geoid above positive or below negative the mathematical reference ellipsoid spheroid Also known as geoidal separation geoidal undulation geoidal height 98 BeeLine GPSCard User Manual Rev 2 NovZltel E GPS Glossary of Terms Universal Time Coordinated UTC this time system uses the second defined true angular rotation of the Earth measured as if the Earth rotated about its Conventional Terrestrial Pole However UTC is adjusted only in increments of one second The time zone of UTC is that of Greenwich Mean Time GMT Update rate the GPS receiver specification which indicates the solution rate provided by the receiver when operating normally VDOP Vertical Dilution of Precision This is related to GDOP It describes the effects of geometry on vertical positioning accuracy It is defined to be the
106. g or navigation applications It is engineered to provide years of reliable operation The BeeLine GPSCard offers the OEM developer unparalleled flexibility in areas such as configuration selection and in the specification of output data and control signals The following accessories are available from NovAtel They are designed to make system integration a faster less expensive and more reliable task GPSAntennas navigation aviation or DGPS reference station complete with choke ring ground plane Coaxial cables e ProPak BeeLine ruggedized enclosure BeeLine GPSCard User Manual Rev 2 11 1 Introduction NavZtel The key features of the BeeLine GPSCard are summarized in Table 1 Table 1 Feature Summary BeeLine 8 L1 channel pairs L1 pseudorange amp full wave carrier measurements Modelled ionospheric corrections in position calculations 2 5 bit sampling Narrow Correlator tracking technology Dual serial ports EuroCard printed circuit board format Fast re acquisition Field programmable for software upgrades Port for an optional external clock not available on the ak BeeLine Velocity accuracy 0 03 m s differential Single axis attitude accuracy 0 4 Azimuth and 0 4 Pitch with a 1 meter baseline lt 1mRMS with pseudorange differential corrections 20 cm RMS accuracies with carrier phase positioning 10 km baseline
107. g the NAVAJB log see Page 65 Track offset is the perpendicular distance from the great circle line drawn between the FROM lat lon and TO lat lon waypoints It establishes the desired navigation path or track that runs parallel to the great circle line which now becomes the offset track and is set by entering the track offset value in meters A negative track offset value indicates that the offset track is to the left of the great circle line track A positive track offset value no sign required indicates the offset track is to the right of the great circle line track looking from origin to destination See the NAVA B log Page 65 and Figure 17 Page 66 for clarification Example setnav 51 1516 114 16263 51 16263 114 1516 125 23 from to BeeLine GPSCard User Manual Rev 2 49 8 NovAtel Format Logs NovAtel NOVATEL FORMAT LOGS 8 1 GENERAL The BeeLine GPSCard receiver is capable of generating many NovAtel format output logs in either ASCII or binary format Please refer to the MiLLennium Command Descriptions Manual s logs chapter for a complete list of logs categorized by function For a complete description of individual logs please consult Appendix D of the same manual where logs are listed alphabetically BeeLine specific commands and logs provide attitude data such as azimuth angle pitch angle and baseline determination between the two antennas Please see Appendix C Output Logging Example Page 89 for some pos
108. ge lengths be limited to 82 characters 8 4 BeeLine SPECIFIC LOGS Following are the log descriptions of BeeLine s ATTA B and SBLA B logs Each log first lists the ASCII format and then the binary format description BeeLine GPSCard User Manual Rev 2 53 8 NovAtel Format Logs NovAtel ATTA B Attitude Measurements This log contains the most recent azimuth and pitch determination of the baseline solution between the two antennas ATTA Structure SATTA week seconds rec status magvar std dev magvar azimuth pitch reserved std dev azimuth std dev pitch reserved attitude type CR LF eji e 2 D 1 ATTA Log Header ATTA 2 week GPS week number 929 3 Seconds GPS time into the week in seconds 160940 00 4 rec status Receiver self test status This is a hexadecimal BOOFF representation and is equal to 10110000000011111111 in binary format see Appendix D Page 90for a complete conversion list Reading from rightto left you can look to see what each bit represents in Table 9 Page 59 5 magvar Magnetic variation correction in decimal degrees 0 318 6 std dev magvar Standard deviation of the magnetic correction in decimal 0 504 degrees 1 azimuth The calculated azimuth for the baseline in decimal degrees 294 536 8 pitch The calculated pitch for the baseline in d
109. generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own risk Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment IMPORTANT In order to maintain compliance with the limits of a Class A digital device it is required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the I O strobe port Handle with Care Use Anti Static Precautions The BeeLine GPSCard incorporates circuitry to absorb most static discharges However severe static shock may damage the unit If the BeeLine GPSCard is not in a NovAtel supplied enclosure special handling precautions must be observed Please see Appendix A Page 75 for details 8 BeeLine GPSCard User Manual Rev 2 set NovZtel Foreword FOREWORD CONGRATULATIONS Congratulations on purchasing your BeeLine a real time azimuth determination and kinematic positioning system BeeLine is the latest example of NovAtel s line of high performance GPS technology in easy t
110. he new data attempting to be loaded into the buffer will be discarded The receiver will not load a partial data record into an output buffer The flag resets to 0 five minutes after the last overrun occurred CPU Overload Normal operation is indicated by a 0 value A value of 1 indicates that the CPU is being over taxed This may be caused by requesting an excessive amount of information from the GPSCard If this condition is occurring limit redundant data logging or change to using binary data output formats or both You should attempt to tune the logging requirements to keep the idle time above 5 for best operation If the average idle drops below 5 for prolonged periods of time 2 5 seconds critical errors may result in internal data loss and the over load bit will be set to 1 You can monitor the CPU idle time by using the RVSA log message The flag resets to 0 five minutes after the first overload occurred NOTE As the amount of CPU power becomes limited the software will begin to slow down the position calculation rate If the CPU becomes further limited the software will begin to skip range measurement processing Priority processing goes to the tracking loops Almanac Saved Almanac not saved in non volatile memory Almanac saved in non volatile memory Secondary AGC When set to 1 the SECONDARY AGC circuits are operating within a normal range of control This bit will be set clear if the SECONDARY AGC is operating out of
111. ic variation correction see Figure 16 if you intend to navigate in agreement with magnetic compass bearings The correction value BeeLine GPSCard User Manual Rev 2 47 7 BeeLine Commands NovAtel entered here will cause the bearing field of the NAVA B log see Page 65 to report bearing in degrees Magnetic The magnetic variation correction is also reported in the GPRMC and GPTV logs The BeeLine GPSCard will compute the magnetic variation correction if you use the auto option Example 1 magvar 15 0 Example 2 magvar auto Figure 16 Illustration of Magnetic Variation amp Correction Reference Description a True bearing b Local magnetic variation Local magnetic variation correction negative of magnetic variation d Heading 50 True 65 Magnetic e True North Local Magnetic North Magnetic bearing 48 BeeLine GPSCard User Manual Rev 2 set NovAtel 7 BeeLine Commands SAVECONFIG This command saves your present configuration in non volatile memory Example SAVECONFIG SETNAV This command permits entry of one set of navigation waypoints The origin FROM and destination TO waypoint coordinates entered are considered on the ellipsoidal surface of the current datum default WGS84 Once SETNAV has been set from lat from lon to lat to lon track offset from port name and to port name you can monitor the navigation calculations and progress by observin
112. ier When the transfer is complete use the terminal emulator in Loader select Terminal or any other one to issue the VERSION command this will verify your new program version number When using the terminal emulator in Loader a prompt does not initially appear you need to enter the command first which then produces a response after which a prompt will appear Exit Loader select Quit This completes the procedure required for field updating a BeeLine 74 BeeLine GPSCard User Manual Rev 2 NovAtel A Anti Static Practices ANTI STATIC PRACTICES This appendix only applies if you are handling a BeeLine GPSCard without a ProPak BeeLine enclosure If you purchased a ProPak BeeLine then the sections that follow are not applicable A 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 These charges may be stored on clothing especially when the ambient air is dry through friction between the body and or various clothing layers Synthetic materials accumulate
