CW47 GPS Synchronized Time Reference with
Contents
1. Name Description GPGSV NMEA sentence header satellite data NoMsg Total number of GPGSV messages being output MsgNo Number of this messages NoSv Number of satellites in view Sv Satellites ID elv Satellite elevation angle degrees az Satellite azimuth angle degrees cno Satellite signal Noise ration dB Hz cs Message checksum in hexadecimal 5 2 1 5 GPRMC Recommended Minimum Data The Recommended Minimum sentence is defined by NMEA for GPS Transit system data GPRMC hhmmss sss status latitude N Hemisphere longitude E spd cmg ddmmyy mv mvd Mode cs Name Description GPRMC NMEA sentence header Recommended Minimum Sentence hhmmss sss UTC time in hours minutes seconds status Status V navigation receiver warning A data valid Latitude User datum latitude degrees minutes decimal minutes format ddmm mmmmmm N Hemisphere N North or S South Longitude User datum longitude degrees minutes decimal minutes format dddmm mmmmmm E Longitude direction E East W West spd Speed over ground knots cmg Course made good ddmmyy Date in day month year format mv Magnetic variation mvd Magnetic variation direction Mode Mode indicator D Valid Differential A Valid Autonomous E Invalid Estimated N Invalid Not valid cs Message checksum in hexadecimal S Copyright 2012 NavSync Ltd Al2. one millionth part 10 UTC Coordinated Universal Time UTM Universal Transverse Mercator UART Universal Asynchronous Receiver transmitter used in serial communications VDOP Vertical Dilution of Precision WGS World Geodetic System a world wide Datum GPS works in WGS84 which has superseded WGS72 APPENDIX 6 Contact Details For further details and hotline support please contact North American Sales International Sales and Support NavSync Ltd 2111 Comprehensive Dr Aurora IL 60505 USA Telephone 1 630 236 3026 Facsimile 1 630 236 3023 NavSync Ltd BAY 143 Shannon Industrial Estate Shannon Co Clare Ireland Telephone 353 61 472221 Facsimile 353 61 472226 CW47 User Manual APPENDIX 7 Additional GPS Information U S Coast Guard Navigation Center Civilian GPS service notices general system information and GPS outage reporting WWW navcen uscg gov U S Naval Observatory General USNO information and links to USNO timing and other useful sites www usno navy mil NavSync GPS Homepage www NavSync com General GPS Information and links to other useful GPS sites USAF GPS Wing www losangeles af mil National Marine Electronics Association NMEA For information on the NMEA protocol specification www nmea org General GPS Information Glossary of GPS terms www gpsworld com resources glossary htm Revision Revision Date Notes ROO 05 05 09 Initial Release R01
3. A response option of NO indicates that no reset command is currently activated Explanation of Parameters Option A list of character descriptors to indicate which if any of the optional actions are to be undertaken prior to the software re sets CONFIG clear the receiver configuration data stored in EEPROM EPH clear the satellite ephemeris data stored in EEPROM ALM clear the satellite almanac data stored in EEPROM SLEEP Enter a sleep mode still to be defined 5 3 5 PRTH lt Q S R gt INTM INTERMITTENT OPERATION PARAMETERS Purpose This message queries sets and respond with the fix interval run duration run interval horizontal and vertical accuracy masks for intermittent operation Once the receiver has met the required horizontal and vertical accuracy masks it will go to sleep until the next run interval The receiver will also go to sleep if no fix or the accuracy masks have not been met within the run duration Query Format amp PRTHQ INTM checksum lt cr gt lt lf gt Set Format PRTHS INTM Fix Interval Run Duration Run Interval Horizontal Acc Mask Vertical_Acc_Mask checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR INTM lt checksum gt lt cr gt lt lf gt Explanation of Parameters Fix_Interval Interval in ms between adjacent fixes Run_Duration Maximum time in ms to attempt to obtain fix Must be greater than Fix_Interval and is 0 for continuous operation Run Interval Tim
4. LonDeg Longitude degrees floating point range 90 0 LonMin Longitude minutes floating point range 59 999999 LonSec Longitude seconds floating point range 59 99999 LonH Longitude hemisphere char E or W EIIHt Height of the reference marker above the current user datum reference ellipsoid in meters floating point range 18 000 0 AntHt Height of the antenna phase center above the reference marker height defined by EIIHt above in meters floating point range 18 000 0 posRMS RMS accuracy of the input position meters floating point range 0 999999 0 Note that since the degree minutes and seconds fields will accept floating point values then a decimal degree value or and integer degree decimal minute value can be input directly by setting the minutes and seconds fields to zero as appropriate eg 52 12345678 0 0 N or 52 14 123456 0 N 5 3 7 PRTH lt Q S R gt COMA COMA MODE Purpose This message sets queries and responds coma mode Coma mode puts the receiver to sleep for a predetermined period of time Query Format PRTHQ COMAI checksum lt cr gt lt lf gt Set Format PRTHS COMA Period checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR COMA Period lt checksum gt lt cr gt lt lf gt Explanation of Parameters Period The period in milliseconds that the receiver will sleep 5 3 8 PRTH lt Q S R gt FRQD FREQUENCY OUTPUT SELECT Purpose This message sets queries and responds
5. Man pack walking 3 Automotive land vehicle 4 Marine 5 Airborne low dynamics lt 1g Limit of CW47 Default for CW47 is 1 and changes to 0 after 10 minute location survey completed maximum is 5 5 3 3 PRTH lt Q S R gt ITIM INITIALIZE TIME AND DATE Purpose This message sets queries and responds to the user initialized time and date Two input options are available one allowing a calendar date and GMT time to be input and the other a GPS week number and seconds of week The input date is acted upon regardless and is primarily used to set the GPS week inside the receiver The time input will not be used if is set to zero or if the receiver is currently tracking any satellites and therefore already has a good sub millisecond knowledge of time If the time input is not used then the response message returns the values used or assumed instead of those input The time RMS accuracy is used to decide how much importance to put on the input values and should be set with care Query Format PRTHQ ITIM checksum lt cr gt lt lf gt Set Format Using a GMT time format PRTHS ITIM timeRMS GMT day month year hours minutes seconds checksum cr If Using a GPS time format PRTHS ITIM timeRMS GPS gps_week gps_time checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR ITIM timeRMS GMT day month year hours minutes seconds GPS gps_week gps_time lt checksum gt lt cr gt lt lf gt Explanation of Para
6. Longitude User datum longitude degrees minutes decimal minutes format dddmm mmmmmm E Longitude direction E East W West AltRef Altitude meters above user datum ellipsoid FS Fix Status NF No fix DR Predictive dead reckoning solution DA Predictive dead reckoning solution with DR aiding G1 Partial GPS solution with DR aiding G2 Stand alone 2D solution G3 Stand alone 3D solution D1 Partial differential GPS solution with DR aiding D2 Differential 2D solution D3 Differential 3D solution Hacc Horizontal 2 sigma accuracy estimates 0 to 99999 meters Vacc Vertical 2 sigma accuracy estimates 0 to 99999 meters SOG Speed over ground knots 0 000 to 999 999 knots COG Course over ground true in degrees 0 00 to 359 99 degrees V_vel Vertical positive Up velocity m s 0 000 to 999 999 m s ageC Age of most recent DGPS corrections applied seconds 00 00 to 99 99 none available HDOP 2 D horizontal dilution of precision 00 00 to 99 99 VDOP Vertical dilution of precision 00 00 to 99 99 PDOP 3 D position dilution of precision 00 00 to 99 99 TDOP Time dilution of precision 00 00 to 99 99 GU Number of GPS satellites used in the navigation solution RU Number of GLONASS satellites used in the navigation solution DR Dead reckoning aiding status bits in ASCII Hex bit 0 Altitude position aiding applied bit 1 Vertical velocity aiding applied bit 2 GPS GLONASS time difference aiding applied bit 3 Ex
