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1. 42 51 UTC Time of the 1PPS output hr min s byte byte Double 1PPS Residual Residual computed oe expected 1PPS output time and the actual 1PPS output time within the 52 55 resolution period of 50 ns ns Long To be used for systems with feedback or for post processing Timing Operating Mode 0 1 00 Standard 01 One shot alignment 10 Constant alignment TRAIM Status 00 Normal 2 8 01 Fault Detected 10 Fault Isolated 11 Warning not enough SVs Static Operation Status 90 00 Successful Uchar 4 5 01 Warning TRAIM cannot run 10 Not Ready no measurements 11 Alarm raised by TRAIM WAAS Processing 6 0 Inactive 1 Active Static Operation 7 0 Inactive 1 Active 57 60 TFOM 10 Clock Bias ge Long 61 TRAIM Alarm Limit 10ns Uchar 62 63 Intrinsic delay ns Uword CheckSum N A Hex 30 SUPERSTAR Additional User Information Rev 0B Output Messages Chapter 4 4 4 NMEA Protocol Output Messages Table 7 lists a set of output messages supporting Waypoint Navigation see Appendix D Waypoint Navigation starting on Page 53 The message contents are described in ALLSTAR User s Manual except for NMEA ID 905 which is described in the next section of this document Table 7 List of Output Messages on Primary Communications Port Sentence Length Message ID Maximum Characters 900 Navigation Status 21 905 User Position fi UTM Format 45 Bearing Distance amp Delta 908 Eleva
2. sess 37 Time Estimator Status Conditions sss eene nennen nennen nnns nnne nes 40 TRAIM Solution Status Conditions sess ennt enne nnns tennis 41 1PPS and Binary Messages dee erus eere ee Ded t e E e e ue ivi dee ds 43 1PPS and Timing Binary Messages ocooconocccnoncccnnnnnnnnncccnonn cnn nan n cnn nc nr eene nnne ennt ennt 43 1PPS and Message ID 20 iii ede ted toto SEA ce ER adds 44 1PPS and NMEA Messages eccconocccconccinonnnnnnnccononnnn nano cn ronca 44 Clock Drift CD Eftects comi A A iin ene reer ae ates 48 Measurement 49 SBAS Satellite Identification ni inoin e a aaea aea aa narrar crecen 58 Updating du CC 60 SUPERSTAR Additional User Information Rev 0B 6 Software License BY INSTALLING COPYING OR OTHERWISE USING THE SOFTWARE PRODUCT YOU AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT IF YOU DO NOT AGREE TO THE TERMS OF THIS AGREEMENT DO NOT INSTALL COPY OR USE THE SOFTWARE PRODUCT 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to use one copy of the enclosed NovAtel software on a single computer and only with the product it was supplied with You agree not to use the software for any purpose other than the due exercise of the rights and licences hereby agreed to be granted to you 2 Copyright NovAtel owns or has the right to sublicense all copyright
3. 27 Next SV offset 15 SVs x 11 CheckSum N A Hex variable Example Output 43022B00 19284401 66660066 E86E0900 8980E80188 66462163 A1627424 E1AE2801 89D4BA56 D3B66116 B97CF97E 73008B9B C42C6473 ABO2BD16 611DB925 BGEFD461 17AB3E5B DD7234B3 9FFAB9C5 7218ERF8 95616F9D 38334969 01049FAE 8E6C7274 182bE812D D25F3136 392D3631 Example Header Translated to Decimal 01 23 232 110 SUPERSTAR Additional User Information Rev 0B D2666117 4165D66A 2A7 49487 BA6114BB A5717304 6D23611C EA29B172 FF615B01 34323837 27 Chapter 4 Output Messages 4 3 2 SBAS Current Message ID 67 This message is output at a nominal rate of once per second and its length is 50 bytes It is available to anyone with a SBAS capable for example WAAS and EGNOS receiver model Bytes 21 52 of this message provide the 250 bits SBAS message The 250 bit message is packed into a 32 byte frame See also Section E 2 1 Logging Message ID 67 starting on Page 56 BYTE BIT DESCRIPTION UNITS Type 1 4 Header refer to Section 5 of the ALLSTAR User s Manual 5 8 Week number N A Ulong 9 16 GPS Time S Double 17 20 Reserved N A Ulong 0 243 SBAS message data field 21 52 N A char 32 244 249 Reserved CheckSum N A Hex Example Output Example Header Translated to Decimal 01 67 188 48 43 3 SBAS Message Status ID 68 This message provides the status of the SBAS for
4. Code Phase The correlator will align the locally generated satellite C A with the received signal using a 1 1024 half 18 21 precision of 1 1024 of a half chip A chip lasts chi for 1 1023 ms Therefore the code phase H precision is 1 1023 ms 2 1024 range 0 2095103999 Ulong 17 Continued on Page 27 26 SUPERSTAR Additional User Information Rev 0B Output Messages Chapter 4 22 25 Carrier Phase bit 0 1 SUPERSTARs ALLSTAR Value 0 Ready Value 1 Phase Unlock Value 2 Cycle Slip Detected Value 3 Not Ready bit 0 1 Base RTCM Value 0 Ready Value 1 Carrier not sync Value 2 Phase Unlock Value 3 Bit ambiguity not resolved For most applications use measurements only when both bits O and 1 are clear See Section CA Carrier Phase In Message ID 23 starting on Page 49 N A N A 2 31 Integrated Carrier Phase cycles N A 21 26 Cycle Slip Counter Raw data and tracking loop slips will be observable in the measurement The carrier tracking loop has a 180 degrees ambiguity so it is possible to slip by a full cycle or a half cycle The half cycles will be detected and signalled through the measurements qualifiers least significant 2 bits of the carrier phase SUPERSTARs Increment by 1 every time a cycle slip is detected during a 10ms period Base RTCM Loss of Carrier continuity and number of GPS data parity errors N A Uchar 25
5. SUPERSTAR Additional User Information Rev 0B 10 Foreword Congratulations Thank you for purchasing a SUPERSTAR receiver Whether you have purchased a stand alone GPS card a packaged receiver or a development kit you will have received other companion documentation Scope This document provides information on the SUPERSTAR GPS OEM board P N 220 604061 XXX and 245 604061 XXX The following sections describe functionality mechanical and electrical characteristics of the SUPERSTAR board This manual provides the major differences to the ALLSTAR User s Manual intended for P N 220 600944 0XX There are also additional appendices on timing measurements and updates SUPERSTAR Additional User Information Rev 0B 11 Chapter 1 Introduction The SUPERSTAR see Figure 1 below is a breakthrough in low cost and small size superior quality GPS receivers for embedded applications The SUPERSTAR is similar to the highly popular ALLSTAR high end OEM Receiver and has kept the same robust signal tracking and unsurpassed tracking capability under foliage The SUPERSTAR is the only low cost GPS OEM Receiver on the market offering sub meter DGPS capability The SUPERSTAR is a complete GPS OEM sensor that provides 3D navigation on a single compact board with full differential capability The SUPERSTAR is a 12 channel GPS receiver that tracks all in view satellites It is fully autonomous in the sense that once power is applied the SUPERSTAR automatic
6. BN EN Integrity data sg lus differential corrections Y and ranging control Ee Y X Y Reference Station Reference Station e e Reference Station K e Tal Ground Uplink Master Stati br ele eI Station aster Station 7 Integrity data differential corrections time control and status Figure 6 The SBAS Concept E 1 SBAS Receiver Many models of the NovAtel receivers are equipped with an SBAS for example WAAS and EGNOS option The ability to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position is available in many models These models can output the SBAS data in log format Message ID s 67 and 68 and can incorporate these corrections to generate differential quality position solutions Standard SBAS data messages are analyzed based on RTCA standard DO 229B Change 1 Minimum Operational Performance Standards for GPS WAAS airborne equipment A SBAS capable receiver will permit anyone within the area of coverage to take advantage of its benefits E 2 SBAS Messages Two SBAS specific messages are available if you have a SBAS capable model Details of Message ID s 67 and 68 can be found in Chapter 4 Output Messages starting on Page 28 You will find more on message structure and other message descriptions in the ALLSTAR User s Manual E 2 1 Logging Message ID 67 To get the raw SBAS data out of the receiver you must explicitly request Message ID 67 through
7. 46 1PPS 30 37 39 41 44 1 shot alignment 15 41 42 A active antenna 15 16 alarm 40 41 limit AL 40 aligned mode 52 alignment 1 shot 41 42 mode 18 almanac 16 antenna 9 14 15 34 37 39 40 active 15 16 B baud 18 bearing 53 C cable null modem 14 RF 14 warranty 9 carrier phase 27 48 CD 14 clock 37 46 bias 30 38 41 drift 38 41 47 52 code phase 26 48 communication 14 34 configuration 18 connectors 15 16 37 continuous 15 Customer Service 10 cycle slip 27 D datum 31 default configuration 18 delay 30 development kit 35 device supercap 16 DGPS 15 18 SUPERSTAR Additional User Information Rev 0B dimensions 33 35 discharge ESD electrostatic 14 discretes 17 36 37 doppler 46 double difference technique 51 dynamics 34 38 E electrostatic discharge ESD 14 elevation 53 enclosure 14 engine timing 38 55 errors 40 F field types 19 figure of merit FOM 12 39 file save to 15 firmware update 10 60 frequency 33 G GEO SBAS 55 grid 31 H harness wiring 14 hexadecimal 19 humidity 35 I I O characteristics 36 ID 103 Set Time 24 ID 113 Precise Timing Information 29 41 ID 2 Reset Receiver 20 41 ID 20 Navigation Data User 18 38 43 44 ID 21 Navigation Data GPS 43 ID 23 Measurement Block 26 29 43 ID 67 SBAS Current Message 28 57 ID 68 SBAS Message Status 28 ID 69 Se