113. igure 13 Typical ProPak BeeLine Installation Configuration NOTE The 4 pin LEMO socket connector to 4 pin LEMO plug connector auto ranging AC DC converter and AC power cord do not come with the ProPak BeeLine but are optional accessories The term plug socket refers to the outside of the connector while the term male female refers to the pin type 7 Reference Description Reference Description 1 ProPak BeeLine 11 Straight serial data cable 2 RF antenna cable male connector attaches to 3 RF antenna connection user supplied modem or 4 Model 501 antenna radio transmitter 5 or Model 531 antenna 12 I O strobe cable 6 or Model 503 antenna 13 Automotive cigarette lighter 7 or Model 512 antenna adapter 8 Male LEMO socket 14 Auto ranging AC DC converter 9 Female LEMO plug 15 Operator interface 10 Null modem serial data cable female connector attaches to user supplied operator interface Or any GPSAntenna model that is tuned to L1 BeeLine GPSCard User Manual Rev 2 31 5 ProPak BeeLine Installation NovAtel Power Supply Considerations The ProPak BeeLine incorporates a DC DC power converter providing filtering automatic reset circuit protection and voltage regulation It accepts a single input voltage between the range 10 to 36 V DC which can be supplied either from an automotive DC source or by the optional auto ranging AC DC converter NovAtel part number GPS APRO which operates over a range of 11
114. ine SPECIFIC COMMANDS BeeLine specific commands and logs provide attitude data such as azimuth angle pitch angle and baseline measurements ATTMODE This command sets up the attitude baseline measurements between the two antennas Invoking this command allows you to set different parameters and control the operation of the BeeLine system The ATTMODE command is actually a family of commands A description of the various arguments and options follows At least one argument requires data input while the others do not These arguments can only be used at the remote station The structure of the syntax is shown below followed by a detailed description of each argument Syntax ATTMODE RESET ATTMODE DEFAULT ATTMODE STATIC ATTMODE KINEMATIC ATTMODE CONSTRAIN AZIMUTH AZIMUTH AZIMUTH VARIATION ATTMODE CONSTRAIN PITCH PITCH PITCH VARIATION ATTMODE CONSTRAIN VELOCITY SWITCH ATTMODE VEL AZIMUTH MISALIGNMENT MISALIGNMENT MISALIGNMENT VARIATION ATTMODE APPLY AZIMUTH BIAS AZIMUTH BIAS ATTMODE APPLY PITCH BIAS PITCH BIAS ATTMODE UNKNOWN BASELINE LENGTH ATTMODE KNOWN BASELINE LENGTH LENGTH ATTMODE LOW MULTIPATH ATTMODE MEDIUM MULTIPATH ATTMODE HIGH MULTIPATH 42 BeeLine GPSCard User Manual Rev 2 Note 7 BeeLine Commands Below is a description
115. ing characters Address field for sentences in the NMEA standard the fixed length field following the beginning sentence delimiter HEX 24 For NMEA approved sentences composed of a two character talker identifier and a three character sentence formatter For proprietary sentences composed of the character P HEX 50 followed by a three character manufacturer identification code Almanac a set of orbit parameters that allows calculation of approximate GPS satellite positions and velocities The almanac is used by a GPS receiver to determine satellite visibility and as an aid during acquisition of GPS satellite signals Almanac data a set of data which is downloaded from each satellite over the course of 12 5 minutes It contains orbital parameter approximations for all satellites GPS to universal time conversion parameters and single frequency ionospheric model parameters Arrival alarm an alarm signal issued by a voyage tracking unit which indicates arrival at or at a pre determined distance from a waypoint see arrival circle Arrival circle an artificial boundary placed around the destination waypoint of the present navigation leg and entering of which will signal an arrival alarm Arrival perpendicular crossing of the line which is perpendicular to the course line and which passes through the destination waypoint Attenuation reduction of signal strength Attitude the position of an aircraft o
116. int and differential applications Figure 1 shows how the antennas may be placed perpendicular to the axis of motion An example of how to position your antennas when you are more interested in pitch is shown in Figure 8 Antenna Orientation Page 26 Figure 1 The BeeLine Concept 1 Reference Description Reference Description 1 BeeLine GPSCard 4 GPS satellite constellation 2 Primary NovAtel GPSAntenna 5 Ship s hull 3 Secondary NovAtel GPSAntenna The BeeLine s dual antenna capabilities make the following possible 20cm real time kinematic RTK accuracy with on the fly OTF initialization real time azimuth determination with 0 4 accuracy for 1 meter antenna separation e L1 C A code and carrier tracking Patented Narrow Correlator tracking technology circuits combined with a high performance 32 bit CPU make possible multipath resistant processing at high data update rates Excellent acquisition and re acquisition times allow this receiver to operate in environments where very high dynamics and frequent interruption of signals can be expected The BeeLine GPSCard is fabricated in a Eurocard printed circuit board format utilizing surface mount manufacturing technology For its technical specifications please see Appendix B Page 77 After integration with a user supplied 5V DC power source a mounting structure a pair of external antennas and I O data communications equipment the BeeLine GPSCard is ready for attitude positionin
117. inutes 0 05 m after a minimum tracking time of 50 minutes Kinematic mode 0 25 m after a minimum tracking time of 10 minutes 0 05 m after a minimum tracking time of 50 minutes Pseudorange Code Measurement Accuracy C A code phase 10 cm RMS with gt 42 0 dB Hz Single Channel Carrier Phase Measurement Accuracy L1 carrier phase 3 mm RMS gt 42 0 2 Differential Channel Carrier Phase Measurement Accuracy L1 carrier phase 0 75 mm RMS 1 s smoothed CIN gt 42 0 dB Hz Attitude Accuracy Kinematic any motion exceeding 2 cm s and Static Normalized to a 1 meter antenna separation 0 4 Azimuth 0 4 Pitch 1 Attitude accuracy increases linearly so that a 6 m baseline will compute azimuth amp pitch 6 times more accurately than with a 1 m baseline however the time to resolution will increase Velocity Accuracy 0 03 m s nominal differential 0 15 m s nominal single point Time Accuracy relative 50 ns SA off 250 ns SA on BeeLine GPSCard User Manual Rev 2 79 B Technical Specifications NovAtel Table B 1 continued 4 4 Dual RS 232C Serial Bit rates 300 1200 4800 9600 19200 57600 115200 bps 9600 bps default Signals supported TX RX RTS CTS DTR DSR DCD Electrical format EIA RS232C Standard VARF Output A programmable variable frequency output ranging from 0 15 Hz 5 MHz refer to
118. iption Reference Description 5 Female LEMO plug 8 AC plug 6 Auto ranging AC DC converter 9 Red marker at top of connector 7 AC socket Straight Power Cable NovAtel part number 01016724 01016725 Tel 40 6 8 7 LEMO Pin Number Signal Color Code 1 Negative GND Brown 2 Positive 10 to 36 V DC Orange 3 Positive 10 to 36 V DC Red 4 Negative GND Black Reference Description 5 Red marker at top of connector 6 Female LEMO plug 7 Female LEMO plug 8 Extension 88 BeeLine GPSCard User Manual Rev 2 gZ NovAtel C Output Logging Example OUTPUT LOGGING EXAMPLE C 1 EVENT HISTORY Section C 2 shows example output as a result of the following commands and logs attmode known baseline length 4 585 attmode static log log log log log log log com2 com2 com2 com2 com2 com2 com2 10 10 atta ontime sbla ontime dopa ontime 10 rvsa ontime 10 prtka ontime 10 sata once etsa once C 2 OU TP U T carriage returns and bolding have been added for ease of reading ATTA 929 SBLA 929 DOPA 929 RVSA 929 929 SBLA 929 159590 159596 160872 160940 160940 160940 00 B00PF 0 454 1 632 294 343 0 967 0 000 2 871 2 518 0 000 1 2B 00 9 7 0 394 2153 2 9849 0 2811 0 2227 0 1764 0 2 3 2B 50 1 8602 1 0522 1 3077 0 9787 0 80072 8 1 25 106 29 30 15 22 19 11 00 16 16 1 16 00 B 00FF 5A 00 BO00FF 0 318 0 504 294 536 0
119. l have an accuracy of about 3 to 5 degrees for most of this time Once the distance has been calculated or input by you via the ATTMODE command the RCCA log will be POSAVE DISABLE 59 SRCCA RTKMODE DEFAULT 16 SRCCA ATTMODE KNOWN BASELINE LENGTH 4 589 07 SRCCA CONFIG BEELINE 55 SRCCA BeeLine GPSCard User Manual Rev 2 67 8 NovAtel Format Logs NovAtel If you decide to input a baseline distance the value can be stored in non volatile memory with the SAVECONFIG command This prevents the system from calculating the baseline length at power up and expedites the process involved to arrive at an accurate azimuth solution Under these circumstances it is important for you to be able to verify what this length is in case the antenna setup should change RGEA B D Channel Range Measurements The RGEA B D log contains the channel range measurements for the currently observed satellites The RGEA example was produced using BeeLine The RGED message is a compressed form of the RGEB message When using these logs please keep in mind the constraints noted in the detailed description in the MiLLennium Command Descriptions Manual It is important to ensure that the receiver clock has been set and can be monitored by the bits in the receiver status field Large jumps in range as well as ADR will occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use th
120. lse is 1 ms 50 ns wide Falling edge 23 GND Digital Ground Output is used as the reference 10 Hz repetition rate Mark Input Normally high active low input pulse must exceed 55 ns in 24 GND Digital Ground duration The falling edge is the reference TTL or contact closure compatible STATUS High level output indicates good solution or valid GPS position 25 GND Digital Ground Low level output indicates no solution For factory use only 26 GND Digital Ground For factory use only 27 GND Digital Ground RESET_IN Reset TTL signal input from external system active low 28 GND Digital Ground RESET OUT ResetTTL signal output to external system active high 140 280 29 GND Digital Ground ms duration For factory use only 30 GND Digital Ground i For factory use only 31 D Digital Ground Kept high for factory use only 32 GND Digital Ground BeeLine GPSCard User Manual Rev 2 81 B Technical Specifications NovAtel B 2 Optional ProPak BeeLine B 2 1 Receiver Only those specifications which differ from the BeeLine GPSCard see Table B 1 will be shown in Table B 3 Table B 3 ProPak BeeLine Specifications PHYSICAL Size 255 mm x 130 mm x 62 mm Weight 1 3 kg Operating Temperature 40 C to 55 C Storage Temperature 45 C to 85 C Resistance Characteristics Dust tight water tight Connectors on ProPak BeeLine Humidity 5 to 95 RH non co