7. TMOD PRBSIZERO ONESIALL ONES CR LF General Reply Format PRTHR TMOD PRBSIZERO ONESIALL ONES gt lt CR gt lt LF gt 5 3 14 PRTHQ STAT RCL CW47 LIU STATUS Status command polls the status of the LIU RCL Receive Carrier Loss and PBEO PRBS Bit Error Output lines The command is useful and to be used in conjunction with different loop back and transmit modes for in field or manufacturing debug General status query of the E1 LIU RCL and PBEO lines General Format PRTHQ STAT lt CR gt lt LF gt General Reply Format PRTHR STAT RCL lt HIGHILOW gt PBEO lt HIGHILOW gt lt CR gt lt LF gt The default loop mode for DS21348 is no loop mode while the transmit mode is Transmit PRBS Example Command PRTHQ STAT lt CR gt lt LF gt Example Reply PRTHR STAT RCL HIGH PBEO HIGH 37 PBEO is HIGH if out of synchronization RCL is HIGH when there is a receive carrier loss EG If analog loop back is enabled and PRBS is transmitting then both the RCL and PBEO should be LOW no carrier loss is detected or no PRBS error is detected With the default no loop both of these will be HIGH no carrier or no data being received as the RTIP and RRING pins of the of the LIU are unconnected 5 3 15 PRTH lt S Q R gt SCLK 2 048 MHz Synchronization Signal Output The output can be configured to change the output from a 2 048 Mbps to a 2 048 MHz synchronization signal as per ITU T G 703 T12 The user should know that o
8. d i MT Reserved Specifications subject to change without notice APPENDIX 3 GPS Information GLOBAL POSITIONING SYSTEM GPS The Global Positioning System GPS is a military satellite based navigation system developed by the U S Department of De fence which is also made freely available to civil users Civilian use of GPS is made available at the user s own risk subject to the prevailing DOD policy or limitations and to individu als understanding of how to use the GPS In today s satellite constellation there are a minimum of 24 operational satellites plus several operational spares in 6 orbital planes at an altitude of about 22 000 km The GPS system can give accurate 3 D position velocity time and frequency 24 hours a day anywhere around the world GPS satellites transmit a code for timing purposes and also a navigation message which includes their exact orbital location and system integrity data Receivers use this information together with data from their internal almanacs to precisely establish the satellite location The receiver determines position by measuring the time taken for these signals to arrive At least three satellites are required to determine latitude and longitude if your altitude is known e g a ship at sea and at least a fourth to obtain a 3 D fix GPS Positioning and Navigation The CW47 receiver needs to be able to see at least 4 satellite vehicles SV s to obtain an accurate 3 D position fi
9. Specific Initialization String PRTHG VERS lt CR gt lt LF gt Move Up Move Down Delete Edit Command Response 5 SPRTHR VERS X9000000000000000000 LOAD SAVE i Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 2 CW47 Programming Instructions If a firmware update for the CW47 is required NavSync will provide the programming utility NavSync Firmware Updater The programming utility will contain the new firmware image Follow the steps below 1 The CW47 will need to be powered on and streaming the computers com port 2 Execute the received file by double clicking it 3 Select the com port which the CW47 is connected No other applications other than the NavSync Firmware Updater should be connected to this port 4 Click Update 5 The flash programming should begin NavSync Firmware Updater Fw 1 73 00 36 01 COM 2 Writing Flash Memory 6 When the programming is complete as below click Quit NavSync Firmware Updater Pw 1 73 00 36 01 Firmware update complete 7 The unit will restart and NMEA data should be available again 8 Check the version with the command PRTHQ VERS lt cr gt lt lf gt The version number should be the same as the number in the NavSync firmware updater utility See Appendix 1 on how to do this using graphical NS3Kview software N AV SY C T Copyright 2012
10. T G 703 E12 This output can be configured by a 2 048 MHz synchronization signal as per ITU T G 703 T12 CW47 Build Options A 75 Q unbalanced E1 version of the CW47 is also available along with a T1 1 544Mbs version Option Description 0 0 000000000 1 Standard CW47 E1 2 048 Mbs G 703 120 Q balanced output 2 CW47 with E1 2 048 Mbs G 703 75 unbalanced output 3 CW47 with T1 1 544 Mbs G 703 DSX 1 0 to 133 feet output T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 3 CONNECTOR INFORMATION and PIN OUT DESCRIPTIONS 3 1 Connector Information The connector used on the CW47 module is a metal male socket It has an IP67 environmental protection rating The circular connector has a threaded joint according to IEC 60130 9 IEC 130 9 This is a Binder 423 series connector part number 09 0173 90 08 A plastic protection cap hangs from this connector and can be mated to the metal connector when the CW47 is outdoors with no cable attached Please note that the standard unit does not come with any mating cable thus the customer can connect with any cable type or length required A cable can be supplied with these units if requested Please contact NavSync for more information A suitable mating connector can be bought from a number of manufacturers A description of the mating part would be IEC 60130 9 IEC 130 9 female 8 pole cable connector IP67 rated A
11. The cable will provide the connection for DC power 36 to 72V between Pin 7 NEGATIVE and Pin 8 POSITIVE RS232 interface GPS TXD Pin 5 GPS RXD Pin 2 GND Pin 3 This will enable the user to view the NMEA stream from the unit The NMEA data gives informa tion such as the quality of satellite signal strengths type of GPS fix acquired long lat position and time etc A full description of these messages is in Section 8 2 1 The stream can be monitored using any terminal window utility or by using NavSync s graphical NS3Kview software The default baud rate is 38400 with 8 bits no parity with no handshaking gt The user is able to issue commands to the CW47 unit These commands can change the way the unit operates The commands can reset restart the unit RSET change which NMEA messages are outputted U1OP and the frequency of these messages change the baud rate U1CM and can check test to operational status of the LIU LDOP TMOD STAT See Section 8 3 for more details These commands can be sent easily with the graphical NS3Kview software e 8 703 E1 output TTIP Pin 6 TRING Pin4 This GPS driven G 703 2 048 Mbs is a 120 Q balanced output Graphs showing the quality of the performance of the recovered clock signal are in CW47 Product Brief Apply the DC voltage 36 to 72VDC The unit should power up and start to stream NMEA data The default baud rate is 38400 Wait for GPS 3 D fix This occurs when 4 or more sat
12. bits of each valid data character in the sentence between the HEX 24 and HEX 2A characters The HEX 24 and the HEX 2A characters are not included in the checksum lt cr gt lt lf gt are the ASCII codes ODh and OAh carriage return and line feed respectively Some commands use multiple sentences to transfer data multiple sentence transfer shall be accomplished by means of 2 fields within the sentence for which this format is used t Total number of sentences forming the data transfer minimum value 1 x ID number of the current sentence ranging from 1 to t inclusive Null fields within a command shall be interpreted as use current value where appropriate Null fields must be delimited by adjacent commas when they exist between two non null fields If all trailing fields after a given field are null further commas are not required Note For CW47 the standard CW25 commands include VERS DYNA ITIM RSET INTM ILLH COMA FRQD IDNO ZONE Unique command only to the CW47 includes LOOP TMOD RCL SCLK As well as the NMEA and UART configuration commands UxOP UxCM The accuracy testing of INTM command is not yet implemented Additional commands some documented here can be enabled with custom firmware Further customization is also available Please consult the factory for details 5 3 1 PRTH lt Q R gt VERS Software Version Purpose This message queries and responds with the current software version info
