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GPstation-6 Receiver User Manual.book

1. m Il Y 173 4 0 5 4 Side View Front View 238 9 e 186 81 GPStation 6 User Manual Rev 2 82 Troubleshooting When your receiver appears not to be working properly there are often simple ways to diagnose and resolve the problem In many cases the issue can be resolved within a few minutes avoiding the inconvenience and loss of productivity that results from having to return your receiver for repair This chapter is designed to assist you in troubleshooting problems and includes cross references to sections of the manual that may provide resolution information If you are unsure of the symptoms or if the symptoms do not match any of those listed use the RXSTATUS log to check the receiver status and error words See Examining the RXSTATUS Log on page 83 Try to resolve the problem using the troubleshooting guide in Table 23 then try our Knowledge Base at http www novatel com support If you are still not able to resolve the problem contact NovAtel Customer Support Table 23 Troubleshooting Based on Symptoms Symptom Related Section The receiver is not properly powered Check and replace a faulty power cable See Section 1 1 5 Power Supply Requirements page 16 The receiver cannot establish communication Check and replace faulty serial cables and ports Refer also to the COMCONFIG log in the OEM6 Family Firmware Reference Manual The receiver is no
2. Chapter 6 Technical Specifications 6 1 GPStation 6 Enclosure PHYSICAL Size 233 x 154 x 71 mm Weight 1 4 kg Top View TI mm D 233 m 1 154 Side View Front View 236 GPStation 6 User Manual Rev 2 73 Technical Specifications INPUT OUTPUT DATA INTERFACE COM1 COM2 AND COM3 Electrical format RS 232 Bit rate 9600 default 19200 38400 57600 115200 230400 460800 and 921600 bps Signals supported RS232 TX RX RTS CTS 1 Baudrates higher than 115 200 bps are not supported by standard computer hardware Special computer hardware is required for higher rates including 230 400 bps INPUT OUTPUT STROBES MKI Mark Input An input mark time tags output log data to the time of the falling edge of the mark input pulse Can be either polarity but a pulse of 100 ns is required PV Position Valid Output indicates a good solution or a valid GPS solution when high ERROR Output that Indicates fatal error warning when high PPS Pulse Per Second Active high or low and is programmable STROBE ELECTRICAL SPECIFICATIONS Output Voltage LVTTL levels Low minimum 0 VDC and maximum 0 55 VDC 24 mA High minimum 2 4 VDC and maximum 3 6 VDC 8 mA Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minimum 2 0 VDC and max
3. 2 10 1 Controlling the Signal and Satellite Systems 29 The GPStation 6 allows the user to control which signals from which satellite systems are output in the ISM logs Refer to the ISMSIGNALCONTROL command Section 4 2 5 on page 51 for details Example ISMSIGNALCONTROL GLOL2CA ENABLE Allows GLONASS L2 C A phase to be included in ISMRAWOBS ISMDETOBS and ISMREDOBS logs Example ISMSIGNALCONTROL GLOL2CA ENABLE ENABLE Also allows GLONASS L2 C A to be used to calculate TEC measurements between this and the satellite s primary signal L2P Y scintillation measurements and observations are disabled by default L2P Y is an encrypted signal and is therefore tracked using a proprietary semi codeless tech nique This results in increased noise on the signal and therefore L2P Y measurements may not be suitable for computing scinitillation phase and amplitude indices L2P Y is however suit able for TEC computations and L2P Y TEC computations are enabled by default GPStation 6 User Manual Rev 2 Chapter 3 Messages 3 1 Message Types The receiver handles incoming and outgoing NovAtel data in three different message formats Abbreviated ASCII ASCII Binary This allows for a great deal of versatility in the way the OEM6 family of receivers can be used All NovAtel commands and logs can be entered transmitted output or received in any of the three formats The receiver also supports RTCA RTCMV3 RTCM CMR CMRPLUS
4. Noite GPStation 6 GNSS lonospheric Scintillation and TEC Monitor GISTM Receiver User Manual OM 20000132 Rev 2 November 2012 Proprietary Notice GPStation 6 Receiver User Manual Publication Number OM 20000132 Revision Level Rev 2 Revision Date 2012 11 29 This manual reflects GPStation 6 Firmware Version 6 2 To download the latest firmware and or software visit http www novatel com firmware Warranty NovAtel Inc warrants that its GNSS products are free from defects in materials and workmanship subject to the conditions set forth on our web site http Avww novatel com products warranty GPStation 6 Unit One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Warranty One 1 Year Return Instructions To return products refer to the instructions found under the Return Tab on the Warranty page at ittp www novatel com products warranty Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement 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 t
5. 4 H refer to Table 11 Signal Type 51 0 Do not output raw DISABLE measurement for this signal type Enable observations ENUM 4 H 4 1 Enable output of raw ENABLE measurements for this signal type GPStation 6 User Manual Rev 2 Commands Binary Binary Binary ASCII Binary Description Field Type Value Value Format Bytes Offset 0 Do not output TEC DISABLE measurement for this signal type 4 Enable TEC ENUM 4 H 8 1 Enable output of TEC ENABLE measurements for this signal type Table 11 Signal Type inant Signal TP Description 65 GPSL1CA GPS L1 C A code 132 GPSL2Y GPS L2 P Y encrypted code 133 GPSL2C GPS L2C code 134 GPSL2P GPS L2 P unencrypted code 199 GPSL5Q GPS L5 code 4353 GLOL1CA GLONASS L1 C A code 4419 GLOL2CA GLONASS L2 C A code 4420 GLOL2P GLONASS L2 P code 8257 SBASL1CA SBAS L1 C A code 8386 SBASLSI SBAS L5 code 10433 GALE1 Galileo E1 code 10466 GALE5A Galileo E5A code 10499 GALE5B Galileo E5B code 10532 GALALTBOC Galileo AItBOC code 14753 QZSSL1CA QZSS L1 C A code 14787 QZSSL2C QZSS L2C code 14820 QZSSL5Q QZSS L5Q code GPStation 6 User Manual Rev 2 52 Commande 4 2 6 ISMTECCALIBRATION Set TEC calibration value Field 1 This command allows the user to set a TEC calibration value for each signal combination The TEC calibration value is added onto the measured TEC
6. 7 See Section 1 1 5 Power Supply Requirements page 16 8 This is the thermometer error bit indicating a possible hardware or environmental condition If you cannot resolve contact Customer Support 9 Check temperature ranges in the ENVIRONMENTAL table sections of Technical Specifications on page 73 Possible hardware or environmental condition If you cannot resolve the 10 14 problem contact Customer Support 15 Issue a FRESET command and power cycle the unit If the bit is still present contact Customer Support 16 Monitor CPU idle time Reduce number of logs or the rate of data logging GPStation 6 User Manual Rev 2 Troubleshooting 17 Ensure that the version log is consistent with the hardware 20 SoftLoad is in progress 21 You may be exceeding the receiver s velocity limit If so reduce velocity This error can only be cleared by resetting the receiver 22 Reload firmware using WinLoad or the SoftLoad commands 31 Possible hardware failure Contact Customer Support Table 25 Resolving an Error in the Receiver Status Word Bit Set Action to Resolve 0 Check the Error Word in the RXSTATUS log See also Table 24 Resolving a Receiver Error Word on page 83 1 Check temperature ranges in the ENVIRONMENTAL table sections of Technical Specifications on page 73 2 See Section 1 1 5 Power Supply Requirements page 16 3 4 Refer to the Time to First Fix and Satellite Ac
7. Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of FCC Industry Canada and CE Marking rules and void the user s authority to operate this equipment FCC Notices This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation GPStation 6 has been tested and found to comply with the radiated and conducted emission limits for a Class B digital device The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation The equipment listed generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Rec orient or relocate the receiving antenna Increase the separation between the equipment and the receiver e Connect the equipment to an outlet on a circuit different from t
8. 18 UCHAR 1 H 10 Signal Mapping for Satellite Systems 7 Reserved Reserved UCHAR 1 H 11 8 First ADR Base ADR DOUBLE 8 H 12 9 First Power Base power measurement ULONG 4 H 20 10 Observation 22 Delta for TOW 0 02 referto Table 19 ULONG 4 H 24 Power and ADR Bit Field Description 11 Observation 32 Delta for TOW 0 04 referto Table 19 ULONG 4 H 28 Power and ADR Bit Field Description 58 Observation 50 Delta for TOW 0 98 refer to Table 19 ULONG 4 H 216 Power and ADR Bit Field Description 59 Next record offset H 8 chan x 220 variable xxx 32 bit CRC ASCII and Binary only HEX 4 H 8 c han x 220 variable CR LF Sentence terminator ASCII only a Observation is not listed because Observation data is in the first ADR and first power fields 63 GPStation 6 User Manual Rev 2 Logs 5 1 4 ISMRAWTEC Raw TEC measurements This log outputs 1 second TEC measurements for all valid frequency combinations TEC is a measure of the number of electrons along the path from the satellite and is reported in TEC Units 1 TECU 1016 electrons m The number is proportional to the ionospheric delay between frequencies The general TEC equation for signal combinations with L1 as the primary frequency is TEC Coef y PR PR L1 where Coef y pete tE TECU mae where y ELE where bi is the L1 frequency and f is the frequency of the secondary si
9. 18 DC 75 defaults 74 DETRSINB 42 DIMENSIONS 73 E e mail 7 emissions notice 8 Equipment additional 15 Included 15 equipment data communications 18 F field type 31 format 32 33 43 G GLONASS L2 C A 29 GPSAntenna 2 H header ascii 33 34 40 binary 30 hexadecimal 31 33 36 41 I UO 76 identifier ascii message 33 serial port 38 impedance 75 INPUT 74 input 75 76 Installation 15 17 GPStation 6 User Manual Rev 2 ISMBANDWIDTH 49 ISMDETOBS 42 59 ISMRAWOBS 62 ISMRAWTEC 64 ISMREDOBS 66 ISMREDTEC 69 ISMSIGNALCONTROL 51 ISMTECCALIBRATION 53 L logging 46 LSB 32 LVTTL 74 M mark input MKD 74 message ascii 33 format 30 32 43 response 40 MKI see mark input Mounting Bracket 20 MSB 32 O output 75 P PLLAiding Parameters 55 port ascii header 34 communication 34 identifier 38 Power 17 power 77 Power Supply Requirements 16 Power to receiver 18 processing 34 37 PWR LED 17 Q quotation mark 33 GPStation 6 User Manual Rev 2 Index R RAWSINB 66 71 response 40 revision manual 2 S selecting antenna 15 serial cable 80 Signal Combination Code 53 Signal Type 52 status receiver 34 time 34 support 7 T time status 34 troubleshooting 21 30 46 57 73 type field 31 U USB cable 80 USB Driver Installation 18 using a command as a log 46 V virtual address 34 voltage 7
10. 2 7 8 1 amp 6 5 4 Reference Description 10 DB9 Female 11 DB9 Female Cables may contain DEHP 6 2 1 3 Straight Through Serial Cable NovAtel part number 01018520 This cable can be used to connect the receiver to a modem or radio transmitter to propagate differential corrections The cable is equipped with a female DB9 connector at the receiver end The male DB9 connector at the other end is provided to plug into your user supplied equipment refer to your modem or radio transmitter user guide for more information on its connectors The cable is approximately 2 m in length Emm e T pu yn O O Reference Description Reference Description 10 DB9 male connector 12 9 conductor cable 11 DB9 female connector GPStation 6 User Manual Rev 2 78 79 Technical Specifications 6 2 1 4 UO Strobe Port Cable NovAtel part number 01018519 The GPStation 6 s strobe lines can be accessed by inserting the male DB9 connector of the I O strobe port cable into the O port The other end of this cable is provided without a connector for maximum flexibility The cable L is approximately 2 m in length i 6 8 10 1 zo Ge 5 5 7e So Qo Wiring T
11. 85 GPStation 6 User Manual Rev 2 Troubleshooting Bit Set 0 2 Table 26 Resolving an Error in the AUX1 Status Word Action to Resolve Reserved bits 3 None This bit indicates that Position Averaging is ON 4 6 Reserved bits Connect the receiver via USB Reduce the amount of logging on the USB ports Reserved bits AGC error on RF1 through RF4 respectively To resolve ensure antenna cable is connected and signal input level is within specification 18 Connect the receiver via Ethernet 19 21 Reduce the amount of logging on the Ethernet ports 22 24 25 27 Reduce the amount of logging on the NTRIP ports Reduce the amount of logging on the Virtual COM ports 28 31 Reserved bits GPStation 6 User Manual Rev 2 86 87 10 MHz Oscillator 20 A abbreviated ascii 32 Antenna 15 antenna input 75 antenna cable 16 antenna connecting 18 Antenna mounting 17 ascil message 33 overview 33 response 40 asterisk 33 B binary overview 34 response 40 byte 36 41 C cables 80 warranty 2 checksum 33 35 Command ISMSIGNALCONTROL 51 PLLBANDWIDTH 54 Communicating with the GPStation 6 21 communication 78 cable 80 Connect the GNSS antenna 17 Connect the receiver 17 connectors 75 77 copyright 2 CRC see cyclic redundancy check cyclic redundancy check CRC 32 33 35 36 41 43 D data communications equipment
12. ALL USB3 ALL ICOM1_ALL ICOM2_ ALL ICOM3 ALL XCOM1 ALL XCOM2 ALL and XCOM3 ALL are only valid for the UNLOGALL command 3 4 Responses By default if you input a message you get back a response If desired the INTERFACEMODE command can be used to disable response messages refer to the OEM6 Firmware Reference manual The response will be in the exact format you entered the message that 1s binary input binary response 3 4 1 Abbreviated Response Just the leading followed by the response string for example OK 3 4 2 ASCII Response Full header with the message name being identical except ending in an R for response The body of the message consists of a 40 character string for the response string For example BESTPOSR COM1 0 67 0 FINE 1028 422060 400 00000000 a3 1b 0 OK b867caad 3 4 83 Binary Response Similar to an ASCII response except that it follows the binary protocols see Table 7 on page 41 Table 8 Binary Message Sequence on page 42 is an example of the sequence for requesting and then receiving BESTPOSB The example is in hex format When you enter a hex command you may need to add a a or Ox before each hex pair depending on your code For example OxAAO0x440x120x1C0x010x000x02 and so on GPStation 6 User Manual Rev 2 40 Table 7 Binary Message Response Structure Messages Field Field Name Description Geen 1 Sync Ch
13. For example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored example xxx xxx is one field Double quotation marks within a string are not allowed If the receiver detects an error parsing an input message it returns an error response message Please see Chapter Responses on page 598 for a list of response messages from the receiver Message Structure header data field data field data field xxxxxxxx CR LF The ASCII message header structure is described in Table 3 2 on the next page 33 GPStation 6 User Manual Rev 2 Messages Table 4 ASCII Message Header Structure Field bett Ignoredon Field Field Name Type Description Input 1 Sync Char Sync character The ASCII message is always preceded N by a single symbol 2 Message Char The ASCII name of the log or command lists are in Table N 10 page 44 and Table 52 page 269 3 Port Char The name of the port from which the log was generated Y The string is made up of the port name followed by an x where x is a number from 1 to 31 denoting the virtual address of the port If no virtual address is indicated it is assumed to be address 0 4 Sequence Long Used for multiple related logs It is a number that counts N down from N 1 to 0 where 0 means it is the last one of the