121. mpany Address City Zip Postal Code Prov State Country Phone Fax E mail BeeLine interface Computer type Operating shell Other interface used Please provide a complete description of any problems you may be experiencing or the nature of your inquiry attach additional sheets 1f needed For customer support contact your local NovAtel dealer first If the problem is still unresolved contact NovAtel directly in any of the following ways GPS Hotline at 1 800 NOVATEL U S and Canada only telephone 403 295 4900 e fax 403 295 4901 e mail support novatel ca web site http www novatel ca postal address NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 BeeLine GPSCard User Manual Rev 2 Notice NavZtel NOTICE The following statements refer only to a BeeLine GPSCard in a ProPak BeeLine enclosure not the card on its own FCC Notice The United States Federal Communications in 47 CFR 15 has specified that the following notices be brought to the attention of users of this product This equipment has been tested and found to comply with the limits for a class A digital device pursuant to Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment
122. muth axis towards bottom of boat 5 Roll axis along the line of motion 26 BeeLine GPSCard User Manual Rev 2 set NovAtel 4 BeeLine GPSCard Installation An imaginary line drawn between the two antennas should be parallel to the axis of motion where the attitude is of interest typically the roll axis However a misalignment can lead to azimuthal error It is better to mount the secondary antenna at a lesser separation distance from the primary antenna than at a longer separation distance and at a different elevation An elevation difference will negatively influence your results The roll angle is the rotation about the line of motion or about the object lengthwise The pitch angle is defined as the rotation about a roll axis For example if the bow of a boat is pointing up the pitch value in the ATTA B log will be positive See Figure 9 Azimuth and Pitch Orientation and Chapter 8 NovAtel Format Logs Page 50 The azimuth angle is the angle measured at the intersection of an object s vertical circle with the horizon or the rotation about the vertical axis of the object See Figure 9 below Figure 9 Azimuth and Pitch Orientation Reference Description Reference Description 1 Primary antenna 7 Horizontal axis 2 Secondary antenna 8 Negative pitch angle 3 Beeline GPSCard 9 Positive pitch angle 4 Vertical axis 10 Top view 5 Positive azimuth angle 11 Side view 6 Negative azimuth angle The status field output
123. n error CEP rate 0 2 seconds 1 cm sec 2 7 seconds 2 cm sec 7 30 seconds 5 cm sec Generally a communications link capable of data throughput at a rate of 4800 bits per second or higher is sufficient However it is possible to satisfactorily use a lower rate refer to the MiLLennium Command Descriptions Manual s chapter on message formats for additional information RT 20 requires that the base station periodically transmit either the RTCA messages listed below in Section 6 3 1 the recommended option or the RTCM SC 104 Type 3 amp 59N messages 38 BeeLine GPSCard User Manual Rev 2 NovZltel 6 Operation A Type 3 message contains base station position information and should be sent once every 10 seconds although it is possible to send it as infrequently as once every 30 seconds 59N message contains base station satellite observation information and should be sent once every 2 seconds The RTK system is designed for ease of use you set up the rover station enter a command so that it accepts RT 20 messages from the base station and are ready to go 6 3 1 Initialization for RTCA Format Messaging The following commands will enable RTCA format messaging and allow RT 20 to operate with the rover station either at rest or in motion 1 At the base station fix position lat lon height station id log comn rtcaref ontime interval log comn rtcaobs ontime interval Example Fix position
124. nas or LNA No warrant is made that the BeeLine GPSCard will meet its performance specifications if non NovAtel antennas are used It is recommended that appropriate fuses or current limiting be incorporated as a safety precaution on all power lines used Use a sufficient gauge of wire for example AWG 24 to ensure that the voltage at the 64 pin connector is within the BeeLine s requirements 4 5 2 RS232C Communications The BeeLine GPSCard is capable of communications in EIA RS232C serial data format via two ports COMI and 2 See Figure 6 Page 23 for data connections e COMI pins 7 11 A amp B e COM2 pins 15 19 amp B Each port has a ground connection and supports the following signals e Data Terminal Ready e Clear To Send CTS Transmitted Data TXD Request To Send RTS Received Data RXD Data Set Ready DSR Data Carrier Detect DCD The port settings bit rate parity etc are software configurable These are further described in Chapter 6 Operation Page 34 See Table B 1 Page 80 for further information on data communications characteristics 4 5 3 Strobe Signals The BeeLine GPSCard has 5 TTL compatible I O strobe lines See Figure 6 Page 23 for strobe signal connections 4 Variable Frequency VARF Output Pin 21B not available in the ProPak BeeLine option Pulse per Second PPS Output Pin 22B Measure Output Pin 23B Mark Input Pin 24B e Status Out
125. nce specifications if non NovAtel supplied coaxial cable is used A NOTE The coaxial cable should be connected to the antennas and BeeLine GPSCard before system power is turned on If for any reason the cable is disconnected from either of the antennas BeeLine you must turn off power before reconnecting the cable s otherwise the BeeLine GPSCard will not be able to sense the antenna and the system will not work If this occurs remove power from the BeeLine wait a few moments and then apply it again 28 BeeLine GPSCard User Manual Rev 2 Noite 5 ProPak BeeLine Installation ProPak BeeLine INSTALLATION The ProPak BeeLine see Figure 10 is a rugged reliable enclosure for adverse environments It offers you unparalleled flexibility It is intended to be used with the following NovAtel accessories and options e Any two L1 NovAtel GPSAntennas single frequency active antennas designed for high accuracy applications active antennas are required e Model C005 C015 or C030 5 15 or 30 m lengths coaxial cable to connect the GPSAntenna to the ProPak BeeLine e 4 pin LEMO plug connector to 4 pin LEMO plug connector NovAtel part number 01016724 33 5 cm or 01016725 75 cm and battery NovAtel part number 01016698 e Model GPS APRO auto ranging AC DC converter and power cables Figure 10 ProPak BeeLine Enclosure After the addition of these accessories together with user supplied data communications e
126. ncies IFs that are suitable for the analog to digital A D converter in the digital electronics section e amplifies the signals to a level suitable for the A D converter in the digital electronics section receives an automatic gain control AGC input from the digital signal processor DSP to maintain the IF signals at a constant level supplies power to two active antennas through the coaxial cables while maintaining isolation between the DC and RF paths A hardware jumper configuration is provided to select internal or external DC power for the active GPS antennas see jumper P301 Page 24 The RF section can reject a high level of potential interference e g MSAT Inmarsat cellular phone and TV sub harmonic signals 2 5 DIGITAL ELECTRONICS SECTION The digital section of the BeeLine GPSCard receives down converted amplified GPS signals which it digitizes and processes to obtain a GPS solution position speed direction and time The digital section consists of an analog to digital converter a 32 bit 25 MHz system processor memory control and configuration logic signal processing circuitry serial peripheral devices and supporting circuitry I O data and timing strobe signals are routed to and from the board via a 64 pin DIN 41612 Type B male connector Two EIA RS 232C serial communications ports 14 BeeLine GPSCard User Manual Rev 2 rS e NovAtel 2 Functional Overview support user selectable bit rates of
127. ndensing at 40 C DO P PEQUIR Voltage 10 to 36 V DC Power 12 W typical RF INPUT LNA POWER OUTPUT Two TNC female connectors RF Input 1575 42 MHz Power Output to LNA 4 25 5 25 V DC 0 180 mA current limit 200 20 mA INPUT OUTPUT STROBES VARF and STATUS OUTPUT are not available with the ProPak BeeLine option PHOTOGRAPHS ProPak BeeLine side view rear end cap view front end cap view and top view respectively 82 BeeLine GPSCard User Manual Rev 2 NovZltel B Technical Specifications VIBRATION Random Profile The ProPak BeeLine will acquire and track satellites while undergoing vibration levels as shown below Frequency 10Hz 10 Hz 40Hz 1000Hz 2000Hz gt 2000 Hz 80 dB decade 0 00125 0 02 0 02 0 005 80 dB decade Magnitude g Hz Typical Mounting Configuration Mount the BeeLine GPSCard securely using screws driven through the card s four corner mounting holes Superior Mounting Configuration Mount the card using full length clamped rail mounts Note The card is sensitive to any external vibration against it B 2 2 ProPak BeeLine Cables Strobe Port Cable NovAtel part number 01016569 we 6 LEMO Pin Number Pin Description Wire Color Code 1 1 PPS one pulse per second Black 2 MSR measure output Red Pin 3 MKI mark input Orange Pin4 GND ground Brown Refer