13. the 5th character being selected by that manufacturer for the particular sen tence structure Proprietary sentences must conform to the general NMEA structures but are otherwise undefined outside of the Manufacturers own documentation The following Approved messages are available from the CW47 receiver Messages can be enabled disabled by using the PRTHS U1OP command in Section 6 4 Approved NMEA messages GPGLL Geographic position latitude longitude enabled by default GPGGA Global positioning system fix data enabled by default GPGSA GNSS DOP and active satellites enabled by default GPGSV GNSS satellites in view enabled by default GPRMC Minimum required sentence enabled by default GPVTG Velocity and track over ground disabled by default GPZDA Date and time disabled by default POLYT NavSync proprietary time of day message enabled by default POLYP NavSync proprietary status message disabled by default POLYS NavSync proprietary satellite status message GPGGA GPGSV disabled by default POLYI NavSync proprietary net assist information message disabled by default 5 2 1 1 GPGLL Geographic Position Lat Lon Latitude and longitude with time of position fix and status GPGLL Latitude N Longitude E hhmmss sss Status Mode cs Name Description GPGLL NMEA sentence header Position Data Latitude User datum latitude degrees minutes decimal minutes format d
14. the frequency output Outputs the requested frequency out of the CW25 receiver to the E1 LIU The frequency is set at the default 2 048Mhz and should not be modified doing so would stop the LIU from operating correctly Query Format PRTHQ FRQD checksum lt cr gt lt lf gt Set Format PRTHS FRQD Frequency checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR FRQD Frequency lt checksum gt lt cr gt lt lf gt Explanation of Parameters Frequency The frequency in Megahertz that the receiver will output CW47 defaults to 2 048 MHz T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 9 PRTH lt Q S R gt MMSV MIN amp MAX SATELLITES FOR A POSITION SOLUTION Purpose This message sets queries and responds to the minimum and maximum number of satellites the receiver will use for a position solution Increasing the minimum number of satellites will improve the accuracy achieved when sufficient satellites are available but may reduce the time when a solution can be produced Reducing the maximum number of satellites may reduce the accuracy of the position solution but will decrease the amount of processing power required for the solution Note that setting the maximum satellites to less than 4 will prevent the receiver from performing a 3D position solution Likewise setting the minimum number of satellites greater than 3 will preve
15. to be altered need to be listed A NMEA checksum of the form 4D is appended to the output string The list of currently supported NMEA sentences is as shown below To turn a sentence output off completely specify zero as the duration for that command Subsequent commands may reassign an output period to sentences disabled in this way effectively re enabling the output sentence This command also supports a shortcut by means of an ALL specifier When this is encoun tered the period specified is applied to all sentences An example of this is shown below where every message output on port1 will be printed at a 5 second period with the exception of the GPRMC sentence which will be output every second and the POLYT sentence which will be disabled PRTHS U1OP ALL 5 RMC 1 PLT 0 An example response string is shown below In this example all sentences are output every second except GPGSV which is output every three seconds and POLYT which is not output at all i e the sentence output is disabled PRTHR U10P GLL 1 RMC 1 VTG 1 GGA 1 GSA 1 GSV 3 PLT 0 PLP 1 PLS 1 PLI 1 0C 6 2 NMEA Configuration Set SPRTHS UxOP The command takes the form PRTHS UxOP GLL 2 GGA 4 GSV 0 where x is a port number On the CW47 platform the port number is always between 1 and 3 inclusive The remainder of the string is of the form GLL 1 GSV 4 PLT 1 The specific contents supported are dependent on the NMEA sentences supported by the system Only
16. while requesting that the full set of NMEA sentences be output each second Such configurations will result in NMEA corruption since the output NMEA data rate exceeds the underlying baud rate T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 1 NMEA Viewer NS3K view Installation and Set up 1 1 Graphical NS3Kview Software Installation 1 Execute the NS3Kviewlnstaller exe installation file by double clicking This file can be found on the NavSync CD or www navsync com 2 Follow the on screen instructions to complete installation M NS3Kview Setup Installation Complete Setup was completed successfully Completed Show details 3 The graphical NS3Kview software shortcut will be available from the computers desktop 1 2 Graphical NS3Kview Software Communication Setup for the CW47 e Double click the NS3Kview desktop icon to run utility e Click Settings and then Communications t NS3Kview Navigation Window Communications Settings File Edit View EGU Window Help lt a p General Settings Com Port Y Lx Baud Rate 38400 Cancel GPS Settings NMEA File Logging NMEA Settings Firmware Upgrade e For the CW47 the baud rate is 38400 Select the com port that is connected to the CW47 U Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPE
17. 06 03 09 Appendix 4 added R02 09 08 09 Communication Protocol Revisions R03 05 25 11 Specification Updates R04 03 09 12 Power Specification Updated to 1 5W Typically NavSync Ltd Europe North America Bay 143 2111 Comprehensive Drive Shannon Industrial Estate Aurora IL 60505 USA Shannon Co Clare Ireland Phone 353 61 475 666 E mail sales NavSync com Phone 630 236 3026 E mail northamerica NavSync com www NavSync com
18. CW47 GPS Synchronized Time Reference with Integrated Antenna User Manual TABLE OF CONTENTS 1 DESCRIPTION 4 31 1 AMMMOG UCT OMe ao cocta tates eit ceessasneraaucetacceenaanceecdarsedSanaesrsusheacatarematceeiete tach serene totem te See trec buceo bate cn 4 1 2 Block Diagkali i o i dpt epe eset pus bt hte ete ied eect cee 4 zielis ue 5 2 1 jPerfon male e crae e ce contort LINE eI SIC LR gt a cU EI 5 2 2 GWAT Build ODIOSA e Terbi Deme dtt Chee edet oii utem secu ee rest Peu aed 5 3 CONNECTOR INFORMATION amp PIN OUT DESCRIPTIONS 1eeeeeeeeeesee sean essa anna saa nna saa a sess assa asas Dass nanenane nn 6 Bal OonmectornforTiatiolps t ocn hes solstice nest icit ce Si ML a2 M II CDI UM IN ELLA 6 3 2 IPifiOUt Descriptions sese pd ctio e tatu dcbet ota auci ivcir cxt M UEM cic DUE LI LM AIDE EUR PUNE 6 4 OPERATION AND QUICK START iani ratae raus P xk a ia na nan rau n ncn ka Eana Aaaa Rar nanus CN Ran EE ADD ARR R SR R Ran Eiana MARISE LR Nader 7 471 Operation ard QUICK SIS corio nee abere Hte Setia EE THREE CHIETI CHE eeiges tU ni rb iesu m eei oE 7 5 COMMUNICATIONS PROTOCOLS 5 2 2 citri ck cte oso aiaa ipe c ees encarta ea ee ees 8 19 uM xen ONS ennea a S 8 5 2 XOWIDULEOFRTIAL sicui a rere rer tenner err er eyerete free eter eco er ceren errr
19. Caren E rie dL E MEE ERIS 8 13 TA T NMEA MESSAGES hetan e EST A AEE a O TaS 8 5 2 1 4 GPOLL Geographic Position Eat BOoli ieia tesa Meenas 8 52 eee Ges GPS FX DIa a a E EE 9 52 13 GPGSA GPS DOP and Actuve Satellites tiet rhe eae teer betta tasto to HIS eue sedet asses 9 B2 q4GOPGSV s GPSSalelltes VIGW hii et co a hacia hese 10 5 2 1 5 GPRMG Recommended Minimum Data rrr cuite neri eon ete ioter ua iaiia 10 5 2 1 6 PVTG Course Over Ground and Ground Speed sse 11 m2 07 GPZ DA Ui G Ime and Daleer e eE e ae ete sts 14 5218 POT Tet Dy dcinde certect sc cese tena excu tust sea detec E etm edes E ERE EDU EE 11 5 2 1 91 ObY PE POSIon Dad doatcaseneree tao to et Ere Eua edes uet petentes td aee emo detuteeu to a ia 12 52 1 49 POLY S Satellite Stat Stescc 3s ceca ioi besisidiesce crit tois obe oR ailes n edicti e tetto did 13 5 21 11 POLY Additional Information Message ertet eei Ires ety H Pr EE cde 13 5 9 COMMANG POMMAL serra ctae ana tense ro oam retusba ber teo Ia optas ic tad pactus ease eiua eatur dut ctus HALE Eats pede deu end 14 59A PREHSGIRS VERS Software VersSiOna iocos chords ie eee iecit tee tert tete m edulis 14 532 PRTH lt QISIRS DY NA Receiver Dyhamics a crore ciet ovest cotes ve vene cene H PLE U Rt REM U eM E exse e ROS ER LUN 15 5 9 9 PRIH lt QISIRS TIM Initialize Time and Date iioii tionc ton cas e coetus eco torii eese ted tr ropa rc neccicctel2i 15 5 94 P