8. Warranty Policy NovAtel Inc warrants that its Global Positioning System GPS products are free from defects in materials and workmanship subject to the conditions set forth below for the following periods of time SUPERSTAR Receivers One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Support One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is solely to product replacement or product repair at an authorized NovAtel location only Determination of replacement or repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose THE FOREGOING WARRANTIES DO NOT EXTEND TO I NONCONFORMITIES DEFECTS OR ERRORS IN THE PRODUCTS DUE TO ACCIDENT ABUSE MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVI RONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAIL URE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MAINTENANCE PROCEDURES II DEFECTS ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS ALTERATIONS ADDITIONS OR CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL S SPECIFICATIONS OR AUTHORIZED BY NOVATEL IIl NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY
9. trade secret patent and other proprietary rights in the software and the software is protected by national copyright laws international treaty provisions and all other applicable national laws You must treat the software like any other copyrighted material except that you may either a make one copy of the software solely for backup or archival purposes the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy or b transfer the software to a single hard disk provided you keep the original solely for backup or archival purposes You may not copy the product manual or written materials accompanying the software No right is conveyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel or any other words or combinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement NovAte
10. 56 the SBAS is made up of a series of Reference Stations Master Stations Ground Uplink Stations and Geostationary Satellites GEOs The Reference Stations which are geographically distributed pick up GPS satellite data and route it to the Master Stations where wide area corrections are generated These corrections are sent to the Ground Uplink Stations which up link them to the GEO 5s for re transmission on the GPS L1 frequency These GEOs transmit signals which carry accuracy and integrity messages and which also provide additional ranging signals for added availability continuity and accuracy These GEO signals are available over a wide area and can be received and processed by the SMART Antenna with appropriate firmware GPS user receivers are thus able to receive SBAS data in band and use not only differential corrections but also integrity residual errors and ionospheric information for each monitored satellite The signal broadcast via the SBAS GEOs to the SBAS users is designed to minimize modifications to standard GPS receivers As such the GPS L1 frequency 1575 42 MHZ is used together with GPS type modulation e g a Coarse Acquisition C A pseudorandom PRN code In addition the code phase timing is maintained close to GPS time to provide a ranging capability 55 SUPERSTAR Additional User Information Rev 0B Appendix E Satellite Based Augmentation System Geostationary i Satelite GEO Constellation H ks y
11. V Adaptor To 120 V DC Figure Note The SUPERSTAR Development Kit comes with a plastic enclosure or STARBOX 12dB active GPS antenna magnetic mount 6 meter RF cable DB 9 cable for PC connection automotive adapter plug and an AC to DC adaptor 13 SUPERSTAR Additional User Information Rev 0B Chapter 2 Installation 2 1 2 Setting Up Your SUPERSTAR GPS Card Complete the steps below to connect and power your SUPERSTAR GPS card Refer to the ALLSTAR User s Manual and this manual for more information on steps through 3 1 Install the GPS card and the wiring harness in a secure enclosure to reduce environmental exposure and RF interference making sure to protect against ESD If you do not take the necessary precautions against ESD including using an ESD wrist strap you may damage the card Mount the GPS antenna on a secure stable structure with an unobstructed view of the sky Connect the GPS antenna to the receiver using the antenna RF cable Connect a serial port on the receiver to a serial port on the PC using a null modem cable Connect the power supply to the receiver NP E p Fe Plug in and or turn on the power supply 2 1 3 Installing StarView Once the receiver is connected to the PC antenna and power supply install the StarView software The StarView CD is supplied with the development kits otherwise StarView is available on our website From CD 1 Start up the PC 2 Insert the StarView CD in th
12. bit integer in the range 32768 to 32767 UShort 2 The same as Short except that it is not signed Values are in the range from 0 to 465535 Long 4 The long type is 32 bit integer in the range 2147483648 to 42147483647 ite 4 The same as Long except that it is not signed Values are in the range from 0 to 6 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 Hex 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 19 SUPERSTAR Additional User Information Rev 0B Chapter 3 3 3 1 Input Messages 3 3 Message Content Host CPU to Receiver Reset Receiver ID 2 This command resets the SUPERSTAR receiver BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section V of the ALLSTAR User s Manual Password 5 12 UGPS 000 In ASCII format U character first a Uchar 8 20 SUPERSTAR Additional User Information Rev 0B Input Messages 3 3 2 Set Timing Parameters ID 69 This will allow you to set timing parameters for the SUPERSTAR Chapter 3 Set the timing parameters If all ones F F
13. derivative of the clock bias The SUPERSTAR steers the measurement TIC continuously C 3 Carrier Phase Measurements Raw carrier phase measurements p are output as Integrated Carrier Phase ICP The 32 bits carrier phase SUPERSTAR Additional User Information Rev 0B Measurements Appendix C measurement is composed of the 30 bits ICP in 1 1024 cycles at the L1 frequency and a 2 bits status When read as an unsigned number ICP wraps at value 2430 1 1024 cycles This is done to reduce the bandwidth requirements in Message ID 23 To unwrap raw carrier phase measurements we should use this process RAWICP MSG23ICP 1024 IF ABSOLUTE DICP gt 2 7 IF RAWICP RAWICP j gt 0 RAWICP AND ALL SUBSEQUENT RAWICP ARE DECREASED BY 2 ELSE EQ 2 RAWICP AND ALL SUBSEQUENT RAWICP ARE INCREASED BY 2 Equation 2 Unwrapped raw carrier phase are used to derive a quantity ICP Integrated Carrier Phase The ICP is computed using the relation below ICP cycles 2 RawICP AICP 4 5803 i l AICP RawICP RawICP__ Equation 3 When removing the nominal cycles the measurement generator truncates the IF frequency to 1405400 Hz A correction of 4 5803 is applied on the RawICP to correct for this Correction to apply for the truncated IF TrunkCorrection 1405400 F 999999 4 5804 where F 1405396 825Hz Equation 4 C 4 Carrier Phase In Message ID 23 In Message ID 23 the carrier phas
14. frequency the 1PPS Residual remains constant it thus represents the actual phase offset To remove this constant phase offset you must send a Redo 1 Shot Alignment command to the receiver It removes this offset from the 1PPS this is reflected in the reported 1PPS Residual which is a constant within 50 ns If you wish to generate a 1PPS aligned on a true zero error a 1PPS SUPERSTAR Additional User Information Rev 0B 41 Appendix B Timing Engine and Relationships 42 can either be regenerated with external equipment using the receiver 1PPS signal and the 1PPS Residual or you can remove the reported phase offset from the external oscillator Figure 3 on Page 42 shows a schematic of the configuration to use for a receiver in 1 Shot Alignment mode using a user steered external oscillator 10 0000 MHz WAAS TIMING ENGINE RECEIVER PPS ee Drift OUTPUT 50 nsec 1PPS Residual optional SOFTWARE AFC e VCO FIRST SECOND ORDER VOLTAGE 10 000000 USER MHz 1PPS OUTPUT optional Figure 3 One Shot Alignment Mode Configuration SUPERSTAR Additional User Information Rev 0B Timing Engine and Relationships Appendix B B 8 Timing Relationships This section summarizes 1PPS with Binary Message ID 20 and NMEA timing relationships respectively for the SUPERSTAR lt Be careful doing any substitution between receivers Depending on the receiver type and software version message transmiss