14. Satellite System Binary ASCII Description 0 GPS GPS system 1 GLONASS GLONASS system 2 SBAS SBAS system e g WAAS EGNOS 5 GALILEO Galileo system 7 QZSS QZSS system Bits Table 18 Signal Mapping for Satellite Systems Satellite Signal Type Signal Type System GPS ASCII L1CA Binary L2Y L2C L2P L5Q o oco GLONASS L1CA L2CA L2P AJo SBAS L1CA L5I Galileo E1 E5A E5B AItBOC QZSS L1CA L2C L5Q Table 19 Power and ADR Bit Field Description Field Description Units Format Change in power from the first value sign magnitude Delta ADR Change in ADR from the previous milli cycles signed integer value GPStation 6 User Manual Rev 2 Logs 5 1 3 ISMRAWOBS Raw phase and amplitude measurement This log contains the raw unfiltered carrier phase and amplitude data for each receiver channel tracking a GNSS signal Each GNSS system is output in a separate log The receiver collects phase and amplitude measurements at a 50 Hz rate i e 50 sets of measurements per second and outputs them into this log every second Each data block contains a base ADR and a base power measurement representing the measurement at the Time of Week TOW specified in the log header This is followed by 49 sets of compressed data reporting the measurements taken at each 0 02 second
15. TEC measurements sss eee enn 64 5 1 5 ISMREDOBS Reduced phase and amplitude measurements sssssse 66 5 1 6 ISMREDTEC Reduced TEC measurements sese 69 5 1 7 ISMCALIBRATIONSTATUS TEC self calibration status 71 6 Technical Specifications 73 6 1 GPStation 6 EnclosUre eu NENNEN teet dene dee dde ode Dad eee eed due 73 6 2 Port Pin OUts eege Oei ettet ide pp freti edo te d ot e 76 E Re TT 6 2 2 USB Serial Cable NovAtel part number 01017664 sse 80 6 3 Mounting Bracket DIMENSIONS A 81 Troubleshooting 82 Index 87 GPStation 6 User Manual Rev 2 List of Figures Figure1 Primary and Secondary Lightning Protection ssssesssss 10 Figure2 GPStation 6 Enclosure uses esed inee e nitent ida 12 Figure3 Typical Receiver Installation ssses e 17 Figure4 lonospheric TEC Characterized sss 25 Figure5 TEC Before and After Example sssssssseeeeenn 26 GPStation 6 User Manual Rev 2 5 List of Tables Table 1 Status Indicators HG 20 Table 2 Field Types Suse epEPC eI RII Ep M MEA 31 Table 3 SC lu DEE 32 Table 4 ASCII Message Header Structure ssssnnnneeseeennnrreeeretetrrrnreetetnrnnnnneen nnne nne 34 Table 5 Binary Message Header Structure cccsccccccccesssessseeeeeeeeeseeneeeeeeeeesssentaaeees 36 Table 6 Detailed Port Identifier 38 Table 7 Binary Messa
16. The following NovAtel antennas may be considered 15 GPStation 6 User Manual Rev 2 Installation Dual frequency GPS 702 GG Pinwheel Triple frequency GPS 703 GGG ANT C2GA TW N Choke Ring Pinwheel GNSS 750 Choke Ring L1 L2 L1 L5 L1 L2 L5 Further information is available on the complete portfolio of antenna offerings by visiting the NovAtel web site www novatel com Please contact your NovAtel dealer for pricing and purchasing information 1 1 4 Choosing a Coaxial Cable for the Antenna An appropriate coaxial cable is one matching the impedance of the antenna and receiver being used 50 ohms and whose line loss does not exceed 10 0 dB If the limit is exceeded excessive signal degradation occurs and the receiver may not be able to meet its performance specifications NovAtel offers a variety of coaxial cables to meet your interconnection requirements including 5 15 or 30 m RF cables with TNC male connectors on both ends NovAtel part numbers C006 C016 and C032 respectively Contact your local NovAtel dealer for advice about your specific configuration Should your application require a cable longer than 30 m refer to the NovAtel application note APN 003 RF Equipment Selection and Installation at our web site http Avww novatel com support knowledge and learning published papers and documents application notes or contact NovAtel Customer Service directly High quality coaxial cables should be used because
17. a mismatch in impedance possible with lower quality cable produces reflections in the cable that increase signal loss Though it is possible to use other high quality RF cables the performance specifications of the GPStation 6 receivers are warranted only when used with NovAtel supplied accessories 1 1 5 Power Supply Requirements This section contains information on the requirements for the input power to the receiver Refer to Technical Specifications on page 73 for more power supply specifications If the supplied voltage drops below the minimum specification the receiver suspends v operation If the supplied voltage is above the maximum specification the receiver may sustain permanent damage and the Warranty becomes void refer to the Warranty on page 11 for details The receiver is designed to prevent internal damage when subjected to a reverse polarity power connection It also provides protection from short over voltage events Use appropriate fuses or current limiting as a safety precaution on all power lines used Use a sufficient gauge of wire to ensure the voltage at the connector is within the requirements 1 1 5 1 GPStation 6 Enclosure The provided power cable and the accessory power adapter for the GPStation 6 is a 12 V power adapter with a built in slow blow fuse for use with a standard 12 VDC power outlet Ifa different power supply is desired the input range required is 11 to 18 VDC The type of conn
18. fundamental changes between the products Table 10 Legacy GSV4004B Commands Legacy Command Description Equivalent GPStation 6 Command SINBANDWIDTH Control detrending filter bandwidth ISMBANDWIDTH SINTECCALIBRATION Sets a TEC calibration value ISMTECCALIBRATION CPOFFSET Set C A to P code bias SETDIFFCODEBIASES LOOPSBANDWIDTH Set phase lock loop bandwidth PLLBANDWIDTH GPStation 6 User Manual Rev 2 Commands 42 2 CLOCKADJUST Enables clock adjustments All oscillators have some inherent drift By default the receiver will steer its clock to accurately match GPS time The GPStation 6 receiver automatically locks to the 10 MHz reference signal generated by the OCXO internal to the enclosure Therefore when clock adjustments are enabled the receiver will steer the OCXO towards GPS time Note that the act of steering the clock may increase phase noise on the measurements Since the clock adjustments should be very small on an OCXO the default configuration is to leave clock steering enabled When clock steering is disabled the clock drift over a very long period of time could cause the receiver time offset from GPS to exceed its limits Disabling clock steering will ensure the lowest possible phase noise on the phase scintillation measurements Either setting is valid and can be selected by user preference given application needs Abbreviated ASCII Syntax Message ID 15 CLOCKADJUST switch Input Exa
19. indicates if the clock model is valid Refer also to the FRESET 22 command in the OEM6 Family Firmware Reference Manual None This bit indicates 1f the phase lock loop 1s locked when using an external 23 oscillator Refer also to the FRESET command in the OEM6 Family Firmware Reference Manual 24 Check the CPU idle time Check for unnecessary logging Check for simultaneous use of functionality for example API and RTK None This bit indicates 1f any bits in the auxiliary 3 status word are set The 29 auxiliary 3 word provides status information and does not contain any new information on problems Refer also to the FRESET command in the OEM6 Family Firmware Reference Manual None This bit indicates 1f any bits in the auxiliary 2 status word are set The 30 auxiliary 2 word provides status information and does not contain any new information on problems Refer also to the FRESET command in the OEM6 Family Firmware Reference Manual None This bit indicates if any bits in the auxiliary 1 status word are set The 31 auxiliary 1 word provides status information and does not contain any new information on problems Refer also to the FRESET command in the OEM6 Family Firmware Reference Manual Examining the AUX1 Status Word Table 26 provides actions to take when your receiver has an error flag in the AUX1 status word If you are not able to resolve the condition contact NovAtel Customer Support
20. length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field is shown in the row in the log or command tables 31 GPStation 6 User Manual Rev 2 Messages Table 3 Byte Arrangements sot 1 n 1 addressn 31 23 15 7 0 long TTT 7 twos compement n 3 n 2 n 1 addressn 63 62 52 51 0 double ns n 6 n 5 n 4 n 3 n 2 n 1 addressn 31 30 23 22 0 float n 3 n 2 n 1 addressn Table 3 shows the arrangement of bytes within each field type when used by IBM PC v computers All data sent to or from the OEM6 family of receivers however is read least significant bit LSB first opposite to what is shown in Table 3 Data is then stored in the receiver LSB first For example in char type data the LSB is bit 0 and the most significant bit MSB is bit 7 Refer to the Section Channel Tracking Example in the OEM6 Family Firmware Reference manual for a more detailed example 3 2 Abbreviated ASCII This message format is designed to make the entering and viewing of commands and logs by the user as simple as possible The data is represented as simple ASCII characters separated by spaces or commas and arranged in an easy to understand format There is also no 32 bit CRC for error detection because it is meant for viewing by the user Example Command log coml loglist Resultant Log lt LOGLIST C
21. organized and human readable format The input file accepted can be created using SLOG or NovAtel Connect The output file is a comma separated data file csv GPStation 6 User Manual Rev 2 Operation 2 8 1 PARSEREDUCED exe The PARSEREDUCED utility is used to process the reduced GISTM data logs It is executed from a command line window similar to SLOG Usage details are provided in the following screen shot e m Administrator C windows system32 cmd exe ee mni Si Command Line Example PARSEREDUCED R DATAFILE GPS OUTPUTFILE CSV for all GLONASS satellites 2 8 8 PARSERAW exe The PARSERAW utility is used to process the raw GISTM data logs It is executed from a command line window similar to SLOG Usage details are provided in the following screen shot r a ES Administrator C windows system32 cmd exe ciel Command Line Example PARSERAW G1 DATAFILE GPS OUTPUTFILE CSV for GPS PRN 1 GPStation 6 User Manual Rev 2 28 Operation 2 9 GISTM Data Processing The GPStation 6 CD includes sample C files that can be used to support custom code development for decoding and processing the GISTM data During initial evaluation of the product and data analysis the parsing utilities described above create ISMR summary files in csv format Post processing can then be done on the data using analysis software such as Matlab or Microsoft Excel 2 10 Additional Features for Real time Operation
22. page 18 1 2 4 1 USB Driver Installation The NovAtel Utilities CD included with the GPStation 6 contains the NovAtel USB Driver Kit used to configure your PC to communicate with the GPStation 6 over USB The NovAtel USB Driver Kit contains the following ngpsser sys Provides a virtual serial port for each USB port of the receiver ngpsusb sys Connects the virtual serial ports to the USB stack novatelusb exe Controls the Windows COM ports that are assigned to each USB port of the receiver This utility can also be used to uninstall the drivers when a newer version is available During installation a shortcut appears in the Start menu under All Programs NovAtel USB Drivers The latest USB driver can be found at www novatel com Support Firmware Software and Manuals Product Updates PC Utilities GPStation 6 User Manual Rev 2 18 Installation The USB drivers are certified by Microsoft s Windows Hardware Quality Lab WHQL Depending on your computer s Driver Signing Policy Windows may refuse to install this driver or may display a warning See Section 1 2 4 2 for details 1 2 4 2 Windows Driver Signing 1 3 19 The NovAtel USB drivers are digitally signed and officially supported on Microsoft Windows XP Windows Vista and Windows 7 They can also be installed on Windows 2000 and Windows Server 2003 but are not WHQL certified in that application Depending on how your computer is configured Windows may ignore device
23. sections in the tables in Technical Specifications on page 73 Move the receiver to within an acceptable temperature range or increase the baud rate Overload and overrun problems Either the CPU or port buffers are overloaded Reduce the amount of logging or increase the baud rate The receiver is indicating that an invalid authorization code has been used Refer to the Version log VALIDMODELS log and the MODEL command in the OEM6 Family Firmware Reference Manual The receiver 1s being affected by jamming Move the receiver away from any possible jamming sources The receiver s automatic gain control AGC is not working properly Refer to the jamming symptom in this table Examining the RXSTATUS Log 83 The RXSTATUS log provides detailed status information about your receiver and can be used to diagnose problems Refer to the OEM Firmware Reference Manual for details on this log and on how to read the receiver error word and status word Tables 24 and 25 on pages 83 to 85 give you actions to take when your receiver has an error flag in either of these words If you are not able to resolve the condition contact NovAtel Customer Support Table 24 Resolving a Receiver Error Word Bit Set Action to Resolve 0 2 Issue a FRESET command 4 Contact Customer Support 5 Check the VERSION log The VERSION log will indicate Invalid authcode 6 Issue a FRESET command
24. set Most logs only come out one at a time in which case this number is 0 5 Idle Time Float The minimum percentage of time the processor is idle Y between successive logs with the same Message ID 6 Time Status Enum The value indicates the quality of the GPS reference time Y see Table 9 GISTM Commands on page 47 7 Week Ulong GPS reference week number Y 8 Seconds GPSec Seconds from the beginning of the GPS reference week Y accurate to the millisecond level 9 Receiver Ulong An eight digit hexadecimal number representing the Y Status status of various hardware and software components of the receiver between successive logs with the same Message ID see Table 99 on page 523 10 Reserved Ulong Reserved for internal use Y 11 Receiver Ulong A value 0 65535 representing the receiver software Y s w Version build number 12 Char The character indicates the end of the header N Example Log RAWEPHEMA COM1 0 35 0 SATTIME 1364 496230 000 00100000 97b7 2310 30 1364 496800 8b0550a1892755100275e6a0 9382232523a9dc04ee6f794a0000090394ee 8b05 50al89aab6ff925386228f97eabf9c8047e34a7T0ec5al0e486e794a7a 8b0550al8a2effc2f8006l1c 2fffc267cd09f1d450344d43537affa28b6ff0eb 7a22 2719 3 9 1 Binary Binary messages are meant strictly as a machine readable format They are also ideal for applications where the amount of data transmitted 1s fairly high Due to the inherent compactness of binary as opposed to ASCII