20. Government agencies and selected civil users specifically approved by the U S Government T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 4 Bracket Installation Bracket contains Fasteners Bracket Pieces 4 M3x10 Socket Cap Screws No1 2 80x30mm Brackets A 2 M6x10 Socket Cap Screws No2 1 145x150mm Bracket B 2 M6x140 Socket Cap Screws No3 1 45x154mm Bracket C 2 M6 Spacers Installation steps 1 Fix bracket Pieces B C to the pole with the two long screws No 3 Spacers can be used if needed for the smaller pole diameters 4x M3x10 screws Bracket A 3 Attach the CW47 bracket assembly to the pole assembly using the two medium size screws No 2 Adjust position of CW47 with these two screws such to optimize the sky view CW47 Software User Manual Page 28 Rev04 Date 03 09 12 N AV SY i Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 5 Glossary 2D Two Dimensional 3D Three Dimensional i e including altitude AGC Automatic Gain Control Almanac Data transmitted by each satellite and which provides the approximate orbital information of all the GPS satellites constellation i e a timetable Antenna Also called Aerial the device for receiving the radio signals ASCII A standard d
21. MEA checksum of the form 4D is appended to the output string Although the format of the command supports the use of different Rx and Tx baud rates this is not currently supported by the CW47 platform Consequently the Rx and Tx baud rates returned will always be identical 6 4 UART Configuration Set SPRTHQ UxCM The command takes the form PRTHS UxCM 57600 57600 N 1 where x is a port number On the CW47 platform the port number is always between 1 and 3 inclusive The remainder of the string 57600 57600 8 N 1 represents the port Tx baud rate Rx baud rate parity and stop bits respec tively Although the format of the command supports the use of different Rx and Tx baud rates this is not currently supported by the CW47 platform Consequently the Rx and Tx baud rates must always be specified to be the same value In addition the CW47 platform does not currently support the use of parity or of stop bit settings other than 1 stop bit The supported baud rates are 1200 2400 4800 9600 19200 38400 57600 115200 and 230400 If a command is issued which is badly formatted or does not adhere to these constraints it will be discarded This command is intended for use with the NMEA port s only Caution should be exercised when using this command to change the baud rate on other ports since data may be lost during the configuration change It should be noted that these commands allow the system to be configured at 1200 baud
22. NDIX 1 continued e With the unit powered on you should see data streaming in the NMEA Monitor Window as below EA NMEA Monitor Window n7 30 32 27 33 03 34 28 9 EXT INT VPOS 43 8960 000000 N 00000 000000 E 000226 431 V 000226 431 V 8960 000000 N8 00000 000000 E t 000226 431 8960 000000 N 00000 000000 E 0 99 99 99 99 99 99230 32 27 33 03 34 28 3374 2 2 07 31 32 22 33 20 34 78 000226 431 8960 000000 N 00000 000000 E 0 t 07 30 32 27 33 03 34 28 EXT INT VPOS 43 1 3 Checking for 3D Lock on NS3KView e Once streaming bars will appear in the window called signal quality e These bars indicate the satellites in view and the signal strength from these satellites e A8D lock is obtained when four or more satellites turn blue as seen below M Signal Quality dB Hz i B i V C Bi Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 1 continued 1 4 Commanding the CW47 with Graphical NS3Kview Software e Click on the Configure GPS Receiver icon below Configure GPS Receiver icon e The following image shows the version query command being given to the CW47 e The response from the CW47 shows up in the Command Response window GPS Settings Enable GPS Initialization on start up GPS Receiver Model 4 NavStream 3000 7 GPS Receiver
23. RTHEGISIBs RSET Re Set tlie Receiver oia ioo coit otto teer ter Ete tee ote edet ec eo tu tere 16 5 3 5 PRTH lt QISIR gt INTM Intermittent Operation Parameters cccccccsseceeeseeeeeeeeeeeeeeeeeseeeeesseeeeseneess 16 5 3 6 PRTH lt QISIR ILLH Initialized Lat Long Height Position 17 5 37 IPREHEGISIBs COMA Coma Mode irsin 2 ree ettet Reet cate e a ete taedet setae 17 5 9 89 PRIE lt GISIRS FROD Frequency Output Select ccce ot cetero epar boe ete Ee ert cepa tie 17 5 3 9 PRTH lt QISIR gt MMSV Min amp Max Satellites for a Position Solution sssssesesessss 18 5 340 PRTH amp GISIR DRLM Dead Reckoning Limit 555 o etii Relies ences 18 5 9d T PRTHZQISIR gt ELVM Satellite Elevation MasK taces tbe eomae tor tte n eoo etna epe vestes o Use cH cp Ocdcn 18 5 9 42 SPREIHESIQ Rs LOOP CWAT LOOP BaCk sr tolto tavecgassceactashesceicpentiechexdareczansgadet tenait 19 5 319 5PRTHsSIQOBSTMOD GCWAT Transit MOG Gis 5 ctae coe oct teet E a 19 5c SPRPAO STAT REL GWAT bill Status coo oec Fere etee cete Eve E S 19 5 3 15 PRTH lt SIQIR gt SCLK 2 048 MHz Synchronization Signal Output ssssssssssses 19 ra Ilear Ma al e User Manuali N AV S ri C Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice TABLE OF CONTENTS 6 NMEA and UART Configuration DetalllS ii 00iccicccicnsccccssiccecercciessntecnncesnavecnwesace
24. Remote Switch Sites 1 2 Block Diagram GPS Antenna NMEA Commands 2 046Mhz 2 048Mbs G 703 Ls Output Figure 1 Block Diagram va Ilear Ma 41 e User Manual N AV S g i a Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 2 CW47 GPS SENSOR SPECIFICATIONS 2 1 Performance Module Rating IP67 Physical Supply Voltage 36 0 72 0 VDC 48VDC Typical Operating Temp 30 C to 80 C Storage Temp 55 C to 85 C Humidity 5 to 95 non condensing Max Velocity Altitude 515ms 1 18 000m Sensitivity Acquisition Tracking 155dBm 155dBm Acquisition Time Hot Start Outdoor lt 2s Stand Alone Outdoor Indoor 155dBm lt 5s Cold lt 45s Warm 38s Hot 5s Re acquisition 0 5s 9096 confidence Power 1 Fix per Second 1 5 W typically Interfaces Serial RS232 programmable baud up to 115200 default 38400 E1 G 703 2 048 Mbps clock signal GPS driven 120 Q balanced default see Build Options Section Protocols NMEA 0183 proprietary ASCII and Receiver Type binary message formats 12 parallel channel x 32 taps up to 32 point FFT Channels taps and FFT can be switched off to minimize power or simulate simpler designs General Processor ARM 966E S on a 0 18 micron process at up to 120 MHz Table 1 CW47 Specification CW47 Output Format The standard CW47 output is a 120 Q balanced 2 048 Mbs clock signal as per ITU
25. channels Because of this the resultant ranges calculated are known as pseudo ranges To overcome these errors the CW47 receiver then matches or skews its own code to become synchronous with the satellite signal This is repeated for all satellites in turn thus measuring the relative transit times of individual signals By accurately knowing all satellite positions and measuring the signal transit times the user s position can be accurately determined Utilizing its considerable processing power the CW47 receiver rapidly updates these calculations from satellite data to provide a real time position fix S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 3 continued Standard Positioning Service SPS Civil users worldwide are able to use the SPS without restriction or charge Dilution Of Precision DOP is a measure of the satellite geometry and is an indicator of the potential quality of the solutions The lower the numerical value the better the potential accuracy for example a PDOP below 3 indicates good satellite geometry For 3 D positioning fluctuations in DOP can be harmful to the solution especially in kine matic dynamic modes The following DOP terms are computed by CW47 HDOP Horizontal Dilution of Precision Latitude Longitude VDOP Vertical Dilution of Precision Height TDOP Time Dilution of Precision Timing errors PDOP Position Dilution of P
26. dmm mmmmmm N Hemisphere N North or S South Longitude User datum longitude degrees minutes decimal minutes format dddmm mmmmmm E Longitude direction E East or W West hhmmss sss UTC time in hours minutes seconds and decimal seconds format Status StatusV navigation receiver warning A data valid Mode Mode indicator A Valid Autonomous D Valid Differential E Invalid Estimated N Invalid Not valid Cs Message checksum in hexadecimal S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 2 1 2 GPGGA GPS Fix Data Time and position together with GPS fixing related data GPGGA hhmmss sss Latitude N Longitude E FS NoSV HDOP Altref M msl M DiffAge DiffStation cs Name Description GPGGA NMEA sentence header position data hhmmss sss UTC time in hours minutes seconds and decimal seconds format Latitude User datum latitude degrees minutes decimal minutes format ddmm mmmmmm N Hemisphere N North or S South Longitude User datum longitude degrees minutes decimal minutes format dddmm mmmmmm E Longitude direction E East W West FS Fix Status O NoFix 1 Standard GPS 2 Differential GPS NoSv Number of satellites used in the position solution HDOP 2 D Horizontal Dilution of Precision 0 00 to 99 99 AltRe