128. nent of the vector from the primary 8 double meters 44 antenna to the secondary antenna 9 Z component of the vector from the primary 8 double meters 52 antenna to the secondary antenna 10 Standard deviation of the X component 8 double meters 60 11 Standard deviation of the Y component 8 double meters 68 12 Standard deviation of the Z component 8 double meters 76 13 Solution status see Table 7 58 2 4 s Med 84 ong 14 RTK status see Tables 7 amp 8 Page 58 4 unsigned 88 long 15 Vector type see Table 6 Page 58 4 unsigned 92 long 1 For BeeLine this is always zero 2 reported status refers to the BeeLine filter As a result this status will often differ from that found in the BSLA log although both reference the same table BeeLine GPSCard User Manual Rev 2 57 8 NovAtel Format Logs NavZtel Table 5 Solution Status Solution computed Insufficient observations No convergence Singular Matrix Covariance trace exceeds maximum trace gt 1000 Test distance exceeded maximum of 3 rejectors if distance 10km Not yet converged from cold start Heightor velocity limit exceeded In accordance with COCOM export licensing restrictions Higher numbers are reserved for future use e Table6 Vector Type No solution L1 floating ambiguity vector L1 fixed ambiguity vector L1 floating ambiguity v
129. nvenient file name e g C GPS BOOTNAV1 TXT and exit Notepad 3 Ensure that the HyperTerminal settings are correctly set up to agree with the BeeLine GPSCard communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 From the Transfer menu use the Send text file selection to locate this file to be sent to the BeeLine Once you double click on the file or select Open HyperTerminal will send the file to the BeeLine 6 3 DIFFERENTIAL POSITION OPERATION Perhaps you are planning rover site real time differential navigation and want to pre configure the base and rover site receivers before the units are used in your application It will be assumed that the base station NovAtel GPSCard antenna will be positioned at a known marker site and the rover station BeeLine GPSCard is at an unknown location Itis your responsibility to provide a data communications link between the base station and rover station The data transfer rate must be high enough to ensure that sufficient base station messages reach the rover station to keep extrapolation errors from growing too large see Table 3 The recommended message cycle time is 2 seconds and the Type 59 message is the most efficient method available for transferring data Table 3 Latency Induced Extrapolation Error Time since last base Typical extrapolation station observatio
130. o integrate single card formats Your new BeeLine GPSCard receiver accepts RF input signals from two antennas computes rotation about 2 axes giving 0 4 azimuth and pitch accuracy for a one meter antenna separation This system also provides real time 20 cm positional accuracy with the aid of RT 20 software and high data output rates BeeLine is a tightly integrated system that provides a double axis attitude measurement coupled with a positioning system that meets the accuracy requirements of many applications on a single hardware platform BeeLine can be applied in mining and machine control robotics flight inspection marine navigation agriculture military direction finding and other custom OEM applications SCOPE This manual addresses in detail the BeeLine GPSCard hardware attributes and installation information This BeeLine GPSCard User Manual also describes each of the special commands and logs that the BeeLine GPSCard is capable of accepting or outputting Please consult the MiLLennium Command Descriptions Manual for other commands and logs available with your GPSCard The BeeLine GPS Card is also available as part of a stand alone packaged configuration the ProPak BeeLine A guide to using the ProPak BeeLine may be found on Page 29 When you are ready to use your BeeLine for the first time Chapter 3 Page 16 is a Quick Start The focus of this manual is on your perspective for integration evaluation and operation purposes It is
131. og the data all the time The GPSCard will generate a new log when the output buffer associated with the chosen port becomes empty The continuously option was designed for use with differential corrections over low bit rate data links This will provide optimal record generation rates The next record will not be generated until the last byte of the previous record is loaded into the output buffer of the UART period Use only with the ONTIME trigger Units for this parameter are seconds The selected period may be any value from 0 05 60 second to 3600 seconds Selected data is logged immediately and then periodic logging of the data will start at the next even multiple of the period If a period of 0 20 sec is chosen then data will be logged when the receiver time is atthe 0 20 0 40 0 60 and the next 0 80 second marks If the period is 15 seconds then the logger will log the data when the receiver time is ateven 1 4 minute marks The same rule applies even if the chosen period is not divisible into its next second or minute marks Ifa period of 7 seconds is chosen then the logger will log at the multiples of 7 seconds less than 60 thatis 7 14 21 28 35 42 49 56 and every 7 seconds thereafter offset Use only with the ONTIME trigger Units for this parameter are seconds It provides the ability to offset the logging events 1 from the above startup rule If you wished to log data at 1 second after every minute you would set the pe
132. ollowing illustration shows the arrangement of bytes within words and doublewords Similarly the bits of a double type are stored least significant byte first This is the same data format used by IBM PC computers 7 0 char address n 31 23 15 7 int two s complement n 3 n 2 n 1 address n 62 55 51 47 39 31 23 15 7 0 double pesed n 52 bits mantissa 63 52 n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 30 22 15 7 0 float Biased 23 bits mantissa 31 m3 23 m2 n 1 address n 8 2 TIME GPS satellites broadcast their time within their satellite messages Please see the following sections for information on GPS time as well as how the BeeLine GPSCard is GPS week rollover and Y2K compliant 8 2 1 GPS Time vs Local Receiver Time All logs report GPS time expressed in GPS weeks and seconds into the week The time reported is not corrected for local receiver clock error To derive the closest GPS time you must subtract the clock offset shown in the CLKA log field 4 from GPS time reported refer to the MiLLennium Command Descriptions Manual GPS time is based on an atomic time scale Universal Time Coordinated UTC time reported in NMEA logs is also based on an atomic time scale with an offset of seconds applied to coordinate Universal Time to GPS time GPS time is designated as being coincident with UTC at the start date of January 6 1980 00 hours GPS time does not count lea
133. on of Precision WGS World Geodetic System WPT Waypoint XTE Crosstrack Error BeeLine GPSCard User Manual Rev 2 101 G Replacement Parts and Accessories NovAtel REPLACEMENT PARTS AND ACCESSORIES Atal BeeLine GPSCard BeeLine GPSolution and Convert Disk 01015790 BeeLine GPSCard User Manual OM 20000024 MiLLennium Command Descriptions Manual OM 20000041 Optional ProPak BeeLine 01016564 Receiver to PC straight serial cable LEMO 10 pin to DE9P 01016383 Receiver to modem or radio null modem serial cable LEMO 10 01016329 pin to DE9S Receiver power cable LEMO 4 pin to cigarette lighter adapter 01016331 strobe cable 4 pin 01016569 Universal ProPak Mounting Bracket 70015024 Optional Power Cables Straight LEMO 4 pin to LEMO 4 pin power cable 33 5 cm 01016724 75 0 cm 01016725 AC DC converter to LEMO 4 pin and an AC power cord GPS APRO Optional NovAtel GPSAntennas Model 501 L1 only GPS 501 Model 511 L1 only GPS 511 Model 521 L1 only GPS 521 Model 502 L1 L2 GPS 502 Model 503 L1 L2 GPS 503 Model 512 L1 L2 GPS 512 Optional RF Antenna Cable 5 meters C005 15 meters C015 30 meters C030 22 cm interconnect adapter cable GPS C001 Optional battery assembly with LEMO 4 pin connector 01016698 Optional autoranging battery charger GPS ACDL The following original manufacturer s part numbers are provided for information only They are n
134. option to DOS or a terminal program however examples of how to use the two latter options follows For this example consider a situation where a PC s appropriately configured COMI port is connected to the BeeLine s COMI port and where a remote terminal is connected to the BeeLine s COM2 port Suppose the PC user wishes to monitor the BeeLine s activity the following command file could be used to do this 6 2 1 DOS One way to initiate multiple commands and logging from the BeeLine GPSCard is to create DOS boot up command files relating to specific functions This will save time when you want to duplicate test situations and minimize set up time Any convenient text editor can be used to create command text files 1 Open a text editor on the PC and type in the following command sequences log com2 atta ontime 15 log com2 sbla ontime 15 log com2 sata ontime 15 log com2 etsa ontime 15 log com2 rvsa ontime 60 5 log com2 prtka ontime 15 log com2 dopa ontime 15 2 Save this with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOTI TXT file to the PC s COMI port C GPS gt copy bootl txt coml 1 files s copied NGPS 4 The BeeLine GPSCard is now initialized with the contents of the BOOT1 TXT command file and logging is directed from the BeeLine s COM2 port to the remote terminal 6 2 2 Microsoft Windows As any text editor or communications p