25. used in the GPStation 6 certain legacy commands have been replaced with their OEM628 equivalents The new commands and logs are defined in Chapter 4 Commands and Chapter 5 Logs of this User Manual Due to the required changes special care should be taken when migrating existing GSV4004B scripts and processing software What s New from the GPStation 6 e GPS L2C L5 SBAS L5 GLONASS LI L2 Galileo EI ESa ESb AItBOC COMPASS QZSS support e USB 2 0 Higher speed RS 232 communications up to 921 600 bps e New GPStation 6 commands and logs GPStation 6 User Manual Rev 2 Introduction Prerequisites Chapter 1 Installation and Chapter 2 Operation of this document provide information concerning the installation requirements and considerations for the GPStation 6 receiver and supporting utilities In order to operate the GPStation 6 Software Utility toolkit a Windows system is required It should be noted that the GPStation 6 receiver itself has no reliance on any operating system and that interface and data processing software can be developed on a suitable processing platform GPStation 6 User Manual Rev 2 14 Chapter 1 Installation This chapter contains instructions and tips to setup your NovAtel GPStation 6 receiver and create a GNSS Ionospheric Scintillation and TEC Monitor GISTM receiver system 1 1 Required Equipment 1 1 1 Included Equipment The GPStation 6 package includes the following equipment for receiver opera
26. 0 0 ASCII Binary Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 ISMBANDWIDTH This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Phase bandwidth Phase filter bandwidth DOUBLE 8 H Hz 3 Amplitude Amplitude filter bandwidth DOUBLE 8 H 8 bandwidth Hz GPStation 6 User Manual Rev 2 Commands 42 4 ISMCALIBRATE Setup a TEC self calibration This command instructs the receiver to perform a self calibration of TEC offsets for all enabled signal combinations see ISMSIGNALCONTROL The calibration status and current calibrated TEC offsets can be collected from the ISMCALIBRATIONSTATUS log The Enable parameter controls whether to start or abort a calibration The Start Delay parameter can be used to start calibration at a time of day when absolute ionospheric TEC is at its lowest In addition scintillation activity must be low for the calibration to be successful The Duration field controls how long the calibration is performed The Elevation cutoff field sets an elevation mask so that only satellites above this elevation will be used in the TEC calibration Due to the unpredictable nature of ionospheric activity this command does not automatically set the TEC calibration values in the receiver once the calibration is complete The user
27. 18 0 0 1 70 769 74 623 51 8 6935 710 0 526755095 0 063336819 0 027212607 0 02 5670499 0 603473 1 051849 1 333854 1 342483 1 342260 19 0 0 1 308 785 29 901 46 1 4267 460 8 926915169 0 097247794 0 064283803 0 0 49415980 0 606543 1 052361 1 332236 1 340793 1 340570 14 0 0 1 194 180 19 440 42 5 1997 580 7 524831772 0 053565901 0 106134832 0 0 75353585 0 609627 1 052703 1 333876 1 342554 1 342330 21 0 0 1 130 606 51 924 50 2 6936 620 0 515299559 0 016452787 0 033724409 0 0 30960422 0 605722 1 053075 1 338819 1 347473 1 347248 Binary Binary Field Field Type Data Description Format Bytes Offset 1 ISMREDOBS Log header H 0 Header 2 chans Number of hardware channels with ULONG 4 H information to follow 3 SVID Satellite vehicle ID GPS 1 to 32 SBAS UCHAR 1 H 4 120 to 138 GLONASS slot 1 to 24 GALILEO 1 to 50 QZSS 193 to 197 4 Frequency For GLONASS only Range 7 to 6 CHAR 1 H 5 5 Satellite System Satellite system identifier refer to Table 17 UCHAR 1 H 6 Satellite System 6 Signal Type Signal type of primary signal in combination UCHAR 1 H 7 refer to Table 18 Signal Mapping for Satellite Systems 7 Azimuth Satellite vehicle azimuth degrees FLOAT 4 H 8 8 Elevation Satellite vehicle elevation degrees FLOAT 4 H 12 9 C No Satellite vehicle carrier to noise density ratio FLOAT 4 H 16 C No 10 log10 S No dB Hz 10 Locktime of seconds of co
28. 4 W warranty 2 Web site 7 WEEE notice 9 Windows Driver Signing 19 88 rN NovZtel OM 20000132 Rev 2 November 2012
29. 53 Table 12 Signal Combination Code Combination Blat Description Binary 0 GPSL1CAL2Y GPSL1CA GPSL2P Y 1 GLOL1CAL2P GLOL1CA GLOL2P 2 GPSL1CAL2C GPSL1CA GPSL2C 3 GPSL1CAL5 GPSL1CA GPSL5 4 SBASL1CAL5 SBAS L1 SBAS L5 5 GLOL1CAL2CA GLOL1CA GLOL2CA GPStation 6 User Manual Rev 2 Commands 42 7 PLLBANDWIDTH Set the phase lock loop bandwidth Depending upon the environment it may be beneficial to change the Phase Lock Loop PLL bandwidths The default bandwidth of the GPStation 6 is 10Hz however tracking performance in certain scintillation environments may be improved by changing this bandwidth This command also allows the default channel aiding to be changed for secondary signal tracking loops Issuing this command will cause all affected channels to reset lock as they re initialize their tracking loops There are some considerations when using this command Lower bandwidths impedes the ability of the feedback loop to track step functions resulting in more hang off phase errors in the measurements Step functions can occur in the phase when the clock frequency has small jumps or pops that the PLL needs to react to The GPStation 6 uses a low noise OCXO to minimize these jumps but in extreme cases clock frequency pop could cause extra losses of lock in lower bandwidth PLLs Changing the bandwidth will change the overall phase noise of the ADR measurements Generally the hig
30. 8 to 2048 So this gives a relative power range of 33dB from the base power measurement Structure Message ID 1389 Log Type Asynch Recommended Input LOG ISMRAWOBSB ONNEW ASCII example ISMRAWOBSA USB1 1 83 5 F INESTEERING 1666 424004 000 00000020 36d0 10283 GLON ASS 16 17 4 1 0 8799727 933294836 864769 0 134c1 e0e134c6 3134b4 5134b4 e7713494 3c13499 c6134c2 3613499 fcal34c3 85134a8 3 134d5 ee4134b7 fed134ca ec9134b0 9e134b7 ed4134b0 7 513 4a6 ead13498 7d613498 fcd134b5 f4f1348f fdd1349c ed9134af 78 1349b fad134ae f 58134a9 ee313490 6134a2 7713498 fecl3494 07134a0 221349f 760813486 82134a8 c01348b 95134b8 ef 4134b2 99134c8 7701 34ad a0134b2 ee213495 fcf134b8 d 134ad 341349d e 89134a6 8b134a8 ea513481 83134a6 e d913489 GPStation 6 User Manual Rev 2 62 Logs mS Binary Binary Field Field Type Data Description Format Bytes Offset 1 ISMRAWOBS Log header H 0 Header 2 Satellite system Satellite system identifier refer to ENUM 4 H Table 17 Satellite System 3 chans Number of hardware channels with ULONG 4 H 4 information to follow 4 SVID Satellite vehicle ID GPS 1 to 32 UCHAR 1 H 8 SBAS 120 to 138 GLONASS slot 1 to 24 GALILEO 1 to 50 QZSS 193 to 197 5 Frequency For GLONASS only Range 7 to 6 CHAR 1 H 9 6 Signal Satellite signal type refer to Table
31. Green Flashing Data is being transmitted from COM3 COM3 Red Flashing Data is being received on COM3 PWR Red Solid The receiver is powered 1 3 2 10 MHz Oscillator The GPStation 6 enclosure houses its own high performance ultra low phase noise Oven Controlled Crystal Oscillator OCXO so no external frequency reference is required for GPStation 6 receiver operation The GPStation 6 OCXO generates a 10 MHz reference signal delivered directly to the OEM628 GNSS receiver card via internal communication lines within the enclosure The same 10 MHz OCXO signal is also output on the OSC port BNC female of the GPStation 6 enclosure and can be used as a frequency reference for other external equipment The OSC port for the GPStation 6 enclosure is output only the receiver will not operate properly if a 10 MHz signal is input to this port 1 3 3 Mounting Bracket Along with the GPStation 6 enclosure a mounting kit is provided to for mounting the receivers to a surface To install the mounting bracket provided with the GPStation 6 refer to the instructions provided with the mounting kit Also refer to Section 6 3 Mounting Bracket Dimensions on page 81 for bracket dimension information The mounting kits are not designed for use in high dynamics vibration environments GPStation 6 User Manual Rev 2 20 Chapter 2 Operation 2 1 2 2 2 3 21 Before operating the GPStation 6 for the first time ensure the installati
32. ID 1394 Log Type Asynch Recommended Input LOG ISMREDTECB ONNEW ASCII example ISMREDTECA USB1 0 84 0 FINESTEERING 1666 429480 000 00000020 c159 10283 18 9 0 0 1 4 0 0 0 90 579 26 759 4318 900 39 7 12 721622986 0 036517017 13 418455124 0 002712072 14 268491745 0 207451344 14 547099113 0 033018101 18 0 0 1 4 0 0 0 75 572 62 832 8536 300 44 8 2 103402615 0 012430400 2 120460 272 0 071657941 2 012428761 0 106827006 2 237020493 0 045161925 19 0 0 1 4 0 0 0 297 287 35 959 5880 400 45 2 23 756959915 0 033341203 23 600 599289 0 028503742 22 912609100 0 156302705 22 301378250 0 005075458 14 0 0 1 4 0 0 0 195 549 31 927 3610 900 39 3 16 052797318 0 114494205 15 993096352 0 023176139 15 609300613 0 212158322 15 450096130 0 066596538 21 0 0 1 4 0 0 0 135 703 39 378 8537 300 40 0 8 488627434 0 024110690 8 46588 4209 0 115596518 8 030915260 0 080930516 7 703978539 0 083380610 22 0 0 1 4 0 0 0 266 255 70 840 8525 300 46 8 5 051339149 0 031253934 6 26811 4090 0 042785808 7 564490795 0 155712500 9 159376144 0 015237894 iar Binary Binary Field Field Type Data Description Format Bytes Offset 1 ISMREDTEC Log header H 0 Header 2 chans Number of hardware channels with 4 H information to follow 3 SVID Satellite vehicle ID GPS 1 to 32 SBAS UCHAR 1 H 4 120 to 138 GLONASS slot 1 to 24 GALILEO 1 to 50 QZSS 193 to 197 4 Frequency For GLONASS only Range 7 to 6 CHAR 1 H 5 S
33. M2 virtual port 0 COM2_31 5f 95 COM2 virtual port 31 COM3 60 96 COM3 virtual port 0 COM3_ 31 7f 127 COMS virtual port 31 SPECIAL a0 160 Unknown port virtual port O SPECIAL 31 bf 191 Unknown port virtual port 31 THISPORT cO 192 Current COM port virtual port O THISPORT 31 df 223 Current COM port virtual port 31 GPStation 6 User Manual Rev 2 38 Messages Table 6 Detailed Port Identifier ASCII Port Hex Port Decimal Port G Name Value Value Description XCOM1 1a0 416 XCOM virtual port 0 XCOM1 1 1a1 417 XCOM1 virtual port 1 XCOM1_ 31 1bf 447 XCOM1 virtual port 31 XCOM2 2a0 672 XCOM2 virtual port 0 XCOM2_1 2a1 673 XCOM2 virtual port 1 XCOM2_31 2bf 703 XCOM2 virtual port 31 USB1 5a0 1440 USB1 virtual port 0 USB1 1 5a1 1441 USB1 virtual port 1 USB1 31 5bf 1471 USB1 virtual port 31 USB2 6a0 1696 USB2 virtual port 0 USB2_ 31 6bf 1727 USB2 virtual port 31 USB3 7a0 1952 USB3 virtual port 0 USB3 31 Tbf 1983 USB port 3 virtual port 31 XCOM3 9a0 2464 XCOMS virtual port 0 XCOM3_ 31 9bf 2495 XCOM3 virtual port 31 a Decimal port values 0 through 16 are only available to the UNLOGALL command and cannot be used in the UNLOG command or in the binary message header refer to the OEM6 Firmware Reference manual GPStation 6 User Manual Rev 2 Messages COMI ALL COM2 ALL COM3 ALL THISPORT ALL ALL PORTS USB1 ALL USB2
34. OMI 0 69 0 FINE 0 0 000 00240000 206d 0 lt 4 lt COM1 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM2 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM3 RXSTATUSEVENTA ONNEW 0 000000 0 000000 NOHOLD lt COM1 LOGLIST ONCE 0 000000 0 000000 NOHOLD As you can see the array of 4 logs are offset from the left hand side and start with lt GPStation 6 User Manual Rev 2 32 3 3 Messages ASCII ASCII messages are readable by both the user and a computer The structures of all ASCII messages follow the general conventions as noted here I 2 3 The lead code identifier for each record is Wi Each log or command is of variable length depending on amount of data and formats All data fields are delimited by a comma with two exceptions e The first exception is the last header field which is followed by a to denote the start of the data message e The second exception is the last data field which is followed by a to indicate end of message data Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters For example 1234ABCD CR LF This value is a 32 bit CRC of all bytes in the log excluding the 7 identifier and the asterisk preceding the four checksum digits See 32 Bit CRC on page 43 for the algorithm used to generate the CRC An ASCII string is one field and is surrounded by double quotation marks
35. S_C1P1 0 2 Code Pair Selects the code ENUM GPS C2P2 1 phase pair 3 Biases Pseudo range Fixed code phase Float biases Array 40 160 H 4 GPStation 6 User Manual Rev 2 56 Chapter 5 Logs 5 1 For information on other available logs refer to the OEM6 Family Firmware Reference Manual available from http Avww novatel com assets Documents Manuals om 20000129 pdf Log Types The receiver is capable of generating three type of logs synchronous asynchronous polled The data for synchronous logs is generated on a regular schedule In order to output the most current data as soon as it is available Asynchronous data is generated at irregular intervals The data in polled logs is generated on demand The following table outlines the log types and the valid triggers to use Table 14 Log Type Triggers Type Recommended Trigger Illegal Trigger Synch ONTIME ONNEW ONCHANGED Asynch ONCHANGED Polled ONCE or ONTIME ONNEW ONCHANGED a Polled log types do not allow fractional offsets and cannot do ontime rates faster than Hz 5 1 1 Listing of GISTM Specific Logs Table 15 lists the GISTM specific logs new to GPStation 6 A detailed description of each log follows in this chapter Table 15 GISTM Logs Log Description ISMCALIBRATIONSTATUS Current status of TEC self calibration procedure ISMDETOBS Detrended phase and amplitude measu
36. able UO Port UO Port I O Port Cable l O Port O Port 1 O Port Cable Pin Signal Wire Color Pin Signal Wire Color 1 Reserved Black 6 Reserved Green 2 PPS Brown 7 Reserved Blue 3 Reserved Red 8 Error Violet 4 MKI Orange 9 GND White Grey 5 PV Yellow Reference Description Reference Description 10 DB9 male connector 11 9 conductor cable GPStation 6 User Manual Rev 2 Technical Specifications 6 2 2 USB Serial Cable NovAtel part number 01017664 The USB cable provides a means of interfacing between the COMI port on the GPStation 6 and another serial communications device such as a computer At the enclosure end the cable has a DB9 connector that plugs into a COM port The other end of the cable has a USB connector This cable is RoHS compliant LII ES 1000 14 2000 251 0 Wiring Table DB9 Connection on Signal Series A Receiver USB Plug Pin 5 GND Pin 4 Pin 6 USB D Pin 3 Pin 9 USB D Pin 2 Reference Description 10 Female DB9 connector 11 USB connector GPStation 6 User Manual Rev 2 80 Technical Specifications 6 3 Mounting Bracket Dimensions Top View T IE LI Il i 26 6 05 7 O a 54 05 70 233 O ofl 55
37. age Port Address Uchar See Table 6 on page 38 decimal values gt 32 may be used lower 8 bits only NP Message Length Ushort The length in bytes of the body of the message not including the header nor the CRC Continued on next page GPStation 6 User Manual Rev 2 36 Field Messages Binary Binary Ignored Bytes Offset on Input Field Name Description Sequence Ushort Used for multiple related 2 10 N logs It is a number that counts down from N 1 to 0 where N is the number of related logs and 0 means it is the last one of the set Most logs only come out one at a time in which case this number is 0 10 Idle Time Uchar Time the processor is idle in 1 12 Y the last second between successive logs with the same Message ID Take the time 0 200 and divide by two to give the percentage of time 0 100 11 Time Status Enum Indicates the quality of the 1 13 Nd GPS reference time 12 Week Ushort GPS reference week 2 14 Nd number 13 14 ms GPSec Milliseconds from the 4 16 Nd beginning of the GPS reference week Receiver Ulong 32 bits representing the 4 20 Y Status status of various hardware and software components of the receiver between successive logs with the same Message ID refer to the OEM6 Firmware Reference manual 15 16 Reserved Ushort Reserved for internal use 2 24 Y Receiver Ushort A val