27. e efield or ifield may be present each separated by commas Name Description POLYI NavSync proprietary NMEA sentence header additional information JN Fixed descriptor field jammer Detected jammer to noise ratio dB Hz EXT Fixed descriptor field indicates the use of externally provided ancillary measurements e g received from network assistance All comma separated fields following up to the INT field descriptor are externally provided measurements efields DIFF Differential inputs TSYNC Time synchronization CLKB Clock bias FREQ Frequency of reference oscillator HPOS Horizontal position VPOS Vertical position altitude VVEL Vertical velocity DIST Distance moved SPEED Current speed TRACK z Current track DTRACK Delta track change in direction INT Fixed descriptor field indicates the use of internally provided ancillary measurements e g retrieved from non volatile memory All comma separated fields following are internally provided measurements ifields TSYNC Time synchronization CLKB Clock bias FREQ Frequency of reference oscillator HPOS Horizontal position VPOS Vertical position altitude VVEL Vertical velocity DIST Distance moved SPEED Current speed TRACK Current track DTRACK Delta track change in direction BLANK Reserved for future use cs Message checksum in hexadecimal S Copyright 2012 NavSync Ltd All Rights Re
28. e interval in ms between waking to obtain a fix Must be greater than Run Duration Horizontal Acc Mask Required horizontal accuracy in meters before run completes Zero disables vertical accuracy testing Vertiacl Acc Mask Required vertical accuracy in meters before run completes Zero disables vertical accuracy testing S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 6 PRTH lt Q S R gt ILLH INITIALIZED LAT LONG HEIGHT POSITION Purpose This message sets queries and responds to the initialized geodetic position latitude longitude ellipsoidal height and antenna height above the reference marker in the receiver s current user datum The position RMS accuracy is used to decide how much importance to put on the input values and should be set with care Query Format PRTHQ ILLH checksum lt cr gt lt lf gt Set Format PRTHS ILLH LatDeg LatMin LatSec LatH LonDeg LonMin LonSec LonH EIIHt AntHt posRMS checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR ILLH LatDeg LatMin LatSec LatH LonDeg LonMin LonSec LonH EllIHt AntHt b0sRMS lt checksum gt lt cr gt lt lf gt Explanation of Parameters LatDeg Latitude degrees floating point range 90 0 LatMin Latitude minutes floating point range 59 999999 LatSec Latitude seconds floating point range 59 99999 LatH Latitude hemisphere char N or S
29. ellites are being tracked with navigation data received Refer to the GPGSA and GPGSV for fix and satellite information Refer to Section 8 2 for all GPS information on the streaming NMEA messages The G 703 2 048 Mbs 1 544 Mbs output will now be available on the TTIP TRING signals T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS Full descriptions of the communications protocols used by the CW47 can be found in Sections 8 2 and 8 3 5 1 Port Configuration The default baud rate on the standard CW47 version is 38400 this baud rate can be configured to another value using the PRTHS U1CM command See Section 9 2 for more details on this The port is also configured to be 8 bits no parity with no handshaking 5 2 Output Format The NMEA sentences are output in ASCII and described below 5 2 1 NMEA Messages There are two main types of sentence Approved and Proprietary All sentences start with delimited with commas and end ing with lt CR gt lt LF gt Approved sentences are recognized by the first 5 characters after the which define both the kind of talker providing the information 2 characters GP in the case of a GPS and the type of information 3 characters Proprietary sentences are indicated by a P following the as the first of the 5 characters the next 3 indicating the manufac turer from a listing of mnemonic codes and
30. esncvenecesseveuecsncsvensavtnecentestoceensesenevetnreve 20 21 6 1 NMEA Configuration Query S PRTEIQXOPB 2 cacpret iier e epsona aaa e aaea oraa haaa nad 20 6 2 NMEA Configuration Set PRTHS UXOP ii icr telo anes aeaea a E E aa 20 6 3 UART Configuration Query SPRTEQ UXCM Siccecssepesirnckndensteeenianinindleatincreniniaacd 21 6 4 UART Configuration Set SPRIHQ UXGCM rario rero torta ith todas aa cutee 21 PAPPENDIXO4 22 24 Graphical NS9Kview Software Installation c 2 t ceste erret Re ctc EHE eee 22 24 i2 pem 25 Programming MSINUIGH OMS de 25 APPENDIX 8 e 26 27 GPS Inforimallolls uates ceed esta iim diee IM MEET 26 27 dd M 28 Bracket InstallatlODi s oca Eeu cut Hep A UN BER Ex caeco chases gcatng sedan RSEN S A 28 APPENDIX qm S 29 31 MOSS EY m EE EE 29 31 P Xddz sq 31 Comac RIT mS 31 APPENDIX 7 e 32 Additional CaPS IBfOBmalODs ss st siia tulere nene tec e en ui txgda Mike Ul as ene aii tu umeris tA eerta De am LL E E dU 32 NAVSuUnc is e 03 03 INAV U Cop
31. essages 5 2 1 8 POLYT Time of Day POLYT hhmmss sss ddmmyy UTC TOW week GPS TOW CIk B CIk D PG LocalTTag BAcc TAcc BLANK cs Name Description POLYT NavSync proprietary NMEA sentence header position data hhmmss sss UTC time in hours minutes seconds and decimal seconds format ddmmyy Date in day month year format UTC TOW UTC time of week seconds with microseconds resolution week GPS week number continues beyond 1023 GPS TOW GPS time of week seconds with microseconds resolution CIk B Receiver clock bias nanoseconds CIk D Receiver clock drift nanoseconds second PG 1PPS granularity nanoseconds LocalTTag Local receiver time tag since start up msec BAcc Bias accuracy TAcc Time accuracy cs Message checksum in hexadecimal T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 2 1 9 POLYP Position Data POLYPhhmmss sss Latitude N Longitude E AItRef FS Hacc Vacc SOG COG V_vel ageC HDOP VDOR PDOP GDOP TDOP GU RU DR cs Name Description POLYP NavSync proprietary NMEA sentence header position data hhmmss sss UTC time in hours minutes seconds and decimal seconds format Latitude User datum latitude degrees minutes decimal minutes format ddmm mmmmmm N Hemisphere N North S South
32. f Altitude meters above user datum ellipsoid M Units of height meters msl Mean Sea Level M Units of Mean Sea Level meters DiffAge Age of differential correction DiffStation Differential base station ID cs Message checksum in hexadecimal 5 2 1 3 GPGSA GPS DOP and Active Satellites GPS receiver operating mode satellites used for navigation and DOP values GPGSA Smode FS sv Sv SV SV PDORHDOP VDOP cs Name Description GPGSA NMEA sentence header Satellite Data Smode A Automatic switching 2D 3D M Manually fixed 2D 3D FS Fix Status 1 No fix 2 2D GPS Fix 3 3D GPS Fix sv Satellites in use null for unused fields 12 available fields PDOP 3 D position dilution of precision 0 00 to 99 99 HDOP 2 D horizontal dilution of precision 0 00 to 99 99 VDOP Vertical dilution of precision 0 00 to 99 99 cs Message checksum in hexadecimal S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 2 1 4 GPGSV GPS Satellites in View The number of satellites in view together with each PRN elevation and azimuth and C No value Up to four satellite details are transmitted in one message with up to three messages used as indicated in the first field GPGSV NoMsg MsgNo NoSv sv elv az cno sv elv az cno CsS Note designate optional sections that appear only if there is satellite data