135. osing a data rate A NOTE Although the BeeLine GPSCard can operate at data transfer rates as low as 300 bps this is not desirable For example if several data logs are active i e a significant amount of information needs to be transmitted every second but the bit rate is set too low data will overflow the serial port buffers cause an error condition in the receiver status and result in lost data 6 1 2 Communicating Using a Remote Terminal One method of communicating with the BeeLine GPSCard is through a remote terminal The BeeLine GPSCard has been pre wired to allow proper RS232C interface with your data terminal To communicate with the terminal the BeeLine GPSCard only requires the RX TX and GND lines to be used handshaking is not required although it can optionally be used Ensure that the terminal s communications set up matches the BeeLine s RS232C protocol 6 1 3 Communicating Using a Personal Computer An IBM compatible PC can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the BeeLine You can create command batch files using any text editor these can then be directed to the serial port that is connected to the BeeLine GPSCard using a communications software package This is discussed later in
136. ot available from NovAtel as separate parts Part Description LEMO part number 10 pin plug connector on both serial data cables FGG 1K 310 CLAC55Z 4 pin plug connector on power cable FGM 0B 304 CLLD52Z 4 pin plug connector on I O strobe cable FGG 0B 304 CLAD52Z 102 BeeLine GPSCard User Manual Rev 2 NovZtel H Index 12 80 100 55 93 98 100 93 94 98 100 A 14 60 61 100 Dor 31 32 88 102 AC DC EU 29 31 32 88 102 ACQUISITION 11 12 63 79 92 93 95 100 ssec ERR OR AERE 13 14 60 61 100 age of differential corrections 70 alarm 92 almanac 12 61 79 scies REPERI NE 92 99 58 68 92 95 97 99 angle tege us 16 26 27 42 50 56 57 63 69 96 97 antenna iiie ceci ect a se e da ca 2 6 9 11 13 14 17 25 26 27 28 29 30 31 34 36 38 42 43 50 54 56 59 60 61 68 79 81 92 95 98 11 14 24 29 47 17 39 40 44 56 67 Cable Sese et e 60 102 elevVatiom eei ie tee T T S DS E RSS 27 model SN Ree GO 20 31 102 13 14 11 16 26 14 24 25 47 11 13 16 18 20 26 27 34 36 57 59 64 66 68 70 secondary 11 13 16 18 20 26 27 34 36 57 59 63 64 68 ense 11 separation distance 2 22 27 single frequency 2 21 24
137. output timing strobes male right angle to secondary antenna via 12 pins interconnecting coaxial cable 12 Matching user supplied 3 Optional external reference clock input SMB interface i e matches item 4 connector P301 male straight 13 GPSAntenna model 501 4 Power data amp signals connector P1 male 14 Optional choke ring ground plane 64 pin 0 1 DIN 41612 Type B right angle 15 or antenna model 502 shown 5 Status LEDs green amp red with 5 8 adapter or any NovAtel 6 LNA power jumper P301 see the External GPSAntenna that is tuned to L1 Power section Page 24 20 BeeLine GPSCard User Manual Rev 2 Noite 4 BeeLine GPSCard Installation 4 1 MINIMUM CONFIGURATION In order for the BeeLine GPSCard to perform optimally the following additional equipment is required Two NovAtel GPSAntennas model will depend on application NovAtel coaxial cable note that a conversion is required between the male SMB connector on the BeeLine GPSCard and the female TNC connector on a GPS Antenna A regulated power supply providing 5 V DC see Table B 1 Page 78 for power regulation specifications A 64 pin 0 1 DIN 41612 Type B female connector as an interface for power communications and signals Data communications equipment capable of RS 232C serial communications 4 2 ANTI STATIC PRECAUTIONS Electrostatic discharge ESD is a leading cause of failure of electronic equipment components and printed ci
138. ovAtel 7 BeeLine Commands 7 2 1 Application Specific Examples To reduce the frequency of erroneous line bias calculation the following start up procedure is recommended 1 Find an area that is clear of obstructions and if possible not close to signal reflectors In some environments this will not be possible but the better this requirement is satisfied the easier this procedure will be 2 Power on the unit and enter all the appropriate constraints especially length but also pitch velocity for a kinematic environment or azimuth for a static environment see the examples in this section 3 Wait until the ATTA log shows a status of 4 indicating the line bias has been solved see Page 54 4 Now the process depends on the environment Kinematic environment Within 1000 seconds of the first status 4 in the ATTA log rotate the system making sure at the same time that the signals are not obstructed If the ambiguity filter does not reset the line bias is correct and the attitude generated will be correct If the line bias is incorrect the ambiguity filter will reset the status will be returned to status 1 in the ATTA log and the line bias calibration will restart This procedure has to be repeated until the line bias is correct but it is very unlikely that more than two calibrations will be required Static environment In a stationary environment the system rotation will not be possible but it will be possible to input an azimu
139. own in Section D 6 Lastly angular conversions may be found in Section D 7 D 1 DISTANCE D 2 VOLUME 1 meter m 100 centimeters cm 1000 millimeters mm 1 liter 1 1000 cubic centimeters cc 1 kilometer km 1000 meters m 1 gallon US 3 785 liters 1 international foot 0 3048 meter 1 gallon British 4 546 liters 1 nautical mile 1852 meters 1 statute mile 1609 meters 1 US survey foot 0 3048006096 meter D 3 TEMPERATURE D 4 WEIGHT degrees Celsius 5 9 x degrees Fahrenheit 32 1 kilogram kg 1000 grams degrees Fahrenheit 9 5 x degrees Celsius 32 1 pound 0 4536 kilogram kg 0 5 HEXADECIMAL TO BINARY CONVERSION Hexadecimal Binary 0000 0001 0010 0011 0100 0101 0110 0111 1000 1001 1010 1011 1100 1101 1110 1111 MMUOWPOANDORWDN AO 90 BeeLine GPSCard User Manual Rev 2 eee NovAtel D Common Unit Conversions D 6 GPS TIME OF WEEK TO CALENDAR DAY EXAMPLE 511200 seconds Day 511200 86400 seconds per day 5 916666667 days Hour 916666667 x 86400 3600 seconds per hour 22 0000 hours Minute 000 x 3600 60 seconds per minute 0 000 minutes Second 000 x 60 0 00 seconds Day 5 Thursday 22 hours 0 minutes 0 seconds into Friday D 6 1 Calendar Date to GPS Time E g 11 30 hours January 22 1995 before GPS week rollover August 22 1999 Days from January 6 1980 to Jannuary 22 1995 15 years x 365 days year 5475 days Add a day for each leap y
140. p seconds and therefore an offset exists between UTC and GPS time at this date 13 seconds The GPS week consists of 604800 seconds where 000000 seconds is at Saturday midnight Each week at this time the week number increments by one and the seconds into the week resets to 0 see Appendix D Page 91 for an example 8 2 2 1023 Compliant GPS Week Rollover The BeeLine GPSCard is 1023 compliant which means the GPS week number will go from 1023 back to 0 with all dates reported correctly and all data correct For more information on the GPS week rollover refer to NovAtel s website at http www novatel ca 8 2 3 Y2K Compliant Year 2000 The BeeLine GPSCard is Y2K compliant The BeeLine will operate normally over December 31 1999 January 1 2000 with all dates reported correctly and all data correct The GPSCard has been tested to ensure that the year 2000 leap day will be handled correctly and the card will perform correctly For more information on NovAtel s preparedness for Y2K refer to NovAtel s website at http www novatel ca 52 BeeLine GPSCard User Manual Rev 2 rS e NovAtel 8 NovAtel Format Logs 8 3 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 GPHDG log Page 65 The following table
141. parameters of the receiver system The RVSA example was produced using BeeLine If the system is a multiple GPSCard unit with a master card certain parameters are repeated for each individual GPSCard If the system is composed of only one GPSCard then only the parameters for that unit are listed Together the RVSA B and VERA B logs supersede older receiver status logs RVSA Structure SRVSA week seconds 4 of sat chan of sig chan of cards reserved CPU idle time receiver status CPU idle time receiver status CR LF Note 1 See Table 9 Page 59 Example SRVSA 929 160940 00 16 16 1 16 00 BOOFF 5A SATA B Satellite Specific Data This log provides satellite specific data for satellites actually being tracked The SATA example was produced using BeeLine The record length is variable and depends on the number of satellites Each satellite being tracked has a reject code indicating whether it is used in the solution or the reason for its rejection from the solution The reject value of 0 indicates the observation is being used in the position solution Values of 1 through 11 indicate the observation has been rejected for the reasons specified in Table 11 Page 63 A range reject code of 8 only occurs when operating in differential mode and an interruption of corrections has occurred or the DGPSTIMEOUT has been exceeded A nine degrees cut
142. put Pin 25B not available in the ProPak BeeLine option See Table B 1 Page 80 for further information on I O strobe characteristics BeeLine GPSCard User Manual Rev 2 25 4 BeeLine GPSCard Installation 4 6 GPS ANTENNA CONSIDERATIONS The BeeLine GPSCard has been designed to operate with any of the NovAtel single frequency GPSAntenna models Though it is possible to operate with other single frequency GPS antennas no warrant is made that the BeeLine GPSCard will meet its performance specifications if a non NovAtel antenna is used For further information on GPSAntenna systems and extended length cable runs contact NovAtel GPS Customer Service When installing the antenna system choose an antenna location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For a discussion on multipath refer to the relevant appendix in the MiLLennium Command Descriptions Manual thetwo antennas should be parallel to the axis of motion whose attitude is of interest typically the roll axis see Figure 8 Antenna Orientation the distance between the primary and secondary antennas should not exceed 500 meters In general it is better to place the antennas farther apart as opposed to closer together Attitude accuracy increases linearly so that for example a system with a 6 m baseline will compute azimuth and pitch six times more accurately than it would with a