38. al error when high 9 GND Digital ground GPStation 6 User Manual Rev 2 Technical Specifications 6 2 1 Cables 6 2 1 1 12V Power Adapter Cable NovAtel part number 01017663 The supplied power adapter cable provides 12 VDC while operating Input is provided through the standard 12 V power outlet The output from the power adapter utilizes a 4 pin LEMO connector LEMO part number FGG 0B 304 CLAD52Z and plugs directly into the PWR input located on the back panel of the enclosure 9 10 4 2 9 300 10 BOW Reference Description Reference Description 1 Black 5 Ground 2 Red 6 9 to 18 VDC 3 Orange or Green 7 9 to 18 VDC 4 Brown or White 8 Ground 9 Connector key marking 12 Universal tip 10 12V adapter 13 6 Amp slow blow fuse 11 Spring 5 v NovAtel recommends tying to ground any floating input lines 77 GPStation 6 User Manual Rev 2 Technical Specifications 6 2 1 2 Null Modem Cable NovAtel part number 01017658 This cable allows the GPStation 6 to communication with a computer The cable is equipped with a 9 pin connector at the receiver end which can be plugged into the COMI COM2 or COMS port At the computer end a 9 pin connector is provided to accommodate a computer serial RS232 communication port Cii mm NIL 10 11 Wiring Table Connector Pin Number To DB9 A 2 3 8 7 4 5 1 amp 6 To DB9 B 3
39. all the bytes including delimiters such as but excluding the and in the message output It is therefore an 8 bit and not a 32 bit checksum Not all logs may be available Every effort is made to ensure examples are correct however a checksum may be created for promptness in publication In this case it will appear as 9999 Example BESTPOSA and BESTPOSB from an OEM6 family receiver ASCII BESTPOSA COM1 0 78 0 FINESTEERING 1427 325298 000 00000000 6145 2748 SOL_COMPUTED SINGLE 51 11678928753 114 03886216575 1064 3470 16 2708 WGS84 2 3434 1 3043 4 7300 0 000 0 000 7 7 0 0 0 06 0 03 9c9a92bb BINARY Oxaa 0x44 0x12 0x 1c 0x2a 0x00 0x02 0x20 0x48 0x00 0x00 0x00 0x90 0xb4 0x93 0x05 Oxb0 Oxab 0xb9 0x12 0x00 0x00 0x00 0x00 0x45 0x61 Oxbc 0x0a 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 Ox 1b 0x04 0x50 Oxb3 Oxf2 Ox8e 0x49 0x40 0x16 Oxfa 0x6b Oxbe 0x7c 0x82 Ox5c 0xc0 0x00 0x60 0x76 Ox9f 0x44 Ox9f 0x90 0x40 0xa6 0x2a 0x82 Oxc1 0x3d 0x00 0x00 0x00 0x12 0x5a Oxcb Ox3f Oxcd Ox9e 0x98 0x3f Oxdb 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 OxOb OxOb 0x00 0x00 0x00 0x06 0x00 0x03 0x42 Oxdc Ox4c 0x48 Below is a demonstration of how to generate the CRC from both ASCII and BINARY messages using the function described above When you pass the data into the code that follows exclude
40. alue in units of TECU e The standard deviation of the current TEC calibration value Structure Message ID 1406 Log Type Asynch Recommended Input LOG ISMCALIBRATIONSTATUSA ONNEW ASCII example ISMCALIBRATIONSTATUSA USB1 0 81 0 FINESTEERING 1666 430620 000 00000020 45d2 10283 1680 2 GPSLICAL2Y 28 27 513463974 1 702342391 GLOLICAL2P 10 7 925333500 1 621402383 Binary Binary Field Field Type Data Description Format Bytes Offset 1 ISMCALIBRATION Log header H 0 STATUS Header 2 Calibration time Time in calibration mode seconds ULONG 4 H records Number of records in this log ULONG 4 H 4 4 Signal type Signal combination type refer to Table 20 ENUM 4 H 8 Signal Combination Type samples Number of samples collected ULONG 4 H 12 6 TEC calibration Current computed TEC calibration value FLOAT 4 H 16 TECU TEC Std Dev Standard deviation of TEC calibration TECU FLOAT 4 H 20 Next record offset H 8 f records x 20 variable xxxx 32 bit CRC ASCII and Binary only HEX 4 H 8 f records x 20 variable CR LF Sentence terminator ASCII only 71 GPStation 6 User Manual Rev 2 Logs Table 20 Signal Combination Type Signal Combination Type Signal Combination Type i ASCII Binary GLOL1CAL2P GPSL1CAL2C GPSL1CAL5 SBASL1CAL5 oa R w lnrn GLOL1CAL2CA GPStation 6 User Manual Rev 2 72
41. and NMEA format messaging For more information about message logs refer to the contents of Chapters 2 and 3 in the OEM6 Family Firmware Reference manual When entering an ASCII or abbreviated ASCII command to request an output log the message type is indicated by the character appended to the end of the message name A indicates the message requested is ASCII and B indicates binary No character means the message requested is Abbreviated ASCII When issuing binary commands the output message type is dependent on the bit format in the message s binary header refer to Binary on page 34 Abbreviated ASCII LOG VERSION OK COM1 lt VERSION COMI 0 84 0 FINESTEERING 1715 162477 928 00000020 3681 10826 lt 1 lt GPSCARD DSSBOPFIS BFN11440053 DEM628 1 00 OEM060200RN0000 OE M060100RB0000 2012 Jul 11 15 16 13 COMI ASCII LOG VERSIONA OK COMI ZVERSIONA COM 0 85 0 FINESTEERING1715 162483 272 00000020 3681 10826 1 G PSCARD DSSBOPFI1S BENI11440053 DEM628 1 00 OEM060200RN0000 OEM060100RB000 0 2012 Jul 11 15 16 13 20371d8d Binary LOG VERSIONB GPStation 6 User Manual Rev 2 30 Messages Table 2 Field Types Binary Size SE Type bytes Description Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character In ASCII or Abbreviated ASCII this comes out as an actual character UChar 1 The ucha
42. ar Hexadecimal OxAA 1 0 2 Sync Char Hexadecimal 0x44 1 1 3 Sync Char Hexadecimal 0x12 1 2 4 Header Length Uchar Length of the header 1 3 5 Message ID Ushort Message ID number 2 4 6 Message Type Char Bit 7 Response Bit 1 6 1 Response Message 7 Port Address Uchar See Table 6 on page 38 1 7 8 Message Length Ushort The length in bytes of the body of the 2 8 B message not including the CRC V 9 Sequence Ushort Normally 0 not including the CRC 2 10 A 10 Idle Time Uchar Idle time 1 12 gt 11 Time Status Enum 18 13 H 12 Week Ushort GPS reference week number 2 14 x 13 ms GPSec Milliseconds into GPS reference week 4 16 D 14 Receiver Status Ulong 4 20 E 15 Reserved Ushort Reserved for internal use 2 24 16 Receiver Ushort Receiver software build number 2 26 S W Version 17 Response ID Enum 4 28 D H 18 Response Hex String containing the ASCII response in variable 32 E hex coding to match the ID above for X example 0x4F4B OK a This ENUM is not 4 bytes long but as indicated in the table is only 1 byte 41 GPStation 6 User Manual Rev 2 Messages Table 8 Binary Message Sequence Direction Sequence Data To LOG Command AA44121C 01000240 20000000 1D1D0000 29160000 00004C00 Receiver Header 55525A80 LOG 20000000 2A000000 02000000 00000000 0000F03F 00000000 Parameters 00000000 00000000 Checksum 2304B3F1 From LOG Response AA44121C 01008220 06000000 FFB4EE04 605A0513 00004C00 R
43. atellite system Satellite system identifier refer to Table 17 UCHAR 1 H 6 Satellite System 6 Primary signal Primary signal type in TEC measurement UCHAR 1 H 7 refer to Table 18 Signal Mapping for Satellite Systems 69 GPStation 6 User Manual Rev 2 Logs Field Field Type Data Description Format Binary Binary Bytes Offset 7 Secondary Secondary signal type in TEC UCHAR 1 H 8 signal measurement refer to Table 18 Signal Mapping for Satellite Systems 8 Reserved UCHAR 1 H 9 9 Reserved UCHAR 1 H 10 10 Reserved UCHAR 1 H 11 11 Azimuth Azimuth of satellite degrees FLOAT 4 H 12 12 Elevation Satellite elevation degrees FLOAT 4 H 16 13 Secondary Lock time of the secondary signal seconds FLOAT 4 H 20 locktime 14 Secondary CNo Carrier to noise density ratio of the FLOAT 4 H 24 secondary signal C No 10 log10 S No dB Hz 15 TEC15 pseudo range TEC measurement at 15 FLOAT 4 H 28 second epoch TOW 60 to TOW 45 sec 16 DeltaTEC15 Delta TEC measurement from TOW 60 to FLOAT 4 H 32 TOW 45 seconds TECU 17 TEC30 pseudo range TEC measurement at 30 FLOAT 4 H 36 second epoch TOW 30 sec 18 DeltaTEC30 Delta TEC measurement from TOW 45 to FLOAT 4 H 40 TOW 30 seconds TECU 19 TEC45 pseudo range TEC measurement at 45 FLOAT 4 H 44 second epoch TOW 15 sec 20 DeltaTEC45 Delta TEC mea
44. bration start 21600 calibration duration 65 elevation angle cutoff GPStation 6 User Manual Rev 2 26 Operation Log ISMCALIBRATIONSTATUSA ONNEW will be output each minute for calibration duration Log ISMREDTECB ONNEW Log ISMREDOBSB ONNEW 2 Calibration offsets can be found in the last ISMCALIBRATIONSTATUS log when the calibra tion period is complete Example ZISMCALIBRATIONSTATUSA COM1 0 70 0 FINESTEERING 1704 39480 000 00800020 45d2 1 0832 18000 5 GPSLICAL2Y 302 27 690591812 3 667247295 GLOL1CAL2P 131 26 807550430 4 445590496 GPSLICAL2C 63 21 765899658 0 235251412 GPSL1CALS5 63 10 893598557 0 282875121 GLOL1CAL2CA 131 19 007484436 5 380369663 9c884ea9 Refer to the SELECTCHANCONFIG command described in the OEM Family Firmware Ref erence manual for details on choosing satellite constellations and signals 2 76 Apply Autocalibration Values to the Receiver 2 8 27 Use the following command to apply the results of the automatic calibration ISMTECCALIBRATION signal combination calibration value Example ISMTECCALIBRATION GPSLICAL2Y 27 690591812 ISMTECCALIBRATION GLOLICAL2P 26 807550430 ISMTECCALIBRATION GPSLICAL2C 21 765899658 ISMTECCALIBRATION GPSLICALS5 10 893598557 ISMTECCALIBRATION GLOLICAL2CA 19 007484436 Data Parsing Utilities The GPStation 6 is provided with the following command line data parsing utilities which are used to parse the GISTM logs and output CSV data in
45. cable refer to Choosing a Coaxial Cable for the Antenna on page 16 for details The GPStation 6 provides a TNC female connector which can be connected directly to the antenna using any of NovAtel s coaxial cables 1 2 8 Applying Power to the Receiver Connect the power supply to the PWR port of the GPStation 6 receiver 1 2 4 Connecting Data Communications Equipment In order to communicate with the receiver by sending commands and obtaining logs a connection to some form of data communications equipment is required The default configuration for the GPStation 6 is given in the table below Consult NovAtel Customer Service for more details on factory configuration Refer to the Technical Specifications section of this manual starting on page 74 for data connection details Receiver GPStation 6 RS 232 USB 2 0 RS 232 RS 232 Table 21 on Page 76 specifies the COM port pinouts e Clear To Send CTS Transmitted Data TXD Request To Send RTS Received Data RXD The GPStation 6 enclosure is Data Terminal Equipment DTE so that TXD and RTS are outputs while RXD and CTS are inputs A null modem cable is required to connect to another DTE like a terminal or a PC COMI also supports USB 2 0 communications A DB9 to USB communication cable is provided with the GPStation 6 for Customers wishing to use COMI in USB communication mode To install the NovAtel USB drivers refer to Section 1 2 4 1 USB Driver Installation on
46. ccurs and may overload your system 4 2 GISTM Specific Commands Please refer to the OEM Family Firmware Reference Manual for a complete list of commands categorized by function and then detailed in alphabetical order Available from Attp www novatel com assets Documents Manuals om 20000129 pdf 42 1 Listing of GISTM Commands Table 9 lists the commands relevant to GISTM operation A detailed description of each command follows in this chapter GPStation 6 User Manual Rev 2 46 47 Commands Table 9 GISTM Commands Command Description CLOCKADJUST Enables clock adjustments ISMBANDWIDTH Control phase and amplitude detrending filter bandwidth ISMCALIBRATE Setup a TEC self calibration ISMSIGNALCONTROL Control GISTM logging output ISMTECCALIBRATION Sets a TEC calibration value PLLBANDWDITH Set phase lock loop bandwidth SETDIFFCODEBIASES Set satellite differential code biases Table 10 lists the GSV4004B legacy commands and their GPStation 6 equivalent commands While some legacy commands are still fully supported in the GPStation 6 it is recommended to use the new commands to ensure access to all of the newest functionality available including the modernized GNSS signals and systems For this reason these commands are not described in detail in this manual The SINBANDWIDTH and SINTECCALIBRATION are still supported in GPStation 6 however CPOFFSET and LOOPSBANDWIDTH can no longer be used due to
47. ch for general information about GNSS and other technologies information about NovAtel hardware and software and installation and operation issues Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps 1 Log the following data to a file on your computer for 15 minutes RXSTATUSB once RAWEPHEMB onchanged RANGECMPB ontime 1 BESTPOSB ontime 1 RXCONFIGA once VERSIONA once 2 Send the file containing the logs to NovAtel Customer Support at ftp novatel com incoming or through support novatel com 3 You can also issue a FRESET command to the receiver to clear any unknown settings The FRESET command erases all user settings Before you issue the FRESET command record the receiver s settings so that you can reconfigure the receiver If you have a hardware problem send a list of the troubleshooting steps taken and results Contact Information Use one of the following methods to contact NovAtel Customer Support Call the NovAtel Hotline at 1 800 NOVATEL U S and Canada 1 800 668 2835 or 1 403 295 4500 international Fax 1 403 295 4501 Write NovAtel Inc E mail support novatel ca Customer Support Department 1120 68 Avenue NE Calgary AB Canada T2E 8S5 Web site http www novatel com GPStation 6 User Manual Rev 2 7 Notices The following notices apply to GPStation 6
48. cluding signal tracking information will be provided in the command window SLOG will automatically log all raw data collected from the GPStation 6 receiver to GPS file s for post processing The NovAtel data parsing utilities described in the next section can be used along with Excel MatLab or any other data processing software including custom software to process and analyze the raw data as desired 2 TEC Calibration 2 71 What is TEC Total Electron Content TEC is an important descriptive quantity for the ionosphere of the Earth It is defined as the total number of electrons present along a path between two points and is significant in determining the group delay of a radio wave through a medium 1076 electrons m 1 TEC unit TECU 2 7 2 How does TEC affect GNSS Ionospheric TEC is characterized by observing carrier phase delays of received radio signals transmitted from satellites located above the ionosphere e g GNSS It is strongly affected by solar activity Figure 4 lonospheric TEC Characterized gt Jonosphere Baseline Reference Station Mobile Station 25 GPStation 6 User Manual Rev 2 Operation 2 7 3 Bias in TEC Measurements NovAtel recommends calibrating the TEC to remove biases from TEC measurements Sources of TEC measurement bias include the GNSS antenna antenna cable amplifiers splitters connectors working temperature and equipment aging TEC measurement bias must be determi