15. is asserted In the SUPERSTAR the WC and FR status bits are swapped as described in the ALLSTAR User s Manual e g Status 1 Phase unlock C 5 Coherence Between Pseudoranges and ICP Unless you want to further smooth pseudoranges measurement with carrier phase there is no need to obtain coherent measurement When you need a coherent set of ICP and pseudoranges that is pseudoranges and ICP exhibit the same slope there is an additional manipulation that must be done either on the ICP or pseudoranges Coherency is very often verified by examining the first difference of ICP and first difference of pseudorange measurements lt In both aligned and not aligned mode the first difference of ICP and pseudorange differs for the ionospheric differential that is causing advance on the carrier and a delay on the code measurement C 5 1 Time Adjustment Method 50 The first method is to modify the pseudoranges measurement to include the frequency drift in the pseudoranges measurements This allows you to match the ICP that contains the clock drift The equations that are used are only valid for sampling of one second The slew value is only applicable for the previous 1 second interval C 5 1 1 Adjusting the Measurement Period of the Pseudoranges The sequence of predicted time that is obtained in Message ID 23 is modified using the relationship below The process is initialized using PTimey GPSMessage23 PredictedTime The Slew value is
16. mode No connection is required if the signal is not used in the application Input Hi OUTPUT Output Hi SIGNAL MINV LoMaxV minv MASTER_RESET I 0 5 2 0 1 4 DISC IP 1 2 3 RX No I 2 I 0 8 2 5 3 4 6 lo out 2004 A DISC_IO_1 _2 TO 0 8 2 5 0 4 3 0 3 5 8 TX No 1 2 O 0 4 3 0 Ge A RX_No_3 lo outs200UA DISC IO 3 IO 0 8 2 0 0 4 3 7 3 4 8 TIMEMARK lo out x 2004A TX No 3 O 0 4 3 7 7 8 Notes 1 ALO pulse of 150ns will invoke a master reset to the SUPERSTAR Max 1ps rise amp fall time 2 Conditions 5V 10 5 for all limits 3 Maximum input Voltage is 5 5V 4 All pins are in input mode during reset with pull up resistor 5 All pins are in input mode during reset with pull down resistor 6 DISC_IP_1 Programming Ctrl Pin is in input mode during reset with pull down resistor 7 All pins are forced to an output logic level O during reset state 8 All outputs shall deliver a maximum current of 2mA 36 SUPERSTAR Additional User Information Rev 0B Technical Specifications Appendix A A 4 20 Pin Interface Connector Table Table 8 shows connector J1 2X10 2mm header on the SUPERSTAR See also Appendix A 1 Dimensions starting on Page 33 Table 8 Top View of 20 Pin Connector on the SUPERSTAR Pin 19 Pin 1 e O ennnnnnnnngb EN Muy gd LLLLLLLLLIS A Pin 20 Pin 2 PIN Signal Name Funct
17. of the SUPERSTAR Timing Engine from a user standpoint that is the performance specifications functional descriptions and I O messages You may also have the SBAS for example WAAS and EGNOS option installed separately on the SUPERSTAR The SBAS and Precise Timing features are independent from one another but together yield a more accurate 1PPS alignment and enhanced timing integrity See also Appendix E Satellite Based Augmentation System starting on page 55 Also this appendix summarizes 1PPS with Binary NMEA and Message ID 20 timing relationships respectively for the SUPERSTAR The SUPERSTAR Timing Engine The SUPERSTAR Timing Engine provides an accurate 1PPS timing pulse aligned to UTC for use in precise network synchronization applications Several timing parameters are configurable these are detailed further As an option the receiver can make use of the SBAS signal to enhance the availability integrity and accuracy of the timing pulse This receiver can operate as a standard SUPERSTAR receiver that is provide position velocity and time information in real time under any given dynamics or it can operate in static mode and provide an accurate timing signal You can set the receiver to operate in either static or dynamic mode The receiver is also capable of self surveying its position The accuracy of the 1PPS signal that is the alignment of the leading edge of the 1PPS with respect to the UTC second boundary is as follo
18. s BYTES 23 Measurement Block UR FR variable variable SBAS for example WAAS and EGNOS 67 Current Message UBER 1 54 68 SBAS Message Status UR FR 1 13 113 Precise Timing information UR FR 1 65 LEGEND FR First Request UR Update Request 4 2 Field Types Please see Table 4 Field Types on Page 19 for descriptions of the field types used in this manual 25 SUPERSTAR Additional User Information Rev 0B Chapter 4 Output Messages 4 3 Binary Message Content Receiver to Host CPU 4 3 1 Measurement Block ID 23 This message contains raw data carrier and code and the parameters required for all applications The total length of the message is 15 11 N Measurement Block 2 lt Please also read the Measurements appendix starting on Page 46 of this manual for more details on raw code phase measurements and raw carrier phase measurements BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header refer to Section 5 of the ALLSTAR User s Manual 0 5 Slew Value ns Char 4 6 Reserved N A N A 5 7 Number of Measurement Blocks Uchar 6 Predicted GPS Time 8 15 This is the time when the measurement samples have been taken at the receiver Not seconds Double 1 to be confused with the transmission time 0 5 SV Number 16 6 Reserved N A N A 15 7 Toggle at each ephemeris transmission 17 Signal to Noise ratio SNR For example a 0 25 dB Hz Uchar 16 value of 160 will translate to 40 0 dB Hz
19. satellites in view Given the fact that many receivers are installed in remote locations and direct operation of the receiver by maintenance staff is typically not possible it is imperative that the host application closely monitor the various status indicators clock errors and residuals output in Message ID 113 see Page 29 and reset the receiver if necessary B 7 Use of 1 Shot Alignment Mode The purpose of this section is to present the use and behavior of the Timing Engine when it is in 1 Shot Alignment Mode The current oscillator s phase offset is represented by the clock bias This value is constantly being computed by the receiver and subsequently consumed by realigning the system time based on this offset You should not incorporate the clock bias in the external oscillator steering algorithm On the other hand it is your responsibility to nullify the clock drift in order to drive the 1PPS within 50 ns The predicted time used to output the 1PPS assumes a perfect 10 MHz frequency This means that the 1PPS drifts according to the current clock drift The 1PPS residual represents the error between the time at which the 1PPS was output that is the 1PPS output time and the time at which it should have been output For example if the receiver is programmed to output the 1PPS aligned on the second edge then the 1PPS residual is in fact the fraction of the 1PPS output time Once the external oscillator stabilizes at a perfect 10 MHz
20. slip cycle 27 software StarView 14 start 63 Index 64 quick 13 warm 16 StarView software 14 static operation 30 38 39 status indicators 40 41 supercap device 16 SV number 26 synchronization 38 T temperature 35 Temperature Compensated Crystal Oscillator TCXO 46 time 16 26 31 41 configuration 42 engine 38 55 estimate 40 integrity limit TIL 40 operating mode 30 receiver autonomous integrity monitor TRAIM 30 40 relationships 38 43 to first fix TTFF 34 transmission 44 types 19 U Universal Time Coordinated UTC 18 21 24 29 31 38 39 Universal Transversal Mercator UTM 31 53 update firmware 10 60 V valid almanac 16 voltage 36 W WAAS 25 28 30 38 42 58 warm start 16 warranty 9 waypoint navigation 24 31 53 weight 35 wiring harness 14 Z zone 31 SUPERSTAR Additional User Information Rev 0B SUPERSTAR Additional User Information Rev 0B Index 65 Recyclable Printed in Canada on recycled paper OM 20000079 Rev 0B 2003 07 07