33. f the Earth Geoid Ellipsoid Difference between the Mean Sea Level and the separation mathematical model used to define a datum at the point of interest S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 5 continued Glossary continued GHz Gigahertz one thousand MHz i e 10 Hz GMT Greenwich Mean Time similar to UTC GPS Global Positioning System GPS time Time standard for the GPS system seconds are synchronous with UTC Hex Denotes a number in hexadecimal format HDOP Horizontal Dilution of Precision IC Integrated Circuit ICD Interface Control Document y o Input Output IODE Issue of Data Ephemeris IRQ Interrupt Request Kalman Filter Mathematical process used to smooth out measurement errors of pseudo ranges and carrier phases of tracked satellites For example 8 states refers to filtering of position and time i e x y z and t and the rate of change of each knot Nautical mile per hour L1 The 1575 42 MHz frequency radiated by GPS satellites L band The band of radio frequencies between 1 and 2 GHz Lithium A metallic element used in batteries LMT Local Mean Time mA Milliamp of current Macro Text containing frequently used operations which can be executed as a single command DM only MHz Megahertz i e one million cycles per seco
34. igital format for alpha numeric characters American Standard Code for Information Interchange Baud Serial digital communication speed units bits per second BIT Built in Test CDU Control Display Unit CEP Circular Error Probability Channel The satellite tracking unit of a GPS receiver One channel may track more than one satellite by multiplexing but for best performance each satellite should be continuously tracked by a dedicated channel so more than one channel is often integrated into a receiver CMOS A type of semiconductor fabrication process Complementary Metal Oxide Semiconductor resulting in low power CMOS devices require static protection during handling C No Carrier to Noise ratio a measure of signal quality COM Port Communication port e g PC serial communication ports COM1 etc CONUS Continental United States CPU Central Processing Unit usually the microprocessor CTS Clear to Send serial communication handshaking Datum The reference shape of the Earth s surface used in the construction of a map or chart Usually chosen for a best fit over the area of interest and thus the Datum for various parts of the world may differ Delta range Small changes in range between a satellite and the receiving antenna DOD US Department of Defense DOS Disk Operating System DOP A DOP Dilution of Position is a figure which represents the purely geometrical contribution of the satellites positions to the total position er
35. ion Smallest separation of two display elements RF Radio frequency RFI Radio Frequency Interference RMS Root Mean Square S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice APPENDIX 5 continued Glossary continued RPS Relative Positioning System RS232 Serial communication hardware standard 12v nom RS422 A serial communication hardware standard differential RTCM Radio Technical Committee for Maritime Services RTC Real time Clock maintaining approximate time when unit is off RTK Real Time Kinematic RTS Request to Send serial communication handshaking RXD Receive Data serial communication to Data Terminal or DTE from Data Communication Equipment or DCE S A Selective Availability imposed by the DOD to limit the GPS performance available to civil users SEP Spherical Error Probability SMA Miniature threaded coaxial connector SPS Standard precision Service SSR Solid State Recorder SV Satellite Vehicle TNC A standard threaded coaxial connector TSPI Time Space Position Information TTL Transistor transistor Logic family of digital electronic components TIFF Time to First Fix TXD Transmit Data serial communication from Data Terminal or DTE to Data Communication Equipment or DCE us uSec Microsecond u is frequently used for the Greek p symbol denoting micro
36. l Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 2 1 6 GPVTG Course Over Ground and Ground Speed Velocity is given as course over ground COG and ground speed GPVTG cogt T cogm M knots N kph K Mode cs Name Description GPVTG NMEA sentence header speed and heading cogt Course over ground true T True fixed field cogm Course over ground magnetic M Magnetic fixed field knots Speed over ground knots N Knots fixed field kph Speed over ground kph K Kilometers per hour fixed field Mode Mode Indicator D Valid Differential A Valid Autonomous E Invalid Estimated N Invalid Not Valid cs Message checksum in hexadecimal 5 2 1 7 GPZDA UTC Time and Date This message transfers UTC time and date Since the latency of preparing and transferring the message is variable and the time does not refer to a particular position fix the seconds precision is reduced to 2 decimal places GPZDA hhmmss sss dd mm yyyy Int Unsigned cs Name Description GPZDA NMEA sentence header time and date hhmmss sss UTC time in hours minutes seconds dd UTC day mm UTC month yyyy UTC year Int Unsigned Local zone hours Int Unsigned Local zone minutes kph Speed over ground kph K Kilometers per hour fixed field cs Message checksum in hexadecimal Proprietary NMEA M
37. list of compatible connector manufacturers is below along with part numbers The manufacturers have other parts which will also mate other then the part numbers listed below Manufacturer Series Example Part Number Binder 423 Series 99 5172 15 08 Lumberg 03 Series 0322 1 08 1 Amphenol C 091 D C091 31D008 100 2 These cable connectors should be wired using the numbering listed in Section 3 2 3 2 Pin Out Descriptions Pin NAME Description 1 NC Not Connected 2 RXD RS232 Receive to GPS 3 GND RS232 Reference for R8232 COMMS 4 TRING Transmit TRING G 703 E1 T1 Output 5 TXD RS232 Transmit from GPS 6 TTIP Transmit TTIP G 703 E1 T1 Output 7 V Power input Negative 8 V Power input Positive o e e SO Figure 2 CW47 Connector Pins looking into the connector T Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 4 OPERATION and QUICK START 4 1 Operation and Quick Start 1 Place or mount the CW47 unit where it has a good view of the sky A pole mounting bracket is available for the unit This bracket works for 89 120mm diameter poles contact NavSync for other mounting options See Appendix 4 for details Attach a suitable cable assembly to the unit The cable must mate with the 8 way male IEC 130 9 socket on the CWA7 A custom cable can be supplied if required please contact NavSync for this
38. meters time RMS RMS accuracy of the input time tag seconds floating point range 0 999999 0 day day of month integer range 1 31 month month of year integer range 1 12 year 4 digit year integer range 1980 2047 hours hours of day integer range 0 23 minutes minutes of hour integer range 0 59 seconds seconds of minute floating point range 0 59 999 gps week GPS week number including pre GPS roll over weeks eg 1037 integer range 0 32768 gps TOW GPS time of week in seconds floating point range 0 0 604800 0 S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 4 PRTH lt Q S R gt RSET RE SET THE RECEIVER Purpose This message sets queries and responds to a receiver re set command with optional actions such as clearing specific data groups stored in the CW47 local EEPROM The data areas that can be cleared include satellite almanacs ephemerides network assist and receiver configuration parameters Note that sleep mode is not currently supported in the CW47 technology This command invokes a 2 second time out prior to the reset being called Query Format PRTHQ RSET checksum lt cr gt lt lf gt Set Format PRTHS RSET option option checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR RSET option option lt checksum gt lt cr gt lt lf gt
39. n constant the speed of light therefore time x speed of light distance Once the receiver calculates the range to a satellite it knows that it lies somewhere on an imaginary sphere whose radius is equal to this range If a second satellite is then found a second sphere can again be calculated from this range informa tion The receiver will now know that it lies somewhere on the circle of points produced where these two spheres intersect When a third satellite is detected and a range determined a third sphere would intersect the area formed by the other two This intersection occurs at just two points The correct point is apparent to the user who will at least have a very rough idea of position A fourth satellite is then used to synchronize the receiver clock to the satellite clocks In practice just 4 satellite measurements are sufficient for the receiver to determine a position as one of the two points will be totally unreasonable possibly many kilometers out into space This assumes the satellite and receiver timing to be identical In reality when the CW47 receiver compares the incoming signal with its own internal copy of the code and clock the two will no longer be synchronized Timing error in the satellite clocks the receiver and other anomalies mean that the measurement of the signals transit time is in error This effective ly is a constant for all satellites since each measurement is made simultaneously on parallel tracking