49. d should be treated as 2 parts e an 11 bit unsigned power factor in the lower 11 bits scaling bit in the most significant bit representing the power scaling formula to be used One formula will calculate a power increase scalar gt 1 0 from the base power and the other will calculate a decrease scalar 1 0 The 2 formulas to be used are described below Power increase case scaling bit 0 This Power Base Power 2048 power factor 1 Power decrease case scaling bit 1 This Power Base Power power factor 1 2048 These formulas yield a scale factor that can be anywhere from 1 2048 to 2048 So this gives a relative power range of 33dB from the base power measurement Structure Message ID 1395 Log Type Asynch GPStation 6 User Manual Rev 2 Logs Recommended Input LOG ISMDETOBSB ONNEW ASCII example ISMDETOBSA USB1 0 81 5 FINESTEERING 1666 421608 000 00000020 53aa 10283 GPS 12 8 0 1 0 0 278304088 1333279 6fafffef 734ffffc 65100002 6d0fEFE5 74600002 6 ecffff5 699fffe0 78e0000 75d0000a 71cfffee 66000011 6c40000d 67d 2 734000 08 7lefffe7 789ffffa 35ffff9 6b5ffffa Sefff 9 78000017 5 c0000e 6d500002 7af00018 fc8ffffa 3affffe 623fffff 77c00 00b fc6ffff4 7e10000c 7100000b 76effffc 677ffff2 7bf00010 f280001f 6ceffffa 6 a30001e fee00023 681fffd9 5f9ffffd 7130000 f 6ecfffe0 76affff3 74b00004 76afff fd 700fffd4 744fffff f90fffff 67ffffe8 74d
50. data messages are much smaller The smaller message size allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all GPStation 6 User Manual Rev 2 34 35 Messages Binary messages follows the general conventions as noted here 1 Basic format of Header 3 Sync bytes plus 25 bytes of header information The header length 1s variable as fields may be appended in the future Always check the header length Data variable CRC 4 bytes 2 The3 Sync bytes will always be Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit CRC performed on all data including the header 4 The header is in the format shown in Table 5 on page 36 GPStation 6 User Manual Rev 2 Messages Field Name Sync Table 5 Binary Message Header Structure Char Description Hexadecimal OxAA Binary Offset Ignored on Input Sync Char Hexadecimal 0x44 Sync Char Hexadecimal 0x12 Header Lgth Uchar Length of the header Message ID Ushort This is the Message ID number of the log refer to the OEM6 Reference manual for the Message ID values of individual logs Message Type Char Bits 0 4 Reserved Bits 5 6 Format 00 Binary 01 ASCII 10 Abbreviated ASCII NMEA 11 Reserved Bit 7 Response bit see Section 3 4 page 40 0 Original Message 1 Response Mess
51. drivers that are not digitally signed display a warning when it detects device drivers that are not digitally signed the default or prevent you from installing device drivers without digital signatures To install NovAtel USB drivers the computer s policy must be either Ignore or Warn To change the Driver Signing Policy on your computer Open System in the Control Panel Select the Hardware tab Click Driver Signing Select either Ignore or Warn in the File signature verification box Click OK to accept the new policy Click OK again to close the System Properties dialog Unplug the NovAtel receiver USB cable plug it back in and follow the installation instructions described in either the Firmware Updates and Model Upgrades section DOUQNUN aie cae a Additional Features and Information This section contains information on the additional features of the GPStation 6 receiver which may affect the overall design of your receiver system GPStation 6 User Manual Rev 2 Installation 1 3 1 Status Indicators The GPStation 6 enclosure has LED to indicate system status for power and communications Refer to Table 1 for specific functionality Table 1 Status Indicators RS232 Indicator Indicator Colour Status COW Green Flashing Data is being transmitted from COM1 Red Flashing Data is being received on COM1 Green Flashing Data is being transmitted from COM2 COM2 i Red Flashing Data is being received on COM2
52. e GPStation 6 is ready for command input When the GPStation 6 is ready to communicate the PC will display the following prompt indicating COMI is connected COMI Once connected commands can be entered as explained in Section 2 3 Communicating with the GPStation 6 Communicating with the GPStation 6 Communication with the receiver consists of issuing commands through the communication ports from an external serial and or USB communications device Using a PC or laptop connect directly to one of the receiver s serial ports using a null modem cable or USB port using the supplied DB9 to USB cable The commands and logs used by the GPStation 6 as well as the fields within them follow specific formats The valid commands used to control the operation and data logging of the GPStation 6 are specified in Chapter 4 Commands Chapter 5 Logs provides details on the data logs that can be GPStation 6 User Manual Rev 2 Operation requested from the GPStation 6 To ensure maximum utilization of the GPStation 6 a thorough understanding of Chapters 4 through 6 is required 2 4 Getting Started Included with your receiver is a CD containing documentation and software utilities for the GPStation 6 Documentation Software Utilities GPStation 6 User Manual this document SLOG Command Line OEMG Firmware Reference Guide Sample SLOG script Command Line SLOG User Guide GPStation 6 Data Parsers Command Line Sample C S
53. eceiver Header FFFF5A80 Log Response 01000000 4F4B Data Checksum DA8688bEC From BESTPOSB AA44121C 2A000220 48000000 90B49305 BOABB912 00000000 Receiver Header 4561BCOA BESTPOSB 00000000 10000000 1B0450B3 F28E4940 16FA6BBE 7C825CCO Data 0060769F 449F9040 A62A82C1 3D000000 125ACB3F CD9E983F DB664040 00303030 00000000 00000000 0B0B0000 00060003 Checksum 42DC4C48 GPStation 6 User Manual Rev 2 42 Messages 3 4 4 32 Bit CRC The ASCH and Binary OEM6 family message formats all contain a 32 bit CRC for data verification This allows the user to ensure the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm define CRC32_POLYNOMIAL OxEDB88320L unsigned long CRC32Value int i int 3 unsigned long ulCRC ulCRC i for j278 j gt 0 j if ulCRC amp 1 ulCRC ulCRC gt gt 1 CRC32 POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTemp1 unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTempl ulCRC gt gt 8 amp OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffert amp Oxff ulCRC ulTempl ulTemp2 return ulCRC 43 GPStation 6 User Manual Rev 2 Messages The NMEA checksum is an XOR of
54. ection has been established to your GPStation 6 receiver and basic functionality 1s confirmed the Console window can be used to enter configuration commands or request data logs If desired Connect can also be used to log specific GPStation 6 GISTM data to file for post processing using the Save Data feature available under the Tools menu To ensure that only the desired data logs are saved to a file first close all display windows except for the Console window Then select Save Data from the Tools menu to enter the file name and location to save the data Next request all desired logs and Connect will automatically save them to file until the feature is disabled 23 GPStation 6 User Manual Rev 2 Operation The following figure provides an example of the using the Console window to save GISTM specific data to file assuming the Save Data configuration is already complete The standard NovAtel log conversion utility Convert4 is installed along with the NovAtel Connect data package At the time of publication Convert4 does not have support for the GPStation 6 specific logs however data parsing utilities for GISTM logs are included with the Software Utilities CD and are described in detail in Data Parsing Utilities on page 27 2 6 NovAtel SLOG Utility SLOG is a Windows console application that uses a script to control GNSS receivers and equipment and to log data in a repeatable controlled manner It is also used in lo
55. ector required to mate with the receiver s power connector is a 4 pin LEMO socket connector labeled PWR The supply should be capable of 12 W GPStation 6 User Manual Rev 2 16 Installation 1 2 Installation Overview COM Port and LED COM2 Port and LED Installation and COM3 Port and LED power up is successful when the PWR LED turns Red UO Port Connect the GNSS antenna to the receiver with an antenna RF cable refer to the antenna manual for details ES OSC Port L Connect the receiver to a computer or other data communications equipment serial cable shown Section 6 2 1 2 on page 78 A USB cable may be used instead refer to Section 6 2 2 on page 80for cable specifics m HE Apply power to the receiver refer to Section 6 2 1 1 on page 77 for cable specifics 2 Figure 3 Typical Receiver Installation 1 2 1 Mounting the Antenna When installing an antenna Mount the antenna on a secure stable structure capable of safe operation in the specific environment Choose an antenna location with a clear view of the sky so that each satellite above the horizon can be tracked without obstruction Foroptimal performance select a low multi path environment 17 GPStation 6 User Manual Rev 2 Installation 1 2 2 Connecting the Antenna to the Receiver Connect the antenna to the receiver using high quality coaxial
56. ed to distinguish between S due to multi path and noise and S due to scintillation since there is no code carrier divergence due to scintillation 4 Lock Time The lock time indicates how long the receiver has been locked to the carrier phase on the signal Since the phase detrending high pass filter has to be reinitialized whenever lock is lost all phase parameters sigmas should be discarded for any lock time less than 180 240 seconds for a 0 1 Hz bandwidth to allow the detrending filter to settle For other bandwidths this time may vary inverse proportionally to the bandwidth For the S4 parameters it suffices to only discard data for any lock time value less than 60 seconds S4 may also be valid for Lock Time less than 60 seconds since the power measurements are non coherent measurements that do not require phase lock However on rare occasions total signal lock could have been lost so the use of S4 for lock time less than 60 seconds should be used with caution However in those cases the code carrier divergence measurements could be used to discard the data Structure Message ID 1393 Log Type Asynch Recommended Input LOG ISMREDOBSB ONNEW GPStation 6 User Manual Rev 2 66 67 ASCII example Logs ISMREDOBSA USB1 0 81 5 FINESTEERING 1666 427860 000 00000020 cee 10283 27 9 0 0 1 101 798 19 606 45 9 2706 980 7 826680660 0 044332456 0 065357298 0 05 0490826 0 605885 1 052804 1 332497 1 341329 1 341106
57. eeeeeeeeeeeeeeeeeeeeeeeeneaees 29 GPStation 6 User Manual Rev 2 3 3 Messages 30 3 11Message Types dnte neret tbe REM 30 3 2 Abbr viated ASCI EaS 32 BiB ASC IEN 33 exem aille eebe ege ev des cae a 34 3 4 RESPONSES 13 etc eve eene Es 40 3 4 1 Abbreviated Response noreste eerie jeep tip eu ese tec e t poscere cipue kde 40 3 4 2 ASCII RESPONSE C 40 3 4 3 Binalry Response NEEN EE aaa ege Sege A0 3 4 4 32 Bit e EE 43 4 Commands 46 4 1 Using a Commiand ete RO E ROTEN ERE HERO RES 46 4 2 GISTM Specific Commande 46 4 2 1 Listing of GISTM Commande 46 4 2 2 CLOCKADJUST Enables clock adjustments seen 48 4 2 3 ISMBANDWIDTH Controls detrending filter bandwidth AAA 49 4 2 4 ISMCALIBRATE Setup a TEC set coalbraton eeceeeeeeeeeeeeeeeeneeeeeenaeeseeeeeeneeeeee 50 4 2 5 ISMSIGNALCONTROL Controls GISTM log output eee 51 4 2 6 ISMTECCALIBRATION Set TEC calibration value eeen srereesererreee 53 4 2 7 PLLBANDWIDTH Set the phase lock loop bandwidth 54 4 2 8 SETDIFFCODEBIASES Sets satellite differential code biases 56 5 Logs 57 He AW LOG WEE EE 57 5 1 1 Listing of GISTM Specific Loge 57 5 1 2 ISMDETOBS Detrended phase and amplitude measurements sss 59 5 1 3 ISMRAWOBS Raw phase and amplitude measurement sse 62 5 1 4 ISMRAWTEC Raw
58. epoch following the TOW For example the first compressed value reports the measurement at TOW 0 02 the second set at TOW 0 04 seconds and so on The following section describes how to recover the full ADR and power measurements from the compressed data ADR The values stored in the compressed ADR data represent a delta value from the previous epoch s measurement So to compute the ADR measurement for a particular epoch start with the base ADR measurement and add in all previous delta values up to and including the delta value for the epoch in question For example the ADR value for TOW 0 04 would be First ADR delta ADR TOW 0 02 delta ADR TOW 0 04 Power The compressed power factor data fields give power measurements as a value relative to the base power The 12 bits of the power factor field should be treated as 2 parts e an 11 bit unsigned power factor in the lower 11 bits scaling bit in the most significant bit representing the power scaling formula to be used One formula will calculate a power increase scalar gt 1 0 from the base power and the other will calculate a decrease scalar 1 0 The 2 formulas to be used are described below Power increase case scaling bit 0 This Power Base Power 2048 power factor 1 Power decrease case scaling bit 1 This Power Base Power power factor 1 2048 These formulas yield a scale factor that can be anywhere from 1 204
59. ffff4 f EX Binary Binary Field Field Type Data Description Format Bytes Offset 1 ISMDETOBS Log header H 0 Header 2 Satellite system Satellite system identifier refer to ENUM 4 H Table 17 Satellite System 3 chans Number of hardware channels with ULONG 4 H 4 information to follow 4 SVID Satellite vehicle ID GPS 1 to 32 SBAS UCHAR 1 H 8 120 to 138 GLONASS 1 to 24 GALILEO 1 to 50 QZSS 193 to 197 Frequency For GLONASS only Range 7 to 6 CHAR 1 H 9 Signal Refer to Table 18 Signal Mapping for UCHAR 1 H 10 Satellite Systems 7 Reserved Reserved UCHAR 1 H 11 First ADR Base ADR cycles DOUBLE 8 H 12 First Power Base power measurement ULONG 4 H 20 10 Observation22 Delta for TOW 0 02 refer to Table 19 ULONG 4 H 24 Power and ADR Bit Field Description 11 Observation3 Delta for TOW 0 04 refer to Table 19 ULONG 4 H 28 Power and ADR Bit Field Description 58 Observation 50 Delta for TOW 0 98 refer to Table 19 ULONG 4 H 216 Power and ADR Bit Field Description 59 Next record offset H 8 chan x 220 variable xxx 32 bit CRC ASCII and Binary only HEX 4 H 8 chan x 220 variable CR LF Sentence terminator ASCII only a Observation is not listed because Observation data is in the first ADR and first power fields GPStation 6 User Manual Rev 2 60 61 Satellite System Logs Table 17 Satellite System
60. ge Response Structure nnnnnnensesnnnnneeeeeetnrrrrneeeennnrnnnnneeenn rennene 41 Table 8 Binary Message Sequence eene 42 Table 9 GISTM Commands coton ce ee heen CU eee Ue eee tenes 47 Table 10 Legacy GSV4004B Commande sssssesssesesserneerreestrrtstrnsrtnrnsrnnnsnnnnnsennnnene 47 Table 11 Signal Types EE E 52 Table 12 Signal Combination Code 53 Table 13 PLL Aiding Parameters ek 55 Table 14 Log Type le e TC 57 Table 15 GIS TM Loge EE 57 Table 16 Legacy GSV4004B Loge nennen nnne nennen 58 Table 17 Satellite System ssssssssssssssseeeeee eene nennen nennen nnne 61 Table 18 Signal Mapping for Satellite Systems c cc cccccccessssssseeeeeeeeseessnteeeeeeeeseseeees 61 Table 19 Power and ADR Bit Field Description ccccccccccceecceeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 61 Table 20 Signal Combination Type nennen nnne 72 Table 21 Serial Port Pin Out Descriptions nne 76 Table 22 I O Port Pin Out Descriptons nennen 76 Table 23 Troubleshooting Based on Gvmptoms ssssssssseessnsssernesrnrnsstnrnertnnnsrnnnnnennn 82 Table 24 Resolving a Receiver Error Word A 83 Table 25 Resolving an Error in the Receiver Status Word sssssnnnnnnsssennnnnnnnereennnneenne 84 Table 26 Resolving an Error in the AUX1 Status Word 86 GPStation 6 User Manual Rev 2 6 Customer Support NovAtel Knowledge Base If you have a technical issue visit http Avww novatel com support You can sear