21. the number of 175 ns corrections that were applied on the measurement TIC to have a 1 second period PTime PTime 1 00000 SlewValue 5 7142857 175e 09 Equation 5 where 5 7142857 is the nominal Clock Drift expressed in 175 ns increments For instance if the clock drift is 1us 1s it compensates for the 1us 1s nominal drift and no slew correction is applied The measurement time is 1 s 1 us to account for the clock drift even though the real measurement time is 1 s The sequence of pseudorange measurements are computed SUPERSTAR Additional User Information Rev 0B Measurements Appendix C p m PTime Floor PTime CodePhase 2095104000 if p 0 p t71 Oe where C is the speed of light Equation 6 These equations reconstructs a sequence of pseudoranges that contains both the user satellite doppler and TCXO drift C 5 1 2 Adjusting the Measurement Period of the Carrier Phases Because the integration period is not fixed the carrier phase must be compensated for the effect of the measurement period variation on the nominal cycles which is 1 intermediate frequency Therefore the nominal cycles at the IF frequency must be precisely adjusted to meet the measurement period The measurement generator assumes the measurement period to be 0 999999 s Therefore two corrections must be applied on the output ICP The first correction is to account for the truncated IF The seconds correction
22. to always use the latest version of the firmware thus continuously improving the receiver s capability Description For the purpose of the explanation we will consider that the firmware name is filename and that the programming utility name is prog The programming utility is a DOS based command line utility which once invoked with the proper parameters will update the receiver s firmware Although it is DOS based it can be used on computer using Windows 95 and higher or Windows NT operating system Usually the programming utility and the firmware binary file will be provided to the customer in zip files Therefore those files must be unzipped before proceeding with the firmware update If you invoke prog without any parameters or with a missing parameter a pop up menu will appear The programming utility requires four parameters to perform the update task The first one must be the firmware binary filename The second is the port of the PC used to communicate with the receiver The third one is the communication protocol used binary or NMEA Finally for the fourth and fifth parameters you need to supply the synchronization speed the actual speed of the GPS receiver and the programming speed communication speed used while programming the board PROG FILENAME PORT PROTOCOL SYNC PROGRAMMING Table 18 Updating Parameters Parameter Possible Value filename any valid filename in the 8 3 DOS standard Any number representi
23. typically computed using the GPS carrier phase measurements SUPERSTAR Additional User Information Rev 0B 38 Timing Engine and Relationships Appendix B B 3 Precise Timing Features In static mode the receiver uses a known position with the observed measurements pseudo ranges and delta ranges to derive accurate clock information that is the clock bias and clock drift Set the receiver in static mode using command Message ID 80 see Page 22 in which the exact position of the receiver antenna must be encoded The 1PPS output can be programmed to be offset from the UTC second by a fixed value ranging from 0 to 1 second in increments of 100 milliseconds The offset is a positive number only meaning that the rising edge of the 1PPS is delayed with respect to the UTC second boundary by the desired amount of milliseconds Also the pulse width is user programmable If you know the delay induced on the 1PPS signal due to e the cable length between the GPS antenna and the receiver since the time solution is computed for the antenna location e and the cable length from the receiver s 1PPS output to the host application then the sum of these values can be programmed in the receiver in order to compensate for the signal delays induced by the cables A reasonable estimate of the total delay would be the total cable length divided by the speed of light If you know by calibration the delay induced on the 1PPS signal through the receiv
24. 0 4MHz Because of the doppler shift the reconstructed carrier is shifted in frequency We reconstitute a frequency of Fnom Fdoppler The carrier phase Integrated Carrier Phase that we generate is ICP INTEGRATED MEASURED PHASE INTEGRATED NOMINAL PHASE The Integrated Carrier Phase ICP represents the Doppler shift frequency measured by the receiver and integrated over time To retrieve the instantaneous Doppler value from the ICP measurements compute the derivative of the ICP measurements For example the average Doppler value over a period of one second can be computed by dividing the difference between two consecutive ICP measurement by the measurement period ICP i ICPG 1 0 999999 for a measurement period of 0 999999 If the time is not aligned the ICP are accumulated for 1 s 1 us Clock Drift The nominal number of cycles is computed for 1 s 1 us so if the TCXO does not drift ICP integrated cycles over 0 999999 s due to doppler If the TCXO drifts the measurement period is affected by the clock drift and the measured ICP contains a clock drift component in addition to the doppler If the time is aligned the ICP are accumulated for 1 s The nominal number of cycles is computed for 1 s 1 us so if the TCXO does not drift ICP integrated cycles due to doppler Nominal error If the TCXO drifts the measurement period is not affected by the clock drift but the ICP contains the clock drift value C 1 3 Clock Drift C
25. 013B800080800000000000000000000000002BDEB where for example 480790 00 is the GPS Time 3 is the SBAS Message Type and the rest is the 250 bit SBAS message packed into a 32 byte frame and the 6 MSB are set to zero E 3 SV Deselection StarView allows you to deselect GPS and SBAS system satellites Select Tool Settings Deselect SVs from the main menu and the SV Deselection dialog will appear as seen in Figure 7 below SV Deselection EN C GPS SVs sv1 sva Tei T sv25 Sax dog Hum Clear sv2 Feyvio svig sve l 122 F 329 Ti sva svn Tm svi psv 122 F 130 139 Destectal Feu Few Fea T svo Ria Fi Pisvs Pf svia Fea Fisva 124 Fiz sv amp Feu Fam sva I 125 Tia sv Fevis Fam M sv3 mo mo sva Fw sva Faailt Tis Exit dd Figure 7 SV Deselection To track one SBAS satellite in particular do the following SUPERSTAR Additional User Information Rev 0B 57 Appendix E Satellite Based Augmentation System 1 Select WAAS SVs 2 Select the SBAS satellite that you wish to track by deselecting all the others This insures that the receiver will search for a satellites that is known to be operating and thus ensure quick acquisition reacquisition of the active SBAS satellite lt By default if you select WAAS SVs alone the unit is only searching for satellite PRNs 120 122 and 134 E 4 StarView SBAS Message Status be WAAS Status Msg 68 ioj ES GV Number 134
26. Fh 1111 11111111 binary is entered in any field below the corresponding value will not be modified BYTE 1 4 BIT DESCRIPTION Header refer to Section V of the ALLSTAR User s Manual UNITS TYPE 5 8 Cable Delay Set the propagation delay that is induced by the antenna cable This delay will compensate the 1PPS output so it remains synchronized with the UTC time Range from 1 to 1 ms ns Long 9 12 1PPS Offset Set the offset from the UTC time for the 1PPS signal to be output Range from 0 to 900 ms 100 ms Ulong 13 16 1PPS Pulse Width Range from 0 to 65 ms 100 ns Ulong 0 Standard Timing Mode 17 1 One Shot Alignment 2 Continuous Alignment N A Char 0 1PPS Output continuously 18 1 1PPS Output only when tracking at least one satellite 2 1PPS Output only when an alarm is not raised by TRAIM 3 Conditions 1 and 2 above N A Char 19 TRAIM Alarm Limit Time solution error threshold at which the alarm limit will be raised Range from 0 to 2 55 ms 0 indicates no TRAIM is to be performed 10 ns Uchar 20 21 Intrinsic delay Range from O to 65534 ns 65535 ns indicates no changes ns Uword 22 23 24 27 Reserved 28 31 N A Word Long Long SUPERSTAR Additional User Information Rev 0B 21 Chapter 3 Input Messages 3 3 3 Set Operating Mode ID 80 This command
27. LLSTAR The SUPERSTAR is configured in 1 Hz position velocity and time PVT mode only The data contained in NVM is always used if the DISC IP2 is left unconnected or tied to HI logic If DISC_IP2 is tied to LO logic the default ROM configuration will be used and the following parameters will not be read from NVM Position Almanac Time UTC Correction and IONO Parameters TCXO Parameters SUPERSTAR Additional User Information Rev 0B Chapter 3 Input Messages This section contains messages that have a difference in the Binary protocol between the ALLSTAR and SUPERSTAR OEM boards 3 1 Host to Receiver CPU Messages Table 3 Message Summary ID DEFINITION MESSAGE TYPE BYTES 2 Reset Receiver CM 14 69 Set Timing Parameters CM 33 80 Set Position Operating Mode CM 38 90 Satellite Deselection CM 18 103 Set Date Time amp GPS Time Alignment Mode CM 21 113 Request Timing Information DR 6 LEGEND CM Command Message DR Data Request 3 2 Field Types The following table describes the field types used in the description of messages Table 4 Field Types Binary Size SEN Type bytes Description Char 1 The char type is an 8 bit integer Values are in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character UChar 1 The same as Char except that it is not signed Values are in the range from 0 to 255 Short 2 The short type is 16