40. nce a cold start config command is given to the unit the output will return back to the default output 2 048Mbps General Format PRTH lt SIQIR gt SCLK lt HIGHILOW gt lt CR gt lt LF gt General Reply Format PRTHR SCLK lt HIGHILOW gt lt CR gt lt LF gt Example Query Command PRTHQ SCLK lt CR gt lt LF gt Example Reply PRTHR SCLK SCLK LOW 37 Here the output is the default 2 048Mbs G 703 signal Example Set Enable 2 048Mhz Output PRTHS SCLK HIGH lt CR gt lt LF gt S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 6 NMEA and UART CONFIGURATION DETAILS This section describes how the NMEA and UART output can be configured for different refresh rates contents and baud rates NMEA Output Configuration i e output frequency Query PRTHQ U10P NMEA Output Configuration i e output frequency Set PRTHS U10P UART Configuration i e baud rate Query PRTHQ U1CM UART Configuration i e baud rate Set PRTHS U1CM 6 1 NMEA Configuration Query SPRTHQ UxOP The command takes the form PRTHQ UxOP where x is a port number The port number will always be 1 on the CW47 The remainder of the strings is of the form 6PRTHR UxOP GLL 1 GSV 4 PLT 1 where x is the port number for which the information was requested The specific contents supported are dependent on the NMEA sentences supported by the system Only the settings which are
41. nd mph Miles per Hour MSL Mean Sea Level geoidal height 0 MIL STD Military Standard Multiplexing A receiver channel can track multiple satellites by switching rapidly between them so as to gather all data transmissions NMEA National Marine Electronics Association NMEA 0183 A serial communication standard defining hardware compatibility message formats and a range of standard messages OTF On The Fly carrier phase ambiguity resolution The ability to resolve integer carrier phase ambiguities in real time while moving n mile International Nautical Mile 1852 meters 6076 1 feet 1 15 statute miles ns nSec Nanosecond one thousandth of a microsecond i e 10 second PC Personal Computer IBM compatible PCB Printed Circuit Board P code The Precise or Protected GPS code not available to civil users PDOP Position Dilution of Precision including horizontal and vertical components pps PPS Pulse per Second and Precise Positioning Service PRN Pseudo Random Noise code unique to each satellite s message and therefore used to identify each satellite Pseudo Range The apparent measured straight line distance from a satellite to the receiving antenna at any instant in time including any errors caused by satellite clocks receiver clocks refraction of the radio waves etc PSU Power Supply Unit RAM Random Access Memory Real Numbers Numbers which may have decimal point and fractional component Resolut
42. nt the receiver performing a 2 D altitude fixed solution The maximum must be greater than or equal to the minimum number of satellites Query Format PRTHQ MMSV checksum lt cr gt lt lf gt Set Format PRTHS MMSV min_NSV max_NSV checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR MMSV min_NSV max_NSV lt checksum gt lt cr gt lt lf gt Explanation of Parameters min_NSV Minimum satellites used for a position time solution integer range 0 12 max NSV Maximum satellites used for a position time solution integer range 0 12 5 3 10 PRTH lt Q S R gt DRLM DEAD RECKONING LIMIT Purpose This message sets queries and responds to the limit for the forward predictive dead reckoning after the last valid fix epochs The dead reckoning will progress at constant velocity for the first half of this period and then reduce to a standstill during the second half Note that since this value has units of epochs it will have a different effect on a 1Hz CW47 receiver to that on a 2Hz 5Hz or 10Hz CW47 receivers Query Format PRTHQ DRLM checksum lt cr gt lt lf gt Set Format PRTHS DRLM DR_Limit checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR DRLM DR_Limit lt checksum gt lt cr gt lt lf gt Explanation of Parameters DR_Limit Number of epochs to dead reckon for integer range 0 32768 5 3 11 PRTH lt Q S R gt ELVM SATELLITE ELEVATION MASK Purpose This message sets queries and responds t
43. o the satellite elevation mask angle below which satellite data will not be used in the navigation and time solution Query Format PRTHQ ELVM checksum lt cr gt lt lf gt Set Format PRTHS ELVM nvElevMask checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR ELVM nvElevMask lt checksum gt lt cr gt lt lf gt Explanation of Parameters nvElevMask The navigation and time solution elevation mask angle in degrees integer range 0 90 S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 12 PRTH lt S Q R gt LOOP CW47 LOOP BACK Loop Command is Setting the E1 LIU in the Following Loop Modes 1 Local loop Loops back the LIUs transmit data only to the receive section of the LIU device 2 Analogue loop Loops back the LIUs transmit data clock and carrier to the receive section of the LIU device 3 No loop No loop back to receive LIU section It represents the default settings General Loop Command Format PRTH lt SIQ gt LOOP lt LOCALIANALOGUEINO_LOOP gt lt CR gt lt LF gt General Reply Format PRTHR LOOP lt LOCALIANALOGUEINO_LOOP gt lt CR gt lt LF gt 5 3 13 PRTH lt S QR gt TMOD CW47 TRANSMIT MODE Transmit command is setting the E1 LIU in the following transmit modes 1 Transmit PRBS 2 Transmit alternating ones and zeros 3 Transmit unframed all ones General Transmit Mode Command Format PRTH SIQ
44. recision 3 D positioning GDOP Geometric Dilution of Precision 3 D position amp Time Estimated accuracy DOP x measurement accuracy While each of these terms can be individually computed they are formed from co variances and are not independent of each other For example a high TDOP will cause receiver clock errors that will eventually result in increased position errors Horizontal accuracy figure of 95 is the equivalent to 2RMS twice root mean square or twice the standard deviation radial error Similarly for vertical and time errors a figure of 95 is the value of 2 standard deviations of vertical or time error Root mean square RMS error is the value of one standard deviation 67 of error Circular Error Probability CEP is the value of the radius of a circle centred at a position containing 50 of the position estimates Spherical Error Probability SEP is the spherical equivalent of CEP which is centred at a position containing 50 of the position estimates CEP and SEP are not affected by large errors which could make the values an overly optimistic measurement These probability statistics are not suitable for use in a high accuracy positioning system The CW47 reports all accuracy s in the form of a standard deviation RMS value Precise Positioning Service PPS This service is only available to authorized users with cryptographic equipment and special receivers Access is limited to the U S and allied military U S
45. rmation Query Format PRTHQ VERS checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR VERS Build_Name Version_Number Version_Date Version_Time Serial Num BB_Releaset lt checksum gt lt cr gt lt lf gt Explanation of Parameters Build_Name Product name Version_Number software version number Version_Date Software Build date in mmm_dd_yyyy format where Mmm is the three character abbreviation of the month name Version_Time Software build time in hh mm ss format Serial_Num Product serial number is current not implemented and always outputs Serial_Num BB_Release Baseband version number S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 2 PRTH lt Q S R gt DYNA RECEIVER DYNAMICS Purpose This message sets queries and responds to the receiver host dynamics and hence the maximum receiver tracking dynamics expected The degree of filtering performed by the navigation and timing Kalman filter is dependant on the selected receiver platform Query Format PRTHQ DYNA checksum lt cr gt lt lf gt Set Format PRTHS DYNA platform checksum lt cr gt lt lf gt Response Acknowledge Format PRTHR DYNA platform lt checksum gt lt cr gt lt lf gt Explanation of Parameters platform receiver platform integer range 0 10 0 Fixed base station timing and frequency modes etc 1 Stationary but unknown position 2