143. quipment and a power supply the ProPak BeeLine will be ready for the most demanding applications Features The ProPak BeeLine is a rugged shock water EMC EMI and dust resistant enclosure that comes with the following two serial communication ports e an I O strobe port two RF ports aninput power port amounting plate straight and one null modem serial data cable e one I O strobe cable one 4 pin LEMO socket connector to cigarette lighter plug with built in 3 amp slow blow fuse The enclosure measures 255 mm x 130 mm x 62 mm weighs 1 3 kg and is constructed of extruded aluminum The enclosure is sealed by two end caps and the entire unit is closed with five mounting screws A NOTE The unit is sealed to provide protection against adverse environmental conditions therefore any attempt to open the case will impair the water resistant qualities of the enclosure and void the warranty BeeLine GPSCard User Manual Rev 2 29 5 ProPak BeeLine Installation NovAtel Connections and Indicators The ProPak BeeLine features front and rear end caps Figure 11 and Figure 12 each with appropriate indicator lights and connectors The front end cap indicator glows red when power is on and green when a valid position is computed Figure 11 ProPak BeeLine Front 1 Indicator Red Status Power on Green Valid position computed On the rear end cap there are
144. r new program firmware to the BeeLine using the Loader utility program As the Loader and update programs are generally provided in a compressed file format you will also be given a file decompression password The Loader and update files can be found on NovAtel s FTP site at http www novatel ca or can be sent to you on floppy disk or by e mail Your local NovAtel dealer will provide you with all the information you require to update your receiver 9 1 UPDATING USING THE LOADER UTILITY Loader is required when updating previously released firmware with a newer version of program and model firmware e g updating a BeeLine Standard rev 7 46 to a higher revision level of the same model Loader is a DOS utility program designed to facilitate program and model updates Once Loader is installed and running it will allow you to select a host PC serial port bit rate directory path and file name of the new program firmware to be transferred to the BeeLine 9 1 1 Transferring firmware Files To proceed with your program update you must first acquire the latest firmware revision You will need a file with a name such as OEMXYZ EXE where XYZ is the firmware revision level This file is available from NovAtel s FTP site http www novatel ca or via e mail support novatel ca 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 7 at th
145. r preceded by an asterisk and followed by a line termination using the carriage return and line feed characters e g xx CR LF This 8 bit value is an exclusive OR of all bytes in the log excluding the identifier and the asterisk preceding the two checksum digits Structure data field data field data field XX CR LF 8 1 2 Binary Log Structure Log types ending with the letter B or b will be output in Binary format e g ATTB The structures of all Binary logs follow the general conventions as noted here 1 Basic format of Sync 3 bytes Checksum 1 byte Message ID 4 bytes unsigned integer Message byte count 4 bytes unsigned integer Data X 2 The Sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 11 17 3 The Checksum is an XOR of all the bytes including the 12 header bytes with result 00 4 The Message ID identifies the type of log to follow 5 The Message byte count equals the total length of the data block including the header A NOTE Maximum flexibility for logging data is provided to the user by these logs The user is cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance CPU overload can be monitored using the idle time and buffer overload bits from the RCSA B log See Table 9
146. r spacecraft in relation to a given line or plane such as the horizon Azimuth the horizontal direction of a celestial point from a terrestrial point expressed as the angular distance from 000 reference clockwise through 360 The reference point is generally True North but may be Magnetic North or Relative ship s head Bearing the horizontal direction of one terrestrial point from anther terrestrial point expressed as the angular distance from a reference direction usually measured from 000 at the reference direction clockwise through 360 The reference point may be True North Magnetic North or Relative ship s head Carrier the steady transmitted RF signal whose amplitude frequency or phase may be modulated to carry information Carrier Phase Ambiguity or sometimes ambiguity for short the number of integer carrier phase cycles between the user and the satellite at the start of tracking Carrier phase measurements these are accumulated delta range measurements They contain the instantaneous phase of the signal modulo 1 cycle plus some arbitrary 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 When a lock break occurs this accumulated value can jump an arbitrary integer number of cycles this is called a cycle slip CEP circular error probable a circle s radius centered at
147. rcuit boards containing ESD sensitive devices and components It is imperative that ESD precautions be followed when handling or installing the BeeLine GPSCard printed circuit board See Appendix A Page 75 for more information on ESD precautions Leave the BeeLine GPSCard in its anti static packaging when not connected in its normal operating environment When removing the BeeLine GPSCard from the ESD protective plastic clamshell follow accepted standard anti static practices Failure to do so may cause damage to the BeeLine When you remove the BeeLine GPSCard from the original packing box it is recommended that you save the box and ESD protective plastic clamshell for future storage or shipment purposes A REMEMBER Always wear a properly grounded anti static wrist strap when handling the BeeLine Always hold the BeeLine GPSCard by its corners or the RF backplane and avoid direct contact with any of the components Do not let BeeLine GPSCard come in contact with clothing at any time because the grounding strap cannot dissipate static charges from fabrics Failure to follow accepted ESD handling practices could cause damage to the BeeLine Warranty may be voided if equipment is damaged by ESD 43 INSTALLATION PROCEDURE Installing the BeeLine GPSCard typically consists of the following 1 mounting the BeeLine GPSCard in a secure enclosure to reduce environmental exposure RF interference and vibration effects 2 pr
148. rectly see Page 7 High quality coaxial cables should be used because a mismatch in impedance possible with lower quality cable produces reflections in the cable that increases signal loss While there may be other coaxial cables and antennas on the market which may also serve the purpose please note that the performance specifications of the BeeLine GPSCard are warranted only when it is used with NovAtel supplied accessories 2 2 PRINCIPAL POWER SUPPLY A single external power supply 4 875 5 250 V DC is all that is necessary to operate the BeeLine GPSCard Note The BeeLine GPSCard will suspend operation if the voltage supplied is outside the given input range 2 3 OPTIONAL LNA POWER SUPPLY The BeeLine GPSCard provides power to its GPSAntennas out of the primary 5 V DC input However if a different type of antenna is required that is incompatible with this supply then you could connect an additional power source 30 V DC 100 mA maximum and user supplied to the BeeLine In either case the power is fed to the antennas through the same coaxial cables used for the RF signals See jumper P301 Page 24 2 4 RADIO FREQUENCY HF SECTION The BeeLine GPSCard receives partially filtered and amplified GPS signals from two antennas via the coaxial cables The RF section does the following filters the RF signals to reduce noise and interference e down converts with further band limiting the RF signals to intermediate freque
149. riod to 60 seconds and the offset to 1 second Default is 0 hold Will prevent a log from being removed when the UNLOGALL command is issued HOLD If the LOG syntax does not include a trigger type it will be output only once following execution of the LOG command If trigger type is specified in the LOG syntax the log will continue to be output based on the trigger specification Specific logs can be disabled using the UNLOG command whereas all enabled logs will be disabled by using the UNLOGALL command refer to the commands chapter and Appendix C of the MiLLennium Command Descriptions Manual All activated logs will be listed in the receiver configuration status log see the RCCA log Page 67 The port parameter is optional If port is not specified port is defaulted to the port that the command was received on 50 BeeLine GPSCard User Manual Rev 2 9 NovAtel 8 NovAtel Format Logs 8 1 1 ASCII Log Structure Log types ending with the letter A or a will be output in ASCII format e g ATTA The structures of all ASCII logs follow the general conventions as noted here 1 The lead code identifier for each record is 2 Each log is of variable length depending on amount of data and formats 3 All data fields are delimited by a comma with the exception of the last data field which is followed by a to indicate end of message data 4 Each log ends with a hexadecimal numbe