28. Navigation Procedure 53 1 Route Planning Set up a navigation plan by defining a number of waypoints on your route Load the plan into the SUPERSTAR by sending a series of Define Waypoint messages NMEA ID 009 Each ID 009 NMEA message defines the exact location of a waypoint in MGRS format 2 Navigation Solution Request a navigation solution by sending a Select Active Waypoint message NMEA ID 010 The SUPERSTAR replies typically within 3 seconds with a navigation solution from the local position to that waypoint using the currently selected datum This message NMEA ID 906 contains bearing in degrees true north range in meters and delta elevation in meters information 3 Current Status The SUPERSTAR transmits navigation status and the current user position in both UTM and MGRS formats These messages are defined by NMEA message ID s 900 905 and 907 respectively SUPERSTAR Additional User Information Rev 0B Appendix D Waypoint Navigation 54 SUPERSTAR Additional User Information Rev 0B INTA Satellite Based Augmentation System A Satellite Based Augmentation System SBAS is a type of geo stationary satellite system for example WAAS and EGNOS that improves the accuracy integrity and availability of the basic GPS signals Accuracy is enhanced through the use of wide area corrections for GPS satellite orbits and ionospheric errors Integrity is enhanced by the SBAS network quickly detecting satellite si
29. Protocol errors Walid Messages 9722 Age of correction D seconds 221000020 i zech O YO a OOOO 0000000000 D 1 KE 3 4 B B 8 g e Figure 8 SBAS Status The WAAS Status window see Figure 8 shows you the number of valid SBAS messages that are being decoded for a specific SV number since the last power up When the Valid Messages count is not incrementing it means that either the receiver is not tracking any SBAS satellites or it is unable to demodulate the SBAS bit stream ER SBAS Satellite ID Table 17 SBAS Satellite Identification SV Description 120 AOR E Atlantic Ocean Region E15 121 Not allocated 122 AOR W Atlantic Ocean Region W55 134 POR Pacific Ocean Region E178 Figure 9 on Page 59 shows the coverage of two WAAS satellites PRN 134 yellow and PRN 122 red 58 SUPERSTAR Additional User Information Rev 0B Satellite Based Augmentation System Appendix E D E m eteei 000000 e E ng T te ges ee o6 4 Figure 9 WAAS Coverage SUPERSTAR Additional User Information Rev 0B 59 INTA Updating Receiver Firmware F 1 F 2 This appendix will explain how to update the receiver s firmware from a binary file using the programming utility Introduction GPS receivers have their firmware stored in flash memory and therefore you can update its content in the field This feature increases tremendously the receiver s flexibility allowing you
30. SUPERSTAR DRAFT Specifications are subject to change OM 20000079 Rev 0B Proprietary Notice SUPERSTAR Additional User Information Publication Number OM 20000079 Revision Level OB Revision Date 2003 07 07 Proprietary Notice 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 transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel is a registered trademark of NovAtel Inc All other brand names are trademarks of their respective holders Copyright 2003 NovAtel Inc All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable ek 2 SUPERSTAR Additional User Information Rev 0B Table of Contents Software License Warranty Policy Customer Service Foreword 1 Introduction 2 Installation 2 1 Quick Start A nae ee a 2 1 1 Additional Equipment Heouire
31. StarView as follows 1 Select Xmit Msg General Message Request from the main menu 2 Enter 67 Raw SBAS Message and select Continuous in the Request I O Message dialog box 3 Select Window Messages Received Messages from the main menu Watch the Message ID 67 count incrementing 56 SUPERSTAR Additional User Information Rev 0B Satellite Based Augmentation System Appendix E 4 Select one of the Log Incoming Data icons shown below to log all incoming messages The application will request a filename where you want to store data The filename is then echoed in the bottom of the main StarView Window 5 Click on the icon again to stop the logging of data The program cget67 exe is a 32 bit console application that extracts Message ID 67 and formats it into an ASCII format as follows 480790 00 3 530D1FFDFFDFFFF79FFDFFFF75FFDFFCO9BCF5FFDFFFBB8FB87B84FB83BE2B80 480791 00 63 9AFC00000000000000000000000000000000000000000000000000001C877740 480792 00 24 C663F69FFDFFC0O000000013B8000A09B12000000000000001FE00BEBO3BB7980 480793 00 62 53FAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAAS8ECOEDOO 480794 00 0 9A021FFCIABFCDFFDFFDFFF8F9FFDFFCOICID5FFFFFB8FBBB93B94F9268619CO 480795 00 25 C6668B000000000000000000002F808000000000000000000000000028925E40 480796 00 3 530ELIFFDFFDFFFFA9FFDFFFFO5FFDFFCO8FD11FFDFFFBB8FB87B84FB864AC580 480797 00 63 9AFC00000000000000000000000000000000000000000000000000001C877740 480798 00 24 C663F19FFDFFC0000000
32. THE DEALER WITH OUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WAR RANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRIT TEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FIT NESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE EXPENSE OR INJURY ARISING DIRECTLY OR INDIRECTLY OUT OF THE PURCHASE INSTALLATION OPERATION USE OR LICENSING OR PRODUCTS OR SERVICES IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL INDIRECT INCIDEN TAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPS receiver and no maintenance is required When the status code indicates that a unit is faulty replace with another unit and return the faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number by calling NovAtel Customer Service at 1 800 NOVATEL in North America or 1 403 295 4900 elsewhere Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective pr
33. a in post processing Whether in Aligned Mode or Not Aligned Mode the carrier phase and code phase measurements are taken at the same time The SUPERSTAR receiver operates by default in Aligned Mode You can use binary command ID 103 Set Date Time Alignment Mode to set the steering on or off The selected mode is then activated at the next power up and it is saved in Non Volatile Memory NVM C 1 2 Doppler Concept 46 The GPS data is modulated by a 1 57542 GHz carrier see Figure 4 and Figure 5 on Page 47 The effect of the relative velocity of the satellite and the receiver doppler effect is to shift this signal in frequency A carrier tracking Phase Lock Loop PLL regenerates the carrier frequency shifted by the induced doppler To determine the doppler from the measurements the nominal number of cycles has to be subtracted for the measured number of cycles which is composed of the nominal doppler The carrier measurement that we output is the integrated carrier in 1024th of cycles from which the IF frequency ramp is removed What remains in the carrier phase measurement is therefore the satellite clock drift the doppler an IF neglected fractional component and the part of IF corresponding to the correction to the clock due to the clock drift SUPERSTAR Additional User Information Rev 0B Measurements Appendix C Figure 4 Modulated GPS Data Doppler Present 0 1 5 GHz Figure 5 Demodulated GPS Data Doppler Present
34. allows you to set the SUPERTSTAR operating mode BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section V of the ALLSTAR User s Manual Password UGPS XXX in ASCII format U character first where the command field XXX 000 Set User Position ALLSTAR compatible see below ae d to Bus Mode position not saved Get Survey Position BYY Set Base Position and Base Information N A Char 8 SYY Force to Survey Mode where YY bytes 11 12 Station ID and Station Health bits 0 9 Station ID 10 bits 1 1023 bits 10 12 Station Health as per RTCM 104 bits 13 15 Reserved 5 12 Interpretation depends on the command field XXX m 000 and BYY Altitude Ellipsoid Teen SYY Desired Survey Time four Gs ROO and GSP N A Interpretation depends on the command field XXX 21 28 000 and BYY Latitude radians Double SYY ROO and GSP N A Interpretation depends on the command field XXX i dians d 000 and BYY Longitude ra See SYY Desired CEP Si Double ROO and GSP N A Example You can set the receiver in static mode by assembling the following message Bytes Entry 5 12 UGPS B Y Y Station ID Station Health 13 20 Altitude 21 28 Latitude 29 36 Longitude When the receiver decodes this command the latitude longitude and altitude are saved in its NVM and the static mode is initiated immediately lt Self Surveying Mode On certain occasions you may wish to termin