61. ghtning protection must be provided by the operator customer according to local building codes as part of the extra building installation 1 See www novatel com Products WEEE and RoHS for more information 9 GPStation 6 User Manual Rev 2 Notices To ensure compliance with clause 7 Connection to Cable Distribution Systems of EN 60950 1 Safety for Information Technology Equipment a secondary lightning protection device must be used for in building equipment installations with external antennas The following device has been approved by NovAtel Inc Polyphaser Surge Arrestor DGXZ 24NFNF A If this device 1s not chosen as the primary lightning protection device the device chosen must meet the following requirements UL listed or equivalent in country of installation for example TUV VDE and so on for lightning surge protection The primary device must be capable of limiting an incoming surge to 10 kV The shield of the coaxial cable entering the building should be connected at a grounding plate at the building s entrance The lightning protection devices should have their chassis grounded to the same ground near to the building s entrance The primary and secondary lightning protections should be as close to the building s entrance as possible Where feasible they should be mounted onto the grounding plate itself See also Figure 1 on Page 10 Figure 1 Primary and Secondary Lightning Protection Ref 8 Descripti
62. gnal PR is the secondary signal pseudo range in metres PR is the primary signal pseudo range in metres Knetei rEc 1 0 163 TECU metre at L1 There are biases in the TEC measurements that are automatically removed by the receiver if properly calibrated Satellite code phase bias See SETDIFFCODEBIASES command e Receiver RF bias See ISMCALIBRATE and ISMTECCALIBRATION commands ATEC is based upon carrier phase measurements differences between frequencies For an ionospheric delay measured in L1 carrier cycles the total electron content becomes ATEC 1 1723 APR 4 carrier TECU over the 1 second interval where APR i carrier 1 54573 ADR AADR_ x cycles The TEC measurements contained in this log are the raw unsmoothed values Structure Message ID 1390 Log Type Asynch Recommended Input LOG ISMRAWTECB ONNEW GPStation 6 User Manual Rev 2 64 Logs ASCII example ISMRAWTECA USB1 0 82 5 FINESTEERING 1666 425841 000 00000020 a1e 10283 18 9 0 0 1 4 0 0 0 38 493114471 0 007926244 18 0 0 1 4 0 0 0 6 637878895 0 015745759 19 0 0 1 4 0 0 0 36 521724701 0 008677047 21 0 0 1 4 0 0 0 8 050815582 0 011746574 22 0 0 1 4 0 0 0 22 012269974 0 005037198 16 0 0 1 4 0 0 0 47 712604523 0 050444040 26 0 0 1 4 0 0 0 24 817647934 0 006916158 6 0 0 1 4 0 0 0 6 755585670 0 000776932 3 0 0 1 4 0 0 0 13 312349319 0 000238499 A Seat Binary Binary Field F
63. hat to which the receiver is connected Consult the dealer or an experienced radio TV technician for help To maintain compliance with the limits of a Class B digital device you must use properly v 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 Industry Canada GPStation 6 Class B digital apparatus comply with Canadian ICES 003 GPStation 6 appareil num rique de la classe B est conforme la norme NMB 003 du Canada CE Marking The GPStation 6 carries the CE mark GPStation 6 User Manual Rev 2 Notices WEEE If you purchased your GPStation 6 in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and rationally Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste Electrical and Electronic Equipment WEEE is a regulated area Where the generation of waste cannot be avoided it should be reused or recovered for its material or energy WEEE products may be recognized by their wheeled bin label Ri l RoHS The GPStation 6 is classified as an Industrial Monitoring and Control Ins
64. her the bandwidth the noisier the ADR measurements but the more robust the tracking loop By default all secondary signals except GPSL2P Y are tracked independently on the GPStation 6 It is recommended that this setting not be changed for ionospheric monitoring applications Abbreviated ASCII Syntax Message ID 687 PLLBANDWIDTH signal type bandwidth aiding Input Example plibandwidth gpsllca 15 0 ASCII Binary inti Binary Binary Binary Field Field Type Value Value Description Format Bytes Offset 1 PLLBANDWIDTH This field contains the H 0 Header command name orthe message header depending on whether the command is abbreviated ASCII ASCII or binary respectively 2 Signal type Signal type to ENUM 4 H configure refer to Table 11 Signal Type 3 PLL bandwidth Phase lock loop FLOAT 4 H 4 bandwidth units Hz 4 PLL aiding Secondary channel ENUM 4 H 8 parameter phase lock loop aiding parameter Default PLLAIDING_CURRE NT referto Table 13 PLL Aiding Parameters GPStation 6 User Manual Rev 2 54 55 Commands Table 13 PLL Aiding Parameters 72 ian a Description CURRENT Do not change the current PLL aiding selection AIDED Enable secondary channel PLL aiding INDEPENDENT Disable secondary channel PLL aiding GPStation 6 User Manual Rev 2 Commands 4 2 8 SETDIFFCODEBIASES Sets satellite differential code biases The GPStati
65. ield Type Data Description Format Bytes Offset 1 ISMRAWTEC Log header H 0 Header 2 chans Number of hardware channels with ULONG 4 H information to follow 3 SVID Satellite vehicle ID GPS 1 to 32 SBAS UCHAR 1 H 4 120 to 138 For GLONASS slot 1 to 24 GALILEO 1 to 50 QZSS 193 to 197 4 Frequency For GLONASS only Range 7 to 6 CHAR 1 H 5 5 Satellite System Satellite system identifier refer to Table 17 UCHAR 1 H 6 Satellite System 6 Primary Signal Signal type of primary signal in combination UCHAR 1 H 7 refer to Table 18 Signal Mapping for Satellite Systems 7 Secondary Signal type of secondary signal in UCHAR 1 H 8 Signal combination refer to Table 18 Signal Mapping for Satellite Systems 8 Reserved UCHAR 1 H 9 9 Reserved UCHAR 1 H 10 10 Reserved UCHAR 1 H 11 11 TEC Primary TEC at TOW TECU FLOAT 4 H 12 12 Delta TEC Primary signal delta TEC at TOW TECU FLOAT 4 H 16 13 Next record offset H 4 chan x 16 variable xxxx 32 bit CRC ASCII and Binary only HEX 4 H 4 chans x 16 variable CR LF Sentence terminator ASCII only 65 GPStation 6 User Manual Rev 2 Logs 5 1 5 ISMREDOBS Reduced phase and amplitude measurements This log outputs the 60 second reduced and detrended phase and amplitude measurements The following data is included in this log to aid in ionospheric scintillation monitoring 1 Phase The raw phase measurements are first detrended with a 6th order Butterwor
66. imum 3 6 VDC BEEN Electrical format Conforms to USB 2 0 Bit rates Low 1 5 Mbps and Full speed 12 Mbps USB Signals supported USB D and USB D GPStation 6 User Manual Rev 2 74 Technical Specifications INPUT OUTPUT CONNECTORS Antenna Input TNC female jack 50 O nominal impedance 5 VDC 100 mA max output from GPStation 6 to antenna LNA PWR 4 pin LEMO connector Enclosure Input Voltage 11 to 18 VDC Power Consumption 6 W Typical COM1 DB 9 male connector COM2 DB 9 male connector COM3 DB 9 male connector UO DB 9 female connector osc BNC female connector ENVIRONMENTAL Operating Temperature 20 C to 45 C Storage Temperature 45 C to 85 C Humidity Not to exceed 95 non condensing 1 10 MHz output only GPStation 6 User Manual Rev 2 Technical Specifications 6 2 Port Pin Outs Table 21 Serial Port Pin Out Descriptions Connector COM COM2 COM3 Pin No RS 232 RS 232 RS 232 1 Reserved N C N C 2 RXD1 RXD2 RXD3 3 TXD1 TXD2 TXD3 4 N C N C N C 5 GND GND GND 6 D N C N C 7 RTS1 RTS2 Nic 8 CTS1 CTS2 1 9 D N C N C 1 No flow control available on COM3 Table 22 I O Port Pin Out Descriptions Connector Pin No sional Signal Descriptions 1 Reserved 2 PPS Pulse per second 3 Reserved 4 MKI Mark input 5 PV Valid position available 6 Reserved 7 Reserved N C 8 ERROR Indicates a fat
67. lue in the sequence is stored first at the lowest storage address For example the two bytes required for the hex number 4F52 is stored as 524F GPStation 6 User Manual Rev 2 Chapter 4 Commands The GPStation 6 specific commands are described further in this chapter For information on other available commands refer to the OEM6 Family Firmware Reference Manual available from http www novatel com support firmware software and manuals product manuals and doc updates oem6 om 20000129 pdf 4 1 Using a Command All NovAtel commands may be used for data input as normal or used to request data output a unique OEM6 Family feature GISTM specific commands relevant to GISTM operation may be in Abbreviated ASCII ASCII or Binary format refer to Messages on page 30 for details Consider the lockout command refer to the OEM6 Family Firmware Reference Manual with the syntax lockout prn You can put this command into the receiver to de weight an undesirable satellite in the solution or you can use the lockout command as a log to see if there is a satellite PRN that has already been locked out In ASCII this might be log com1 lockouta once Notice the a after lockout to signify you are looking for ASCII output Ensure that all windows other than the Console are closed in NovAtel Connect and S then use the SAVECONFIG command to save settings in Non Volatile Memory NVM Otherwise unnecessary data logging o
68. mple clockadjust disable Field ASCII Binary M Binary Binary Binary Type Value Value Description Format Bytes Offset 1 CLOCKADJUST This field contains the H 0 header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively pisaste 0 Beslowpdstmento 2 Switch ENUM 4 H ENABLE 1 Allow adjustment of internal clock GPStation 6 User Manual Rev 2 48 Commande 42 3 ISMBANDWIDTH Controls detrending filter bandwidth 49 This command allows the user to modify the bandwidths of the 6th order Butterworth filters a high pass filter for detrending raw phase measurements and a low pass filter for detrending raw amplitude measurements The bandwidths may be individually varied between 0 01 to 1 0 Hz phase and 0 to 1 0 Hz amplitude A 0 Hz value for the phase filter bandwidth is not valid If 0 Hz default value is input for the amplitude filter bandwidth the amplitude detrending 1s accomplished using a straight 60 second average of the amplitude This is the most desirable method when long fade amplitude scintillation 1s present since the Butterworth detrending of amplitude tends to become unstable and provides exces sively large S4 values The straight averaging method is more susceptible to multipath fading Abbreviated ASCII Syntax Message ID 1392 ISMBANDWIDTH phase bandwidth amplitude bandwidth Input Example ismbandwidth 0 01
69. mplitude measurements Butterworth low pass filter 60 second averaging filter See the description of the ISMBANDWIDTH command for further details on the detrending filter and how to modify the bandwidth of the filters The receiver collects phase and amplitude measurements at a 50 Hz rate i e 50 sets of measurements per second and outputs them in this log every second Each data block contains a base ADR and a base power measurement representing the measurement at the time of week TOW specified in the log header This is followed by 49 sets of compressed data reporting the measurements taken at each 0 02 second epoch following the TOW For example the first compressed value reports the measurement at TOW 0 02 the second set at TOW 0 04 seconds and so on The following section describes how to recover the full ADR and power measurements from the compressed data ADR The values stored in the compressed ADR data represent a delta value from the previous epoch s measurement So to compute the ADR measurement for a particular epoch start with the base ADR measurement and add in all previous delta values up to and including the delta value for the epoch in question For example the ADR value for TOW 0 04 would be First ADR delta ADR TOW 0 02 delta ADR TOW 0 04 Power The compressed power factor data fields give power measurements as a value relative to the base power The 12 bits of the power factor fiel
70. must log the ISMCALIBRATIONSTATUS message to examine the results of the calibration and then use the TEC offset values reported in that log as input to the IS MTECCALIBRATION command Abbreviated ASCII Syntax Message ID 1405 ISMCALIBRATE enable start delay duration elevation cutoff Input Example ismcalibrate enable 0 21600 65 ASCII Binary Value Value Binary Binary Binary Field Field Type Format Bytes Offset Description 1 ISMCALIBRATE This field containsthe H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Disable 0 Stop a TEC self calibration 2 Option ENUM 4 H Start a TEC self Enable 1 mta calibration 3 Start offset 0 to Seconds to delay 4 H 4 604800 calibration start ULONG Default 0 4 Duration 1 to Calibration duration in 4 H 8 604800 seconds Default ULONG 21600 5 Elevation cutoff 90 to Elevation cutoff in FLOAT 4 H 12 90 degrees for calibration Default 65 GPStation 6 User Manual Rev 2 50 Commande 42 5 ISMSIGNALCONTROL Controls GISTM log output This command allows the user to control which signals from which satellite systems are used in the scintillation measurements and output in the GISTM logs All available signals types are enabled by default for raw scintillation measurement and TEC output For some applications you may
71. n 18 1 2 4 Connecting Data Communications Equipment see enn 18 1 3 Additional Features and Information 19 1 9 1 Status Indicator ce A ee e ve dee eret ae eL evi erede 20 1 3 2 40 MEZ Oscillat t 5 22 12 5 tt sech e aa aa teet te Ed ans manips need 20 1 3 3 Mounting Bracket 1 ietie dades erede ede dete EE Pee ede de eee de dee ded dni 20 2 Operation 21 2 1 Pre Start Chiecklist see ee xn the C Res 21 NCBI Em 21 2 3 Communicating with the GbGtaton 8 21 24 E ne WE GE 22 2 5 NovAtel Connect iei oe E e E Her nn ae ee en 22 2 6 NovAtel SLOG Utility E 24 2 TEC GaliDratiOn 2 1 rnt tette erede deed Toce a a Eed 25 2 1 ENER EE 25 2 7 2 How does TEC affect ONGD 25 2 7 3 Bias in TEC Measurements sse een nennen nene nennen nene 26 2 7 4 Determine Time of Day for Calibration ssssssssssssseneeenneeenn enne 26 2 7 5 Use GPStation 6 Auto Calibration Feature e 26 2 7 6 Apply Autocalibration Values to the RECEIVED ccecceeeeeneeceeeeeeneeeeeeeseeeeeeeeeeeseeaeees 27 2 8 Data Parsing Utilities EE 27 2 8 1 PARSEREDU GED exXe 4 Ue p br qe oii akan er teo e 28 2 9 2 PARSERAW X6 see eee cen dne oe pere ee er tee Ere ure 28 2 9 GISTM Data broceseing enne nennr nennen se ennt riaan ints 29 2 10 Additional Features for Real time Operation sss nnne 29 2 10 1 Controlling the Signal and Satellite Gvstems cee ceeee
72. ned during the time of day when the Ionosphere shows the lowest amount of activity This varies between regions To improve the precision of absolute TEC measurements follow the procedure outlined in the sections below Figure 5 TEC Before and After Example Total Electron Content TEC over Time in Brazi GLONASS L1CAL2Y August 31 2012 8 29 PM to September 05 2012 5 46 PM it 1 L IL 1 i 1 L A eg L L Le i L L 1 L I L 1 1 SO eau 6AM mu GPM 2AM GAM mu 6PM 12AM GAM 12PM GPM 12AM GAM wm GPM 12AM 6AM 12PM 6PM 12AM Sa 12PM Local Time 2 7 4 Determine Time of Day for Calibration 1 Collect GPS data using the ISMREDOBS and ISMREDTEC logs It is recommended collecting data for a period of 3 to 4 days to even out regional effects 2 Identify an optimal time window to run a calibration when absolute TEC shows minimum i e the time of day when TEC is at its minimum Avoid periods of significant ionospheric scintillations sun spots 3 Apply satellite biases for available signal combinations currently GPS C1P1 Example SETDIFFCODEBIASES gps_clp1 0 207 0 043 0 623 1 018 0 0 40 values in nanosecond Refer to SETDIFFCODEBIASES Sets satellite differential code biases on page 56 for details on this command 2 7 5 Use GPStation 6 Auto Calibration Feature 1 Send the following commands and logs to start the automatic calibration e ISMCALIBRATE Enable 0 21600 65 0 sec to delay cali