150. rn MNA m 30 E 3 42 LEN RII ye Pin Number Description Pin Number Description 1A 1B 4A 7A 15A 21A 32A GND 19A DCD2 2A 2B Vcc 19B DSR2 3A 5B 8B 12A 12B 16B 20A 20B N C 21B VARF 3B Reserved for future use 22B PPS 4B External LNA power 23B Measure out 5A 6A 13A 14A 26B 27B 30B 32B Factory use 24B Mark in 8A DTR 1 25B Status 9A TXD1 28B Reset in 9B CTS1 29B Reset out 10A RXD1 33 Component side of GPSCard 10B RTS1 34 Power 11A DCD1 35 37 40 42 Factory use 11B DSR1 36 COM1 RS 232C 16A DTR2 38 COM2 RS 232C 17A TXD2 39 Strobes 17B CTS2 4l Control 18A RXD2 43 Keying tab 18B RTS2 BeeLine GPSCard User Manual Rev 2 23 4 BeeLine GPSCard Installation Noel 4 5 1 External Power See Figure 6 Page 23 for external power input connections Digital ground pins 1A B internally connected main power 5 V DC pins 2A B internally connected e Optional external LNA power pin 4B 30 V DC and 4A GND See Table B 1 Page 78 for specifications concerning external power inputs The BeeLine GPSCard requires only one regulated power input of 5 V DC The receiver in a ProPak BeeLine enclosure is designed to prevent internal damage when subjected to a reverse polarity power connection and to provide overcurrent overvoltage protection There is no reverse polarity or overcurrent overvoltage protection with the BeeLine GPSCard without a NovAtel ProPak BeeLine
151. rogram can be used for these purposes the use of Windows 95 is described only as an illustration The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation boot file on a PC and send it to the BeeLine GPSCard User Manual Rev 2 37 6 Operation NovAtel BeeLine Itis assumed that the PC s serial port COMI is connected to the BeeLine s COMI port and that a remote terminal is connected to the BeeLine s COM2 port 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log comi atta ontime 1 log coml sbla ontime 15 log coml prtka ontime 15 log comi vlha ontime 15 log comi nava ontime 15 log com2 gprmb ontime 15 5 log com2 gpvtg ontime 15 5 log com2 rcca ontime 60 The above example initializes the BeeLine GPS Card with origin and destination waypoint coordinates and sets the magnetic variation correction to 21 degrees The ATTA log will be output from the BeeLine COMI port once every second The SBLA PRTKA VLHA and NAVA logs have been set to output from the BeeLine COMI port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the BeeLine COM2 port at intervals of 15 seconds and offset by five seconds The RCCA log has been set to output every 60 seconds from the BeeLine COM2 port 2 Save this with a co
152. sible log outputs including the logs described in this chapter All data types can be logged using several methods of triggering each log event Each log is initiated using the LOG command The LOG command and syntax are listed on the following page Syntax log port datatype trigger period offset hold Syntax Description Example LOG LOG port COM1 or COM2 Defaults to the port that the command was entered on COMI datatype Enter one of the valid ASCII or Binary Data Logs DOPA trigger Enter one of the following triggers ONTIME ONCE Immediately logs the selected data to the selected port once Default if trigger field is left blank ONMARK Logs the selected data when a MARKIN electrical eventis detected Outputs internal buffers at time of mark does not extrapolate to mark time Use for extrapolated position at time of mark refer to the MKPA B log in the MiLLennium Command Descriptions Manual ONNEW Logs the selected data each time the data is new even if the data is unchanged ONCHANGED Logs the selected data only when the data has changed ONTIME Immediately logs the selected data and then periodically logs the selected data ata frequency period offset determined by the period and offset parameters The logging will continue until an UNLOG command pertaining to the selected data item is received refer to the UNLOG command in the MiLLennium Command Descriptions Manual CONTINUOUSLY Will l
153. square a probability level of 68 This is true only for 1 D Gaussian distributions For 2 D or 3 D Gaussian Distribution the percentage of the values distributed inside a circle or sphere with a radius equal to the RMS value depends on distribution shape Roll to move by turning on an axis or to rotate about its axis lengthwise as an aircraft in flight Route a planned course of travel usually composed of more than one navigation leg Rover Receiver the GPS receiver which does not know its position and needs to receive measurements from a reference station to calculate differential GPS positions The terms rover and remote are interchangeable RT 20 NovAtel s Double Differencing Technology for real time kinematic RTK carrier phase floating ambiguity resolution RTCA Radio Technical Commission for Aeronautics an organization which developed and defined a message format for differential positioning RTCM Radio Technical Commission for Maritime Services an organization which developed and defined the SC 104 message format for differential positioning RTK real time kinematic a type of differential positioning based on observations of carrier phase In this document it is also used with reference to RT 2 and RT 20 Satellite elevation the angle of the satellite above the horizon Selected waypoint the waypoint currently selected to be the point toward which the vessel is travelling Also called
154. strobe lines One Pulse per Second PPS Output Measure Output Mark Input See Appendix B Page 82 for further information on the ProPak BeeLine s I O strobe characteristics BeeLine GPSCard User Manual Rev 2 33 6 Operation NovAtel oPERATION Before operating the BeeLine GPSCard for the first time ensure that you have followed the installation instructions of Chapter 4 or if you have a ProPak BeeLine have reviewed Chapter 5 The following instructions are based on a configuration such as that shown in Figure 14 It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility Figure 14 Typical Operational Configuration Reference Description Reference Description 1 Any GPSAntenna model that is tuned to L1 7 Primary antenna feed 2 BeeLine GPSCard 8 Secondary antenna feed 3 Command source or reference station 9 COM1 4 Data logger or remote station 10 COM2 5 External power source s 11 Power 6 OEM housing 6 1 COMMUNICATIONS WITH THE BeeLine GPSCARD Communication with the BeeLine GPSCard is straightforward and consists of issuing commands through the COMI or 2 port from an external serial communications device This could be either a terminal or an IBM compatible PC that is directly connected to a BeeLine GPSCard serial port using a null modem cable If you are using an RTK radio it connects to the ProPak BeeLine s COM2 port by means of the ra
155. supply for an active GPS antenna NovAtel active antennas are recommended A pair of active antennas is required because their low noise amplifiers LNA boost the power of the incoming signals to compensate for the line loss between the antennas and the BeeLine If the limit of 13 dB of allowable cable loss is exceeded excessive signal degradation will occur and the BeeLine GPSCard may not be able to meet its performance specifications NovAtel offers a variety of single and dual frequency GPSAntenna models All use low profile microstrip technology and include band pass filtering and an LNA The GPSAntenna you choose will depend on your BeeLine GPSCard User Manual Rev 2 13 2 Functional Overview NovAtel particular application Any NovAtel antenna is adequate models 501 511 521and 531 are L1 only models 502 503 and 512 are dual frequency GPS Antennas Each of these models offer exceptional phase center stability as well as a significant measure of immunity against multipath interference Each one has an environmentally sealed radome NovAtel also offers high quality coaxial cable in standard 5 Model C005 15 Model C015 and 30 m Model C030 lengths These come with a TNC male connector at each end Should your application require the use of cable longer than 30 m you will find the application note Extended Length Antenna Cable Runs at our website http www novatel ca or you may obtain it from NovAtel Customer Service di
156. sure to access the Setup menu step 3 following before proceeding to Program Card step 4 following otherwise you can go directly from step 2 following to step 4 BeeLine GPSCard User Manual Rev 2 73 9 Firmware Updates NovAtel The procedure is as follows 1 2 9 Turn off power to the BeeLine Start the Loader program From the main menu screen Figure 18 select Setup to configure the serial port over which communication will occur default COM1 and the data transfer rates for both programming default 115 200 bits per second and terminal emulation default 9600 bps To minimize the time required select the highest serial bit rate your PC can reliably support Loader will verify and save your selections in a file named LOADER SET and return to the main menu screen From the main screen select Program Card Select the disk drive e g A B C D in which the update file e g 746 BIN is located Select the path where the update program file is located e g GP S LOADER the directory from which you started Loader is the default path Select the required update file e g 746 BIN At the prompt enter your update auth code e g 17b2 32df 6ba0 92b5 e5b9 beeline When prompted by the program turn on power to the BeeLine Loader will automatically establish communications with the BeeLine The time required to transfer the new program data will depend on the bit rate which was selected earl