35. ally searches acquires and tracks GPS satellites When a sufficient number of satellites are tracked with valid measurements the SUPERSTAR produces 3D position and velocity output with an associated figure of merit FOM Please refer to Chapter 2 of the ALLSTAR User s Guide for more details on the FOM Figure 1 SUPERSTAR 12 SUPERSTAR Additional User Information Rev 0B Chapter 2 Installation 2 1 Quick Start This quick start section provides the basic information you need to setup and begin using your new SUPERSTAR GPS card For more detailed information on the installation and operation of your receiver please refer to the user manuals provided 2 1 1 Additional Equipment Required Additional user supplied equipment needed for a basic setup see also Figure 2 is listed below A Windows based PC with an RS 232 DB 9 port A 5 V power supply capable of providing at least 1 2 W An enclosure to protect against environmental conditions and RF interference A wiring harness to provide power to the receiver and access to the data and strobe signals with one or more DB 9 connectors for serial communication with a PC or other data communications equipment A straight serial cable A quality GPS antenna An antenna RF cable with a BNC female connector at the receiver end Figure 2 Basic SUPERSTAR Setup Coaxial cable from antenna to STARBOX A ce Spare COM connector ZS e n STARBOX A 25 pin connector to STARBOX 12
36. and Relationships Appendix B Table 10 TRAIM Solution Status Conditions TRAIM Solution Status TSS Condition Successful Time Estimator Status is set to OK and TIL lt AL Warning Time Estimator Status is set to WARNING or Time Estimator Status is set to FAULT DETECTED and TIL lt AL Not Ready Default value at power up Alarm TIL gt AL Here are some examples of how you can interpret the current setting of both status indicators If TSS is set to ALARM and TES is set to OK it indicates that there are not enough satellites to guarantee the integrity of the clock solution If TSS is set to ALARM and TES is set to FAULT DETECTED it indicates that there is a fault in the measurement set that causes the TIL to be larger than expected A bad receiver position programmed via Message ID 80 may be the cause for such conditions If TSS is set to OK and TES is set to FAULT DETECTED it indicates that a faulty satellite has been detected but the TIL is still below the Alarm Limit This may occur when there is a slow drift building up in the measurements Furthermore the 1PPS output can be programmed to be disabled when the alarm is raised in order to enhance timing integrity B 6 Receiver Reset Command You can command the receiver to reset itself using a software command message see Section 3 3 1 Reset Receiver ID 2 on Page 20 This causes the receiver to re initialize its hardware and software and reacquire the
37. ate the surveying process You can do this by using the GSP command as indicated in the message specification above When the receiver decodes this command it uses the current averaged position and saves it to NVM without a station ID and Health Status It will then switch to static mode 22 SUPERSTAR Additional User Information Rev 0B Input Messages Chapter 3 3 3 4 Satellite Deselection ID 90 This command deselects the desired SVs if the password is valid The SVs to deselect are indicated in a bitmap form A 1 in the bitmap specifies that the corresponding SV will be deselected BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section 5 of the ALLSTAR User s Manual Password UGPS XXX in ASCII format U character first where XXX is 5 12 000 Deselect GPS SV N A Char 8 0G4 or 0G5 Deselect WAAS SV 000 GPS SV bit map bit 0 SV 1 bit 7 SV 8 bit map bit O SV 9 bit 7 SV ZER 0G5 SBAS SV such as WAAS or EGNos NA NA bit map bit O SV 129 bit 7 SV 136 bit map bit 0 SV 137 bit 7 SV 138 000 GPS SV bit map bit 0 SV 17 bit 7 SV 24 15 16 bit map bit 0 SV 25 bit 7 SV 32 N A N A 0G4 SBAS SV such as WAAS or EGNOS bit map bit O SV 129 bit 7 SV 136 bit map bit 0 SV 137 bit 7 SV 138 SUPERSTAR Additional User Information Rev 0B 23 Chapter 3 Input Messages 3 3 5 Set Time ID 103 This command allows yo
38. d A 2 1 2 Setting Up Your SUPERSTAR GPS Card sse 2 13 Installing Star Vi Wii 2 1 4 Establishing Communication with the Receiver ssssssssss 2 1 5 Using StarVIGW entem A deos Aa 2 1 6 Requesting Messages 2 2 Minimum Connections ener nnne 2 2 1 1 0 Connector LU 2 2 2 RF Connector GIS ode side mn See eu e AA eet ode tide 2 3 Power Requirements A E Ru EE 2 3 2 Input Vohtege ek n 2 3 3 Memory Back Up ue ii ENEE NEE 2 4 Protocol Selection and Non Volatile Memory 0ooooonccccnncccconcccnnonannnncccnannnnnancnnnnno 2 5 Default Configuration soineet eninin easda a cnn rca 3 Input Messages 3 1 Host to Receiver CPU Messages 3 2 Field Ty Pest E 3 3 Message Content Host CPU to Receiver coooonnccccncccnnnoccccnncccononnnnnncccnannnanann cnn 3 3 1 Reset Receiver IDF 2 eerie dd de nis 3 3 2 Set Timing Parameters ID En 3 3 3 Set Operating Mode ID 80 sssssssssssseeeeenn eene 3 3 4 Satellite Deselection ID 90 sssesseeseesseeieesisesrrssrrrssrnnstrnnsnnnsnnnsrnnsrnnnte 333 5 Set Time IDF LEE 3 4 NMEA Protocol Input Messages 4 Output Messages 4 1 Receiver to Host CPU Messages cccoonocccccocccnonocccconccnnnnnnnnnn cnn cnn na nana n cc narran cnn 4 2 Eleld Ke de 4 3 Binary Message Content Receiver to Host CRU 4 3 1 Measurement Block ID 23 sse nnns 4 3 2 SBAS Current Message IDDIE 4 3 3 SBAS Message Status D n 4 3 4 Preci
39. d ephemeris Warm start 45 s typical with current almanac position and time Cold start 2 min typical no almanac no position and no time Signal Re Acquisition lt 1 s typical 5 s obscuration lt 3 s typical 60 min obscuration Dynamics Velocity 1852 km h 514 m s limited by US and Canadian export laws Acceleration 4 Gs 39 2 m s Jerk 2 m s Altitude Prime Power HARDWARE SPECIFICATIONS 60 000 ft 18 km 5 0 10 5 VDC INPUT 50 mV p p ripple maximum 1 2 W at 5 0 VDC typical with passive antenna i Time Keepingi Power 2 5 to 4 5 VDC external input 1pA 5V 0 3pA 3V Supercap on board to maintain SRAM and time for warm start Serial Communications 2 x RS 232 TTLlevel asynchronous data ports TX1 RX1 TX2 RX2 9 600 baud standard select from 300 to 19 200 bauds 3rd and 4th input output ports on special version Input Messages Rx 1 NMEA Binary Set altitude position date and time selectable output messages and rates Rx 2 RTCM SC 104 Message types 1 2 9 Output Messages Tx 1 NMEA GGA GSA GSV RMC VTG ZDA GLL plus proprietary messages or Binary All data available on NMEA messages plus channel assignments ephemeris Built in Test result BIT others integrated carrier phase data optional 1 Hz Tx 2 Spare SUPERSTAR Additional User Information Rev 0B Technical Specifications App
40. e 21 1PPS Offset 9 12 Delay between the edge of the UTC second and the ha Ulong rising edge of the 1PPS signal that has been entered using the Set Timing Parameters command ID 69 1PPS Pulse Length 13 16 Length of the 1PPS pulse that has been entered 100 ns Ulong using the Set Timing Parameters command ID 69 Number of Observations 7 Number of satellites used to compute the clock error N A Uchar Mask Angle 0 01 18 19 Elevation angle below which satellite measurements degrees Uword are not used Leap Second Change Indicates the change to the leap second value applicable at the end of the current day at midnight 20 Zero indicates no leap second change S Char This value will revert to O after midnight when the new leap second value has been applied to the UTC time Leap Second Value Offset between the GPS time and the UTC time It 24 contains only the leap second number It does NOT Char contain the fractional part transmitted in the GPS Navigation Message ID 21 refer to the ALLSTAR User s Manual Clock Bias 22 29 Bias between the predicted time and the actual time ns Double at the time of the solution Clock Drift 30 37 Frequency drift of the TCXO at the time of the ppm Double solution 38 41 UTC Date of the 1PPS output dy mo yr byte byte Word Continued on Page 30 SUPERSTAR Additional User Information Rev 0B 29 Chapter 4 Output Messages