46. ror budget Low values of a DOP 1 5 mean that the calculated position should be good whilst higher DOP values indicate a greater uncertainty in the determined position Good DOP values are obtained when satellites are well spaced geometrically whilst poor values result from available satellites all being visible in similar directions When the DOP value is excessive e g 100 then neither stand alone nor differential positions should be used DR Dead Reckoning a means of estimating present position based on a known starting position updated by applying distance and direction of the users movements DSR Data Set Ready serial communication handshaking DTR Data Terminal Ready serial communication handshaking ECEF Earth Centered Earth Fixed Ellipsoidal Height as defined from the Earth s centre by a reference Height ellipsoid model see Datum EMI EMS EMC Electromagnetic Interference emitted from equipment Susceptibility to interference from other equipment and Compatibility EMI EMS EPS Emergency Power Supply only for maintaining the RTC data in the RAM when the equipment is powered down ENU East North Up the order of listing co ordinates Ephemeris Similar to Almanac but providing very accurate orbital data of each individual satellite and transmitted by the satellite concerned Firmware Program resident within the receiver GDOP Geometrical Dilution of Precision Geoid The Mean Sea Level surface o
47. served Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 3 Command Format The NavSync CW47 receiver has a unique set of proprietary commands Commands will only be accepted on Port 1 The commands to and from the unit have the following general formats PRTH lt QISIR gt lt id gt lt msg fields gt lt checksum gt lt cr gt lt lf gt Where lt Q S R gt is the single ASCII character as follows Q Command a query command to the CW47 receiver S Command requires the CW47 receiver to set system settings R Response to a CW47 receiver response to a PRTH query or an acknowledgement of a PRTH Set lt id gt is a 4 character command identifier lt msg fields gt are the message fields for the message and are all positional Optional or unknown fields are shown as nulls ie adjacent commas Trailing commas to the end of a message ie nothing but null message fields are not required checksum An optional checksum byte for checking accuracy defined as follows The checksum is displayed as a pair of ASCII characters 0 9 and A F inclusive whose value represents the HEX value of the checksum byte When used it always appears as the last field of the sentence and is prefixed by field delimiter HEX 2A instead of and followed by lt CR gt lt LF gt HEX OD 0A The checksum value is calculated by XOR ing exclusive OR ing also known as Modulo 2 Sum the 8 binary data
48. ternal distance travelled input used bit 4 External speed input used bit 5 External track input used bit 6 External delta track input used bit 7 8 Reserved for future use cs Message checksum in hexadecimal S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 5 COMMUNICATIONS PROTOCOLS continued 5 2 1 10 POLYS Satellite Status POLYS GT ID s AZM EL SN LK ID s AZM EL SN LK ID s AZM EL SN LK ID s AZM EL SN LK ID s AZM EL S N LK D s AZM EL SN LK D s AZM EL SN LK ID s AZM EL SN LK ID s AZM EL SN LK ID s AZM EL SN LK D s AZM EL SN LK D s AZM EL SN LK cs Note designate optional sections that appear only if there is satellite data Name Description POLYS NavSync proprietary NMEA sentence header satellite data GT Number of GPS satellites tracked ID Satellite PRN number 1 32 S Satellite status not used U used in solution e available for use but no ephemeris AZM Satellite azimuth angle range 000 359 degrees EL Satellite elevation angle range 00 90 degrees SN Signal to noise ratio in range 0 55 dB Hz LK Satellite carrier lock count range 0 255 seconds 0 code lock only 255 lock for 255 or more seconds cs Message checksum in hexadecimal 5 2 1 11 POLYI Additional Information Message POLYI JN jammer EXT efields INT ifields BLANK cs Note More than on
49. the settings which are to be altered need to be listed A NMEA checksum of the form AD is appended to the output string The list of currently supported NMEA sentences are as shown above for the query command To turn a sentence output off completely simply specify zero as the duration for that command Subsequent commands may reassign an output period to sentences disabled in this way effectively re enabling the output sentence This command also supports a shortcut by means of an ALL specifier When this is encountered the period specified is applied to all sentences An example of this is shown below where every message output on port 1 will be printed at a 5 second period with the exception of the GPRMC sentence which will be output every second and the POLYT sentence which will be disabled PRTHS U10P ALL 5 RMC 1 PLT 0 S Copyright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 6 NMEA and UART CONFIGURATION DETAILS continued 6 3 UART Configuration Query PRTHQ UxCM The command takes the form PRTHQ UxCM where x is a port number On the CW47 platform the port number is always between 1 and 3 inclusive The response string is of the form 5PRTHR UxCM 38400 38400 N 1 where x is the port number for which the information was requested The remainder of the string 38400 38400 N 1 represents the port Tx baud rate Rx baud rate parity and stop bits respectively A N
50. x When travelling in a valley or built up area or under heavy tree cover it can be difficult to acquire and maintain a coherent satel lite lock Complete satellite lock may be lost or only enough satellites 3 tracked to be able to compute a 2 D position fix or even a poor 3D fix due to insufficient satellite geometry i e poor DOP Inside a building or beneath a bridge it proba bly will not be possible to update a position fix The receiver can operate in 2 D mode if it goes down to seeing only 3 satel lites by assuming its height remains constant But this assumption can lead to very large errors especially when a change in height does occur A 2 D position fix is not to be considered a good or accurate fix it is simply better than nothing The receiver s antenna must have a clear view of the sky to acquire satellite lock It is the location of the antenna that will be given as the position fix If the antenna is mounted on a vehicle survey pole or backpack allowance for this must be made when using the solution To measure the range from the satellite to the receiver two criteria are required signal transmission time and signal re ception time All GPS satellites have several atomic clocks that keep precise time and these are used to time tag the mes sage and control the transmission sequence of the coded signal The receiver has an internal clock to precisely identify the arrival time of the signal Transit speed of the signal is a know
51. yright 2012 NavSync Ltd All Rights Reserved Specifications subject to change without notice 1 DESCRIPTION 1 1 Introduction The NavSync CW47 GPS synchronization timing reference is a fully integrated unit combining a CW25 GPS receiver active GPS antenna DC DC converter RS232 communications and G 703 E1 T1 outputs all packaged in a small IP67 rated waterproof plastic housing The CW47 unit delivers undisturbed Stratum 1 synchronization when locked to GPS telecom format G 703 E1 2 048 Mbps or T1 1 544 Mbps output The CW25 GPS receiver in the CW47 unit is designed specifically for acquiring and tracking satellites in weak signal areas such as under dense foliage and in severe urban areas The unit delivers a G 703 E1 2 048 Mbps or a T1 1 544 Mbps output signal with different source impedance options such as 75 Q or 120 Q The E1 version can also deliver a G 703 part 10 2 048 MHz clock signal The CW47 is the perfect solution for precise timing and network synchronization needs including broadband wireless applications It provides a cost effective and independent timing source for any synchronization application Key Features of the CW47 include e Stratum 1 Time Source e G 703 E1 2 048 Mbps Output e G 703 E1 2 048 MHz Clock e G 703 T1 1 544 Mbps Option e P67 Rated Waterproof Box e 48v 36v to 72v Power Supply e Short Circuit Protected RoHS Compliant Applications e Synchronizing Wireless Networks e Synchronizing
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