157. te numbers of satellite signals to compute position and time If these bits are not all set to zero then the observation data pseudorange measurement carrier phase and Doppler measurements may jump as the clock adjusts itself Bit 11 Primary Jammer Detection 0 1 Normal operation is indicated when this bit is 0 If set to 1 the receiver has detected a high power signal causing interference When this happens the receiver goes into a special anti jamming mode where it re maps the A D decode values as well as special PRIMARY AGC feedback control These adjustments help to minimize the loss that will occur in the presence of a jamming signal You should monitor this bit and if set to 1 do your best to remedy the cause of the jamming signal Nearby transmitters or other electronic equipment could be the cause of interference you may find it necessary to relocate your antenna position if the problem persists 60 BeeLine GPSCard User Manual Rev 2 NovAtel 8 NovAtel Format Logs Bits 12 13 14 Buffer COM 1 COM 2 0 1 Bit 15 Bit 18 Bit 19 Bit 20 Bit 21 Normal operation is indicated by a 0 value These bits are set to 1 to inform the user when any of the 8 Kbyte output buffers have reached an over run condition 2 Over run is caused by requesting more log data than can be taken off the GPSCard because of bit rate limitations or slow communications equipment If this happens t
158. th constraint in this case to help with the initial line bias calibration If the initial line bias calculation is incorrect it is likely that the system will reset on its own before the 1000 second time window elapses and this condition will restart the line bias calibration process but this is not guaranteed For this reason it is important that once status 4 in the ATTA log has been reached you verify that the generated azimuth and pitch are correct If these values are reasonable the line bias calculation has been done successfully but otherwise the calibration has to be restarted Examples 1 Consider two antennas mounted on the roof of a van perpendicular to the typical direction of movement Looking in the same direction as the van will move the primary antenna is mounted on the right and the secondary antenna on the left The commands would then be as follows ATTMODE KNOWN BASELINE LENGTH 1 250 ATTMODE APPLY AZIMUTH BIAS 270 000 ATTMODE CONSTRAIN PITCH 0 000 10 000 ATTMODE VEL AZIMUTH MISALIGNMENT 90 000 20 000 ATTMODE CONSTRAIN VELOCITY ENABLE Consider now the case where the antennas are mounted along the roll axis of the van with the primary antenna at the rear BeeLine GPSCard User Manual Rev 2 45 7 BeeLine Commands NovAtel Reference Description 1 Primary antenna 2 Secondary antenna 3 Roll axis direction of motion The commands would then be as follow ATTMODE KNOWN BASELINE LENGTH 2 000 A
159. tions The setting of this command on off will affect the way the BeeLine s self test diagnostics see Table 9 Page 59 report the antenna s status Example antennapower off coMn This command permits you to configure bps parity data bits stop bits handshake echo and FIFO the GPSCard COM port s asynchronous drivers Examples com2 19200 e 7 1 n on off coml 1200 e 8 1 n on off This command enables versatile control of the DTR handshake line control high low or toggle active high or low lead time and tail time for use with output data logging in conjunction with external devices such as a radio transmitter The default state for the COMI or COM2 DTR line is always high Examples coml1 dtr toggle high 300 150 com2 dtr toggle low 200 110 COMn_RTS This command enables versatile control of the RTS handshake line control high low or toggle active high or low lead time and tail time for use with output data logging in conjunction with external devices such as a radio transmitter The default state for the COM1 or COM2 RTS line is always high COMn_RTS will not influence the COMn command handshake control of incoming commands Example coml_rts toggle high 200 100 com2 rts toggle low 250 125 MAGVAR Two field options are included for BeeLine a standard deviation field and an auto field The GPSCard computes directions referenced to True North Use this command magnet
160. tput logs for positioning information BSLA B Baseline Measurement NMEA format logs PRTKA B Best Low Latency Position Base Station Position amp Health RTKOA B Output Time Matched Positions The PRTKA B and NMEA format logs contain the low latency position the RTKA B logs contain the matched position The low latency solution is the recommended one for kinematic users while the matched solution is the one recommended for stationary users 40 BeeLine GPSCard User Manual Rev 2 7 BeeLine Commands BeeLine COMMANDS This chapter describes the BeeLine s ATTMODE command and its arguments as well as some GPSCard commands important to BeeLine 7 1 COMMANDS IN GENERAL The GPSCard is capable of responding to over 50 different input commands refer to the MiLLennium Command Descriptions Manual You will find that once you become familiar with these commands the GPSCard offers a wide range in operational flexibility All commands are accepted through the COMI and COM2 serial ports NOTE You will find the HELP command a useful tool for inquiring about the various commands available The following rules apply when entering commands from a terminal keyboard The commands are not case sensitive COMMAND or command e g HELP ot help e g ATTMODE KINEMATIC or attmode kinematic commands and required entries can be separated by a space or a comma command variable OR comm
161. try Assumes height is known if the FIX HEIGHT command has been invoked If not it will give the normalized precision of the horizontal and time parameters given that nothing has been constrained The lower the HTDOP value the greater the confidence factor Heading the direction in which a vessel points or heads at any instant expressed in degrees 000 clockwise through 360 and may be referenced to True North Magnetic North or Grid North The heading of a vessel is also called the ship s head Heading is a constantly changing value as the vessel oscillates or yaws across the course due to the effects of the air or sea cross currents and steering errors Integer Ambiguity Estimates carrier phase ambiguity estimates which are only allowed to take on integer values Iono free Carrier Phase Observation a linear combination of L1 and L2 carrier phase measurements which provides an estimate of the carrier phase observation on one frequency with the effects of the ionosphere removed It provides a different ambiguity value non integer than a simple measurement on that frequency Kinematic the user s GPS antenna is moving In GPS this term is typically used with precise carrier phase positioning and the term dynamic is used with pseudorange positioning L1 frequency the 1575 42 MHz GPS carrier frequency which contains the course acquisition C A code as well as encrypted P code and navigation messages used by commercial GP
162. ust not be changed or moved needlessly Handles or finger holes may be provided on circuit boards for use in their removal and replacement care should be taken to avoid contact with the connectors and components On site repair of ESD sensitive equipment should not be undertaken except to restore service in emergency where spare boards are not available Under these circumstances repair station techniques must be observed Under normal circumstances a faulty or suspect circuit board must be sent to a repair center having complete facilities or to the manufacturer for exchange or repair 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 A circuit board in a static shielding bag clamshell may be shipped or stored a cardboard carton but the carton must not enter a static controlled area such as a grounded or dissipative bench top or repair zone Do not place anything else inside the bag e g repair tags Treat all PCBs and components as ESD sensitive Assume that you will damage or component if you are not ESD conscious Do not use torn or punctured static shielding bags wire tag protruding through the bag could act as a lightning rod funnelling the entire charge into the components inside the bag BeeLine GPSCard User Manual
163. velocity Higher values reserved for future use o BeeLine GPSCard User Manual Rev 2 71 9 Firmware Updates NovAtel EJ FIRMWARE UPDATES The BeeLine GPSCard stores its program firmware in non volatile memory which allows you to perform firmware updates without having to return the BeeLine GPSCard to the distributor New firmware can be transferred to the BeeLine GPSCard through a serial port and the unit will immediately be ready for operation at a higher level of performance The first step in updating your receiver is to contact your local NovAtel dealer Your dealer will assist you in selecting the best update 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 Page 7 at the beginning of this manual When you call be sure to have available your BeeLine GPSCard model number serial number and program revision level This information is printed on the original shipping box as well as on the back of the BeeLine GPSCard itself You can also verify the information by issuing the VERSION command at the port prompt This is an overview of the updating procedure If you are updating to a higher firmware revision level of the same model e g updating a BeeLine Standard rev 7 46 to a 7 47 of the same model you will need to transfe
164. xtended cable lengths 22 14 25 26 F ene eee RE eren A 23 24 32 81 104 BeeLine GPSCard User Manual Rev 2 NorAtei H Index M 14 15 G GDOP eese 79 93 94 96 99 100 geodetc datum sisted esee 95 geographic coordinates 66 DEO etatem v ee 94 98 Global Positioning System 6 95 100 GPS time seinen miei 52 54 56 91 GPSCard Range Reject Codes 63 great ciicle 49 66 93 95 96 ground plane etes 11 12 H eden dee us 93 95 leading ee eR 48 70 93 95 98 health 2 erste 12 39 40 63 70 height zii eiue ede sa 12 39 58 66 79 87 93 94 95 98 b Pme da 35 37 41 60 61 94 high power jamming eee 60 61 high power signal 2 2 60 61 93 95 100 I 1dle time one sete anti 35 61 intermediate frequency IF 13 14 100 Inertial Navigation System INS 67 initialization installation ionospheric K KANG TALC zs ette rre eee ees 9 11 40 43 79 95 97 101 L Dl nee eee pe Ue Eire 11 12 13 20 31 34 58 59 63 64 68 77 78 79 95 96 99 102 latency 38 40 66 70 79 95 latitude 53 93 93 96 LED

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