41. e CD ROM drive of the computer 3 Install the StarView software and follow the steps on the screen If the setup utility is not automatically accessible when the CD is inserted select Run from the Start menu and press the Browse button to locate Setup exe on the CD drive From our website 1 Start up the PC and launch your internet service program 2 Goto our website and download the StarView setup program 3 Select Run from the Start menu and press the Browse button to locate Setup exe The default location is in the C Program Files Starview directory 4 Click on the OK button to install the StarView software and follow the steps on the screen 2 1 4 Establishing Communication with the Receiver To open a serial port to communicate with the receiver complete the following 1 Launch StarView from the Start menu folder specified during the installation process The default location is Start Programs StarView 2 Open the File Port menu and select Auto Connect lt The default baud rate is 9600 baud unless your receiver has the Carrier Phase Output option 19200 baud 2 1 5 Using StarView StarView provides access to key information about your receiver and its position The information is displayed in windows accessed from the Window menu For example select Navigation LLH Solution from the Window menu to display the position of the receiver in LLH latitude longitude and height coordinates To show details of the GPS
42. e are given later in Section C 4 on Page 49 Measurements Concepts C 1 1 Time Aligned and Not Aligned Concept The aligned concept refers to the ability of the receiver to steer the measurement TIC Numerous clock steering schemes can be implemented Some receivers directly steer the TCXO frequency Other receivers adjust the phase of the measurement TIC sporadically when the clock bias exceeds a threshold The phase of the sampler is modified at that time and the clock bias is adjusted accordingly In the SUPERSTAR the clock steering is performed as described below When the Time Aligned capability is active the receiver steers the measurement TIC of the receiver The steering is performed in such a way that the measurements are taken at the one second epoch i e every second x 000000 x 1 00000 in the case of 1 Hz measurements To achieve that the fractional seconds of the time tag the clock bias and the clock drift are used to steer the measurement TIC so that it occurs at the one second epoch This way receivers take their measurements simultaneously The steering occurs at each second For most applications it is required to have the solution and raw measurements on the one second epoch Therefore the receiver should be set in Aligned Mode For applications where it is not required to have the solution on the one second epoch the receiver can be operated in Not Aligned Mode You must know the operating mode when you use the raw dat
43. e measurement information bits are sent by the GPS receiver The systems use different detectors to set those 2 bits which provide information about the whole cycle counter and cycle fraction See Table 16 below Table 16 Measurement Bits Whole cycle bit WC Fraction bit FR The WC bit is used to qualify the status of whole cycle counter Each time a channel is initialized the WC Bit is set Because of the nature of GPS navigation data message bi phase modulation the receiver must adjust the carrier phase measurement for a half cycle count When the software has detected the initial polarity of phase tracking 0 or 180 degree boundary the receiver adjusts the initial phase measurements The Whole cycle SUPERSTAR Additional User Information Rev 0B 49 Appendix C Measurements counter bit is clear Then the receiver starts the accumulation of the cycle and continues accumulation until loss of power has been detected The bit can be asserted when the receiver has detected parity error while demodulating and assembling the GPS word This status is latched over 1 second period The FR bit is used to qualify the status of the carrier phase measurement fraction The receiver monitors the stability of the phase tracking loop A steady tracking is characterized by a very stable phase error in the phase detector When the phasor motion is determined to have exceeded a threshold in the one second interval the FR bit of the measurement status
44. edge of the level of protection that can be offered by the time estimator The time estimator uses the pseudorange measurements to compute the clock error These measurements have different error sources Selective Availability S A ephemeris ionospheric tropospheric and thermal noise errors When a receiver is tracking the WAAS signal it extracts ephemeris and ionospheric errors from the message The errors left in the measurements are residual errors left from tropospheric mismodeling and thermal noise Hence you can logically estimate the TIL that can be expected with and without WAAS B 5 2 Status Indicators 40 In order to interpret correctly the status of the time solution two separate status indicators must be taken into account the TRAIM solution status TSS and the Time Estimator status TES These are provided in Section 4 3 4 Precise Timing Information ID 113 on Page 29 The Time Estimator status may take one of the values in Table 9 Table 9 Time Estimator Status Conditions Time Estimator Status TES Condition OK All pseudorange residuals passed the detection test Fault Detected A faulty residual has been detected but NOT isolated Fault Isolated A faulty measurement has been detected AND successfully isolated Warning Not enough satellites TRAIM provides either one of the status indicators in Table 10 to you at a given time SUPERSTAR Additional User Information Rev 0B Timing Engine
45. endix A L1 pulse s aligned with GPS time 200 ns typical in absolute mode 50 ns typical in relative mode with SA imposed Discrete 3 general purpose input output lines PHYSICAL AND ENVIRONMENTAL Time Mark Output Dimensions 1 8 W x 2 8 Lx 0 51 H 46 x 71 x 13 mm Weight 0 05 Ib 22 g Operating Temperature 30 to 75 standard Storage Temperature 55 to 4909 Humidity SE relative humidity non condensing to Operating Voltage 10 VDC to 16 VDC Operating Temperature 09 409 DB 9 female RS 232 Port 1 Serial Ports INPUT OUTPUT DB 9 female RS 232 Port 1 DGPS IN Time Mark 4 pin right angle header Power Connector 2 5 mm male positive center Antenna Connector BNC male with 5V supply for active antenna 3 LEDs Power on time mark DGPS mode Various control functions refer to the full schematic 8 DIP Switches for details A plastic enclosure including a power regulator RS 232 driver 3 LED indicators and a SUPERSTAR receiver Accessories included A 412GB active GPS antenna magnetic mount and 6 meter cable DB 9 cable for PC connection automotive adapter plug AC to DC adaptor Specifications are subject to change without notice SUPERSTAR Additional User Information Rev 0B 35 Appendix A Technical Specifications A 3 I O Electrical Characteristics Input pins have a valid state during reset and operating
46. er circuitry prior to its actual output you can program this value in the receiver to compensate for the delay The default value for the intrinsic delay is set to 1900 ns You may specify a 1PPS output control parameter via a command This parameter indicates under which conditions the 1PPS output should be inhibited Refer to Chapter 3 Input Messages starting on Page 19 for more details B 3 1 PPG Alignment Modes The receiver can operate in three different 1PPS alignment modes Constant Alignment Implements an algorithm that keeps the 1PPS signal aligned on the UTC second boundary 1 Shot Alignment This mode is used only when the receiver is using an externally controlled oscillator The receiver slews the 1PPS output to align it with UTC time once at power up Afterwards the receiver assumes a perfect 10 MHz input reference frequency and output the 1PPS signal accordingly You can request the receiver to redo its one shot alignment via command Message ID 103 See Section B 7 Use of I Shot Alignment Mode on Page 41 for more information on this mode e Standard Alignment This is the default mode for receivers without the Precise Timing configuration block B 4 Receiver Self Surveying You can request the receiver to initiate a self survey In this case the current position is averaged out and a Figure Of Merit FOM reflecting the accuracy of the averaged position is computed This process continues until the desired surveyi
47. example WAAS and EGNOS message and is output at a nominal rate of once per second if your receiver is a SBAS capable model BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section 5 of the ALLSTAR User s Manual 5 6 Message count N A Ushort 7 SV Source N A Char 8 SBAS message type N A Char 9 11 Reserved CheckSum N A Hex 28 SUPERSTAR Additional User Information Rev 0B Output Messages Chapter 4 4 3 4 Precise Timing Information ID 113 This message allows you to request precise timing information The clock bias and drift parameters are computed using the pseudo range measurements and the predicted true range using the known user position A Time Figure Of Merit TFOM for the clock errors is derived using the residuals of the least square time solution When using GPS measurements only the TFOM does not take into account any bias in the residuals that may be induced by the atmospheric errors Therefore it provides a relative accuracy estimate Obviously when the WAAS channel is available the clock bias estimate is virtually free of systematic errors and the computed TFOM approximates an absolute accuracy of the 1PPS output by the receiver BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section 5 of the ALLSTAR User s Manual Cable Delay Value Propagation delay induced by the antenna cable that 508 has been entered using the Set Timing Parameters ns Ulong command ID 69 see Pag