73. ng term data collection monitoring installations where stability and organized archiving are important SLOG is provided with the GPStation 6 as it was with the GSV4004B in particular due to its power and flexibility for long term data collection monitoring applications SLOG was developed by NovAtel and has been used internally for many years to support automated testing and development activities for data collection campaigns and NovAtel monitoring stations and has occasionally been provided to customers to facilitate their own custom SLOG scripts and long term installations The SLOG Scriptable Logger Users Guide is provided with SLOGexe and the sample SLOG script GNSStest slg on the GPStation 6 SW Utilities CD The following steps can be followed to start collecting data using SLOG 1 Copy the GNSStest Slg and SLOGexe files from the GPStation 6 CD to a local drive The GNSStest slg script can be edited in any text based program This test script will log ISMREDOBS ISMREDTEC ISMRAWTEC and ISMRAWOBS logs for 24 hours 2 Open a command prompt and navigate to the directory where the script and executable are stored Type Slog GNSStest PC port gt receiver name gt to start collecting data For example Slog GNSStest 20 RX1 GPStation 6 User Manual Rev 2 24 Operation The SLOG interface in the command window supports real time data display By pressing the L key when the SLOG script is running a summary display in
74. ns for each tracked signal including SV azimuth elevation angle C No lock time code minus carrier calculations of different amplitude scintillation S4 phase scintillation Og and TEC statistics The wealth of data generated by the GPStation 6 GISTM receiver can be used to enable an array of applications For example e Raw high rate data can be used to develop real time local ionospheric monitoring applications where the primary goal may be to detect and report random ionosphere induced disturbances in support of signal integrity e Summary data can be used for near real time applications to generate a local map of the ionosphere where the primary may be to providing ionospheric corrections TEC delay scintillation for local GNSS users GPStation 6 User Manual Rev 2 13 Introduction e A combination of raw and summary data may be used to study the diurnal and seasonal trends of the ionosphere at a location of interest in support of scientific research and long term data collection The GPStation 6 also includes a SW utility package to support control of receiver operations and data post processing Custom data extraction utilities for processing the GPStation 6 GISTM logs are included and example C source code cpp files is supplied to aid in users developing their own extraction or processing code Detailed descriptions of all of these various software utilities are included on page 21 System Components The GPS
75. ntinuous locktime FLOAT 4 H 20 11 Average CMC Average of code carrier divergence m FLOAT 4 H 24 12 CMC Std Dev Sigma of code carrier divergence m FLOAT 4 H 28 13 Total S4 Total S4 FLOAT 4 H 32 14 Corr S4 Correction to total S4 FLOAT 4 H 36 15 1 secondphase 1 second phase sigma radians FLOAT 4 H 40 sigma 16 3 second phase 3 second phase sigma radians FLOAT 4 H 44 sigma GPStation 6 User Manual Rev 2 Logs Binary Binary Field Field Type Data Description Format Bytes Offset 17 10 second 10 second phase sigma radians FLOAT 4 H 48 phase sigma 18 30 second 30 second phase sigma radians FLOAT 4 H 52 phase sigma 19 60 second 60 second phase sigma radians FLOAT 4 H 56 phase sigma 20 Next record offset H 4 chan x 56 variable xxxx 32 bit CRC ASCII and Binary only HEX 4 H 4 chan x 56 variable CR LF Sentence terminator ASCII only GPStation 6 User Manual Rev 2 68 Logs 5 1 6 ISMREDTEC Reduced TEC measurements This log outputs the 60 second reduced TEC measurements Each log contains TEC and delta TEC measurements at 15 second intervals for a total of 4 measurements over a one minute span Please see the description of the ISMRAWTEC log for the definition of the TEC and delta TEC measurements The TEC data contained in this log have been carrier smoothed using a Kalman filter Structure Message
76. on 6 measures TEC by differencing pseudo range measurements between frequencies The code phase between different signals can have a bias as broadcast by the satellites These biases typically vary by satellite and can change over time as satellites age or new satellites are introduced to replace older ones This bias will cause a bias in the TEC output values Use this command to enter the magnitude of these biases per PRN in nanoseconds These values are then used in the TEC calculations to remove the bias The biases are calculated by the International GNSS Service IGS Calculation details analysis and results are available at http aiuws unibe ch spec dcb php The most recent 30 day average bias values can be downloaded from Attp aiuws unibe ch ionosphere plcl dcb Abbreviated ASCII Syntax SETDIFFCODEBIASES bias type biases Input Example setdiffcodebiases gps clpl 0 542 0 069 0 597 1 030 1 289 0 089 1 878 0 686 0 044 1 982 0 528 1 285 1 405 0 029 1 696 0 838 1 237 0 514 2 094 1 482 0 543 0 473 0 629 0 343 0 337 0 911 0 498 0 440 1 783 1 808 1 542 1 031 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 ASCII Binary Value Value Binary Field Field Type Format Description Message ID 687 Binary Binary Bytes Offset 1 SETDIFFCODE This field contains BIASES Header the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively GP
77. on Ref Description Primary lightning protection device 4 GNSS Receiver Secondary lightning protection 5 To ground device External antenna 6 Grounding plate or grounding point at the building s entrance GPStation 6 User Manual Rev 2 10 11 Notices D Acceptable choices for Earth Grounds for central buildings are Grounded interior metal cold water pipe within five feet 1 5 m of the point where it enters the building Grounded metallic service raceway Grounded electrical service equipment enclosure Eight foot grounding rod driven into the ground only if bonded to the central building ground by 6 or heavier bonding wire These installation instructions are the minimum requirements for receiver and antenna installations Where applicable follow the electrical codes for the country of installation Examples of country codes include USA National Electrical Code NFPA 70 Canada Canadian Electrical Code CSA C22 UK British Standards Institute BSI 7671 GPStation 6 User Manual Rev 2 Introduction 12 NovAtel s GPStation 6 technology combines a rugged enclosure with an ultra low phase noise OCXO and advanced OEM628 receiver providing a modernized GNSS Ionospheric Scintillation and TEC Monitor GISTM receiver The GPStation 6 provides advanced ionospheric monitoring capabilities using a future proof platform supporting an array of ionospheric monitoring and space weather applications
78. on instructions in Chapter 1 Installation are properly followed Sufficient information 1s provided in this User Manual to support custom development of GPStation 6 interface and processing software on platforms other than a PC as would be required for many operational deployments However since each Customer deployment is unique this Operation chapter focuses on the basic operational information required to get a new GPStation 6 customer up and running using their PC If support is required for specific custom deployments the Customer 1s encouraged to use this User Manual as a reference and to contact NovAtel Customer Support refer to Contact Information on page 7 Pre Start Checklist Before turning on power to the GPStation 6 ensure the following conditions are met The antenna is properly installed powered and connected The PC is properly connected to the GPStation 6 receiver using a serial or USB cable and its communications protocol is configured to match that of the GPStation 6 Supply power to the GPStation 6 only after the above checks are made Allow the GPStation 6 internal OCXO sufficient time to warm up before starting normal operation Warm up time will vary depending on ambient temperature It is recommended to allow for least 15 minutes of OCXO warm up time from a cold start condition Start Up The GPStation 6 s firmware resides in non volatile memory After supplying power to the unit a self boot occurs before th
79. ource Code Download the most recent versions of the NovAtel PC Utilities at http Avww novatel com support firmware software and manuals firmware software updates of NovAtel Connect including Convert4 can be downloaded from the NovAtel web site the GPStation 6 specific utilities are only available from this CD or directly from a NovAtel Customer Support representative Install the GPStation 6 version of the PC Utilities provided on the CD Although the latest version 2 5 NovAtel Connect NovAtel Connect is a Windows based GUI that allows for easy access to your receiver s many features without the need to use a terminal emulator or to write custom software Connect lets you easily communicate with and configure your GPStation 6 receiver via one of the serial or USB ports using a PC running Windows XP or Windows 7 The latest version of Connect can be downloaded from the NovAtel web site At the time of publication Connect does not provide any custom display windows or tools specific to the special GISTM logs and commands provided by the GPStation 6 receiver Connect is recommended for new GPStation 6 customers as it is a useful tool confirming device connections configuring the receiver monitoring basic receiver functionality 1 e signal tracking and logging data to file for post processing For long term data collection using the GPStation 6 it is recommended the user write their own interface soft
80. quisition descriptions in the Glossary of Terms on our web site at www novatel com through Support Knowledge and 5 Learning 6 7 Check the CPU idle time Check for unnecessary logging Check for simultaneous use of functionality for example API and RTK 8 Check the serial port communication settings 15 Move the receiver away from any possible jamming sources If still a problem contact Customer Support 17 Move the receiver away from any possible jamming sources When the receiver has tracked GNSS satellites long enough for a valid almanac to 18 be received this bit will be set to 0 Also refer to the Time to First Fix and Acquisition descriptions in the Glossary of Terms at www novatel com Support Knowledge and Learning None This bit only indicates if the receiver has calculated a position Refer to the 19 Time to First Fix and Acquisition descriptions in the Glossary of Terms at www novatel com Support Knowledge and Learning None This bit is a status bit indicating if the receiver s position has been manually 20 fixed and does not represent a problem Refer also to the FIX command in the OEM6 Family Firmware Reference Manual Continued on the following page GPStation 6 User Manual Rev 2 84 Troubleshooting Bit Set Action to Resolve 21 None This bit indicates if clock steering has been manually disabled Refer also to the FRESET command in the OEM6 Family Firmware Reference Manual None This bit only
81. r type is an 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a number Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as Short except it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 2147483647 ULong 4 The same as Long except it is not signed Values are in the range from 0 to 4294967295 Double 8 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 This is IEEE 754 Float 4 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum 4 A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output In ASCII or Abbreviated ASCII the enumeration label is spelled out GPSec 4 This type has two separate formats dependant on whether you requested a binary or an ASCII format output For binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs String n String is a variable
82. ransmitted 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 GPStation and NovAtel are registered trademarks of NovAtel Inc OEM628 GPStation 6 and NovAtel Connect are trademarks of NovAtel Inc All other product or brand names are trademarks of their respective holders Manufactured and protected under U S patents Refer to the NovAtel Patent Notice card enclosed with the GPStation 6 Copyright 2012 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws 2 GPStation 6 User Manual Rev 2 Table of Contents Proprietary Notice 2 Customer Support 7 Notices 8 Introduction 12 1 Installation 15 1 1 Ke te We Ten EE 15 1 11 Included Equipmieht 5 cree ii Ere eed de Eee da dae ee 15 1212 Additional e Ile EE 15 1 1 3 Selecting an Antenna in eec ect ere eei cedo cea or sede eine 15 1 1 4 Choosing a Coaxial Cable for the Antenna sssssssssssseeeennnne 16 1 1 5 Power Supply Requirements AA 16 1 2 Installation UE EE 17 1 2 1 Mounting the Antenrni 3 1 a a teil Sr ed dee eodein cedentes 17 1 2 2 Connecting the Antenna to the Receiver 18 1 2 3 Applying Power to the Receiver eene nnne nnne nn
83. rements ISMRAWOBS Raw phase and amplitude measurements ISMRAWTEC 1 second TEC measurements ISMREDOBS 60 second reduced phase and amplitude measurements ISMREDTEC 60 second reduced TEC measurements Table 16 lists the GSV4004B legacy logs and their modernized GPStation 6 equivalents While all legacy logs are still fully supported in the GPStation 6 it is recommended to use the new logs to ensure access to all of the newest functionality available including the modernized GNSS signals and systems For this reason these logs are not described in detail in this manual GPStation 6 User Manual Rev 2 57 Logs Table 16 Legacy GSV4004B Logs Legacy Log Description Equivalent Log DETRSIN Detrended phase and amplitude measurements ISMDETOBS ISMR 60 second reduced measurements ISMREDOBS ISMREDTEC RAWSIN Raw phase and amplitude measurements ISMRAWOBS ISMRAWTEC GPStation 6 User Manual Rev 2 58 Logs 5 1 2 ISMDETOBS Detrended phase and amplitude measurements 59 This log contains carrier phase and amplitude data that has been passed through a detrending filter The raw phase measurements include satellite motion the rate of change of the ionosphere and satellite and receiver oscillator drift Thus observing scintillation in the measurements without detrending is not possible A high pass Butterworth filter is used for detrending phase measurements There are 2 different techniques available for detrending a
84. surement from TOW 30 to FLOAT 4 H 48 TOW 15 seconds TECU 21 TECTOW pseudo range TEC measurement at 60 FLOAT 4 H 52 second epoch TOW 22 Delta TECTOW Delta TEC measurement from TOW 15 to FLOAT 4 H 56 TOW TECU 23 Next record offset H 4 chan x 56 variable xxxx 32 bit CRC ASCII and Binary only HEX 4 H 4 chans x 56 variable CR LF Sentence terminator ASCII only GPStation 6 User Manual Rev 2 70 Logs 5 1 7 ISMCALIBRATIONSTATUS TEC self calibration status This log shows the status of a TEC self calibration see IS MCALIBRATE command procedure used to determine TEC bias caused by receiver RF delay Once the calibration is complete the TEC calibration values reported in this log can be used with the IS MTECCALIBRATION command to set the TEC offsets used in the receiver calculations If this log is output ONNEW it will stop being produced once the calibration duration set using the ISMCALIBRATE command has passed It can also be logged ONCE at the end of calibration to report the final computed values The following information is included in this log Duration that the calibration has been running at the time the log is output Number of measurement samples that have been included in calculating the current TEC calibration value Only measurements above the elevation cutoff specified with the ISMCALIBRATE command are included in the calibration The current TEC calibration v
85. t tracking satellites Ensure that you have an unobstructed view of the sky from horizon to horizon Check the RXSTATUS error states See Section Examining the RXSTATUS Log page 83 If the receiver is in error mode it will not track anything Check for and replace a faulty antenna cable refer to the Time to First Fix and Satellite Acquisition descriptions in the Glossary of Terms on our web site at www novatel com through Support Knowledge and Learning No data is being logged Refer to the OEM6 Family Firmware Reference Manual Random data is being output by the receiver or binary data is streaming Check the baud rate on the receiver and in the communication software Refer to the SERIALCONFIG log and FRESET command in the OEM Family Firmware Reference Manual A command is not accepted by the receiver Check for correct spelling and command syntax Refer to the FRESET command in the OEM6 Family Firmware Reference Manual Differential mode is not working properly See the COMCONFIG log in the OEM Family Firmware Reference Manual There appears to be a problem with the receiver s memory Refer to the NVMRESTORE command in the OEM Family Firmware Reference Manual GPStation 6 User Manual Rev 2 Troubleshooting Anenvironmental or memory failure The receiver temperature is out of acceptable range or the internal thermometer is not working See the ENVIRONMENTAL
86. tation 6 GISTM system consists of the following components e GPStation 6 receiver The enclosure houses a OEM628 GNSS receiver and an Oven Controlled Crystal Oscillator OCXO e CD ROM Real time data collection status monitoring receiver configuration and post processing software utilities GISTM Receiver Heritage and the GSV4004B Built on nearly 20 years of technological heritage and a collaborative partnership between NovAtel Inc and GPS Silicon Valley the GPStation 6 is the next offering in a long line of GISTM receivers The GPStation 6 is a direct upgrade and product replacement for the GSV4004B GISTM receiver a product sold and supported by GPS Silicon Valley since 2004 no longer commercially available A business partnership with GPS Silicon Valley continues via GPStation 6 consulting support The GPStation 6 combines the field proven enclosure design of the GSV4004B platform with NovAtel Inc s future proof OEM628 GNSS receiver This combination of advanced technologies allows NovAtel to bring to market a performance proven next generation GISTM receiver The GPStation 6 was designed to provide maximum backward compatibility for existing GSV4004B customers The enclosure communication interface and supporting software utilities will be familiar to existing customers and legacy logs and commands have been carried forward as possible Due to fundamental changes between the OEMA receiver used in the GSV4004B and the OEM628 receiver
87. th high pass filter with a user specified cutoff frequency Then for every minute on the minute the statistics of the residuals of the previous 3 000 detrended phase measurements are computed over periods of 1 second 3 seconds 10 seconds 30 seconds and 60 seconds Thus for every 60 seconds 5 values 1 sec 3 sec 10 sec 30 sec and 60 second phase sigmas are logged along with the time tag in week number and time of week 2 Amplitude The raw amplitude measurements are detrended by normalization either with a 6th order Butterworth low pass filter output with a user specified cutoff frequency or with the measurement average over the 60 second interval 1f the user specified cutoff frequency is 0 The latter method is the default method if no cutoff frequency is specified Then the total S4 which includes S due to the effects of ambient noise and multi path is computed over the same 60 second interval as the phase parameters The receiver also computes the correction to the total S4 which is the effect of ambient noise based upon the average of the raw 1 Hz C Ng values over the same 60 second intervals 3 Code Carrier Divergence The receiver also collects raw code carrier divergence difference between code and carrier measurement every second The average and standard deviation of the code carrier divergence are then computed every minute on the minute These values are indicative of multi path and noise activity and can be us
88. the checksum shown in bold italics above ASCII include lt iostream h gt include lt string h gt void main char i BESTPOSA COM2 0 77 5 FINESTEERING 1285 160578 000 00000020 5941 11 64 SOL COMPUTED SINGLE 51 11640941570 114 03830951024 1062 6963 16 2712 WGS84 1 6890 1 2564 2 7826 V 0 000 0 000 10 10 0 0 0 0 0 0 unsigned long iLen strlen i unsigned long CRC CalculateBlockCRC32 iLen unsigned char i cout hex CRC endl GPStation 6 User Manual Rev 2 44 45 Messages BINARY include lt iostream h gt include lt string h gt int main unsigned char buffer 0xAA 0x44 0x12 Ox1C 0x2A 0x00 0x02 0x20 0x48 0x00 0x00 0x00 0x90 OxB4 0x93 0x05 OxBO OxAB OxB9 0x12 0x00 0x00 0x00 0x00 0x45 0x61 OxBC Ox0A 0x00 0x00 0x00 0x00 0x10 0x00 0x00 0x00 Ox1B 0x04 0x50 OxB3 OxF2 Ox8E 0x49 0x40 0x16 OxFA Ox6B OxBE Ox7C 0x82 0x5C OxCO 0x00 0x60 0x76 Ox9F 0x44 Ox9F 0x90 0x40 OxA6 Ox2A 0x82 OxCl Ox3D 0x00 0x00 0x00 0x12 Ox5A OxCB Ox3F OxCD Ox9E 0x98 Ox3F OxDB 0x66 0x40 0x40 0x00 0x30 0x30 0x30 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 Ox0B 0OxOB 0x00 0x00 0x00 0x06 0x00 0x03 unsigned long cre CalculateBlockCRC32 sizeof buffer buffer cout lt lt hex lt lt cre lt lt endl Please note that this hex needs to be reversed due to Big Endian order where the most significant va
89. tion Null modem serial cable x1 Straight through serial cable x1 e T O strobe cable x1 USB cable x1 e Power cable x1 Refer to Cables on page 77 for details of each cable 1 1 2 Additional Equipment In order for the receiver to operate the following additional equipment is required Aninterface for power communications and other signals Anantenna e A quality coaxial cable and interconnect adapter cable as necessary e Data communications equipment capable of serial and or USB communications A power supply When the GPStation 6 receiver is installed in a permanent location such as in a building it v should be protected by a lightning protection device according to local building codes refer to Lightning Protection Installation and Grounding Procedure on page 9 for details Also refer to the Warranty on page 11 1 1 3 Selecting an Antenna The GPStation 6 receiver is offered in a variety of dual frequency L1 L2 L1 L5 or triple frequency L1 L2 L5 configurations Frequency support is controlled by firmware model allowing for any purchased model of the GPStation 6 receiver to be updated to triple frequency in the field Ifthe installation only requires L1 L2 signals then a dual frequency antenna may be selected A triple frequency L1 L2 L5 antenna is recommended for most GPStation 6 installations given that L5 signals are already available and expanding GEO GPS Galileo
90. trument and is currently out of scope of EU RoHS 2002 95 ED Industrial monitoring and control instruments enter into the scope of EU RoHS Recast 2011 65 EU on July 22 2017 Lightning Protection Installation and Grounding Procedure What is the hazard A lightning strike into the ground causes an increase in the earth s potential which results in a high voltage potential between the centre conductor and shield of the coaxial cable This high voltage develops because the voltage surge induced onto the centre conductor lags in time behind the voltage surge induced onto the shield Hazard Impact A lightning strike causes the ground potential in the area to rise to dangerous levels resulting in harm to personnel or destruction of electronic equipment in an unprotected environment It also conducts a portion of the strike energy down the inner conductor of the coax cable to the connected equipment e Only qualified personnel electricians as mandated by the governing body in the country of installation may install lightning protection devices Actions to Mitigate Lightning Hazards 1 Do not install antennas or antenna coaxial cables outside the building during a lightning storm 2 Itis not possible to avoid over voltages caused by lightning but a lightning protection device may be used to shunt a large portion of the transient energy to the building ground reducing the over voltage condition as quickly as possible 3 Primary li
91. ue 0 65535 2 26 Y S W Version representing the receiver software build number 37 The 8 bit size means you will only see OxA0 to OxBF when the top bits are dropped from a port value greater than 8 bits For example ASCII port USB1 will be seen as OxAO in the binary output Recommended value is THISPORT binary 192 This ENUM is not 4 bytes long but as indicated in the table is only 1 byte These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 O GPStation 6 User Manual Rev 2 Messages ASCII Port Hex Port Table 6 Detailed Port Identifier Decimal Port Description Name Value NO PORTS 0 0 No ports specified COM1 ALL 1 1 All virtual ports for COM1 COM2 ALL 2 2 All virtual ports for COM2 COM3 ALL 3 3 All virtual ports for COM3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual ports for XCOM1 XCOM2_ALL 10 10 All virtual ports for XCOM2 USB1_ALL d 13 All virtual ports for USB1 USB2_ALL e 14 All virtual ports for USB2 USB3_ALL f 15 All virtual ports for USB3 XCOM3_ALL 11 17 All virtual XCOM3 COM1 20 32 COMI virtual port 0 COM1 1 21 33 COMI virtual port 1 COM1 31 3f 63 COMI virtual port 31 COM2 40 64 CO
92. value before publishing in any of the GISTM mea surement logs Valid entries for the Signal Combination field can be found in Table 12 Any double val ue can be entered for the calibration value Calibration values can be determined using a built in self calibration algorithm The user can initiate a self calibration of TEC offsets using the IS MCALIBRATE command Then the ISMCALIBRATION STATUS log can be used to output the results of the calibration Once the user has reviewed the results from the self calibration they can use this command to enter them into the receiver Users performing their own TEC calibration can also use this command to enter in their calibration values These calibrations can be saved into NVM using the SAVECONFIG com mand so the TEC offsets will be used by default at start up Abbreviated ASCII Syntax Message ID 1388 ISMTECCALIBRATION signal combination calibration value Input Example ismteccalibration gpsllcal5 12 24 ASCII Binary Value Value Binary Binary Binary Field Type Format Bytes Offset Description ISMTECCALIBRATION This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively Signal Combination Signal combination to use ENUM 4 H for the TEC calibration refer to Table 12 Signal Combination Code TEC Calibration Value Calibration value DOUBLE 8 H 4
93. want to reduce the amount of data being output by the receiver Use this command to customize the output by enabling or disabling specific signal types from being output in the GISTM logs The raw measurement output control parameter affects the ISMRAWOBS ISMDETOBS and ISMREDOBS logs The TEC output control parameter affects the ISSMRAWTEC and ISMREDTEC logs If a primary signal such as GPSLICA is disabled for TEC output all the associated TEC combinations are also disabled e g GPSLICA GPSL2PY GPSLICA GPSLS and GPSLICA GPSL2C L2P Y scintillation measurements and observations are disabled by default L2P Y is an encrypted signal and is therefore tracked using a proprietary semi codeless technique This results in increased noise on the signal and therefore L2P Y measurements may not be suitable for computing scinitillation phase and amplitude indices L2P Y is however suitable for TEC computations and L2P Y TEC computations are enabled by default Abbreviated ASCII Syntax Message ID 1398 ISMSIGNALCONTROL signal obs control TEC control Input Example ismsignalcontrol glollca disable disable ASCII Binary Binary Binary Binary Field Type Format Bytes Offset Value Value Description ISMSIGNALCONTROL This field contains the H 0 Header command name or the message header depending on whether the command is abbreviated ASCIl ASCII or binary respectively Signal Type Signal type to configure ENUM
94. ware package or use the provided command line utility called SLOG refer to NovAtel SLOG Utility on page 24 for details After NovAtel Connect is downloaded and installed on your local machine launch the program and create a device connection for the GPStation 6 receiver If you are unfamiliar with Connect then use the provided Help file that can be accessed under the NovAtel button or by pressing F1 After establishing a connection with your GPStation 6 receiver Connect will automatically request standard OEM628 data logs in order to populate the default display windows The basic functionality of your GPStation 6 receiver can be confirmed via these default display windows and additional windows that can be accessed via the Windows menu GPStation 6 User Manual Rev 2 22 Operation For example e Use the Constellation window to confirm the expected GNSS constellations are tracked Usethe Position window to confirm the receiver has solved for position time e Use the Tracking Channel Status windows to confirm the expected GNSS signals are tracked The figure below provides an example default display window view for a basic connection to a GPStation 6 device d o o suom sus HS KI OK comi VERSION COMI 0 73 5 FINESTEERING 1667 409313 536 00800020 3681 10283 GPSCARD DSSBOPF 15 8FN11330335 OEM628 1 00 OEM060120RNO000 OEMO60100RB0000 201 1 Dec 06 14 05 19 After the conn
95. with the GNSS signals of today and tomorrow Figure 2 GPStation 6 Enclosure With the 120 channel multi constellation multi frequency OEM628 measurement engine at its core the GPStation 6 takes advantage of NovAtel s industry leading signal tracking and positioning performance to deliver the channel capacity and signal tracking capabilities to support all current and planned GNSS signals for the foreseeable future The OEM628 receiver software is updated to provide advanced GISTM algorithms for Ionospheric Scintillation Monitoring ISM and Total Electron Content TEC measurements for all tracked signals Depending on the GPStation 6 model purchased ISM and TEC measurements are output for a combination of the following GNSS constellations and signal types GPS L1 C A L2 P Y L2C L5 GLONASS L1 L2 Galileo E1 E5a E5b AIIBOC SBAS L1 L5 COMPASS QZSS With the ability to upgrade the GPStation 6 firmware in the field additional signal support can be purchased as new signals become available As a result of this specialized integration of advanced hardware and software the GPStation 6 provides a unique platform to support local monitoring of ionospheric effects on GNSS The receiver outputs raw or detrended observation data once every second which includes 50 Hz phase and amplitude measurements and 1 Hz TEC measurements The receiver also outputs extended summary messages every 60 seconds that include additional information and calculatio

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