48. fect present due to the measurement period which is influenced by the clock The ICP needs to be corrected to account for Carrier drift the measurement period which varies The ICP output has the nominal cycles between epochs The ICP contains the clock removed for a period of 0 999999 The drift ICP contains the clock drift C 2 Code Phase Measurements Raw Code phase measurements are punctual measurements They can be used to derive pseudorange measurements Raw phase measurements are basically transmitted time time of transmission in 1 1024 chip latched at the time TIC The time tag identification of the Measurement TIC of that TIC is reported in Message ID 23 The pseudoranges are computed using the relation below Pp PredictedTime Floor PredictedTime CodePhase CodePhaseUnitPeriod if p 0 p 1 p p Equation 1 Floor Round towards minus infinity The CodePhaseUnitPeriod is 1 1024 half chip CodePhaseUnitPeriod 1023000 2048 where 1023000 C A code chip rate and 2048 is 2 1024 C is the speed of light So to convert the code phase to time units the code phase must be divided by the chip rate and multiplied by the resolution The time of applicability of the measurements is the predicted time This tag is said to be predicted since it refers to a predicted time that is based on the previous estimate clock bias and clock drift Therefore the predicted time is in error only by the second
49. gnal errors and sending alerts to receivers to not use the failed satellite Availability is improved by providing an additional ranging signal to each SBAS geostationary satellite SBAS includes the Wide Area Augmentation System WAAS the European Geo Stationary Navigation System EGNOS and the MTSAT Satellite Based Augmentation System MSAS At the time of publication there are two WAAS satellites over the western Atlantic Ocean and the Pacific PRN 122 and PRN 134 respectively and one EGNOS satellite over the eastern Atlantic Ocean PRN 120 SBAS data is available from any of these satellites and more satellites will be available in the future The card is only able to receive corrections from an SBAS satellite if it has the SBAS option installed It may also have the the SUPERSTAR Timing Engine option installed They are independent from one another but together yield a more accurate 1PPS alignment and enhanced timing integrity See also Appendix B Timing Engine and Relationships starting on page 38 In StarView the terms WAAS and GIC are used to include all SBAS satellites The primary functions of SBAS include data collection determining ionospheric corrections determining satellite orbits determining satellite clock corrections determining satellite integrity independent data verification SBAS message broadcast and ranging System operations amp maintenance As shown in Figure 6 The SBAS Concept on Page
50. in accordance herewith In the event that the Licensee shall at any time during the term of this Agreement i be in breach of its obligations hereunder where such breach is irremediable or 1f capable of remedy is not remedied within 30 days of notice from NovAtel requiring its remedy or ii be or become bankrupt or insolvent or make any composition with its creditors or have a receiver or manager appointed of the whole or any part of its undertaking or assets or otherwise as a solvent company for the purpose of and followed by an amalgamation or reconstruction hereunder its successor shall be bound by its obligations hereunder commence to be wound up or iii be acquired or otherwise come under the direct or indirect control of a person or persons other than those controlling it then and in any event NovAtel may forthwith by notice in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing 30 days prior written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the software The Licensee shall also erase any copies of the software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This prov
51. ing mode to NMEA through discrete input levels Disc_IP2 and Disc_IP3 have the following functions Table 2 Discretes IP2 and IP3 functions Disc_IP3 Disc_IP2 Result Protocol Select NVM Control OPEN HI OPEN HI Configuration stored in NVM or Default ROM Configuration if no valid NVM elements Protocol on Port 1 Binary OPEN HI GND Baud Rate on Port 1 9600 Other elements Default ROM Configuration Protocol on Port 1 NMEA Baud Rate on Port 1 4800 GND OREN SHI Other elements Default ROM Configuration if no valid NVM elements Protocol on Port 1 NMEA GND GND Baud Rate on Port 1 4800 Other elements Default ROM Configuration Discrete inputs can also be viewed in byte 26 of Message ID 49 Receiver Status Data refer to the ALLSTAR User s Manual as follows Bit Description 0 DISC_IP1 1 DISC_IP2 2 DISC_IP3 3 DISC_IO1 4 DISC_IO2 5 DISC_IO3 6 7 Reserved SUPERSTAR Additional User Information Rev 0B 17 Chapter 2 2 5 Default Configuration 18 Installation Below is the SUPERSTAR s default configuration with no valid NVM elements 2 Ent ba Protocol on port 1 Baud Rate on port 1 Protocol on port 2 Baud Rate on port 2 DGPS Correction Timeout Default Message List Binary NMEA Time Align Mode Binary 9600 RTCM 104 9600 45 seconds Navigation Status User Coordinates Message ID 20 1Hz GGA 1Hz ON Time Align Mode was set to OFF for the A
52. ion 1 PREAMP Power for active antenna 40 mA max 2 VCC Primary power 5V 10 5 3 VBATT Back up power for real time clock device external series diode required 4 DISC_IO_3 Programmable discrete I O expansion pin for special applications 5 MASTER_RESET Reset input pin active LO 6 DISC_IP_1 Reprogramming control input pin active HI 7 DISC_IP_3 Protocol select pin see Section 2 4 on Page 17 8 DISC_IP_2 NVM control pin see Section 2 4 on Page 17 9 DISC_IO_1 Programmable discrete I O expansion pin for special applications 10 GND Ground 11 TX_No_1 Serial port TX st 12 RX_No_1 Serial port RX 1 13 GND Ground 14 TX_No_2 Serial port TX 2 15 RX_No_2 Serial port RX 2 16 GND Ground 17 DISC_IO_2 Programmable discrete I O expansion pin for special applications 18 GND Ground 19 TIMEMARK 1PPS 1 Pulse Per Second output 20 Reserved a Low Voltage Transistor Transistor Logic LVTTL SUPERSTAR Additional User Information Rev 0B 37 NT DA Timing Engine and Relationships B 1 This appendix familiarizes you with the SUPERSTAR Timing Engine option features This GPS receiver enables the output of a precise 1PPS 1 Pulse Per Second signal aligned to UTC time along with related timing data The Precise Timing feature is a factory installed option also known as a config block on the GPS receiver Verify that the configuration part number 169 613955 010 is installed within the SUPERSTAR This appendix details the use
53. ions begin following a 1PPS pulse or just after the next 1PPS pulse Table 11 1PPS and Binary Messages Message Beginning of Messages Transmission Duration reference to 1PPS rising edge approximate ID 23 15 ms may be pushed by preceding message 150 ms ID 33 500 ms always 100 ms ID 6 7 700 ms always 280 ms ID 20 915 ms always 115 ms ID 21 915 ms may be pushed by preceding message 130 ms a With software 169 614174 VAR 1PPS 23 33 6 7 20 21 As you can see in Table 11 Message ID 23 is output at the beginning of the GPS second where the measurements are taken and Message ID 21 is output at the end of the GPS second when the solution is done computing Depending on the port baud rate Message ID 21 can end up being transmitted after the following time mark The time mark indicates the moment the measurements are taken The predicted time used to tag the Message ID 23 is the GPS time at the time this set of measurements was taken It is called a predicted time because it has not been corrected for a clock bias that is only known when the solution is computed Table 12 1PPS and Timing Binary Messages A Beginning of Messages Transmission Duration Message reference to 1PPS rising edge approximate ID 20 350 ms 115 ms ID 113 350 ms may be pushed by preceding message 100 ms a With software 169 614333 VAR 1PPS 20 113 SUPERSTAR Additional User Informa
54. is to account for a measurement period different than 0 999999 s The Slew value is the number of 175 ns corrections that were applied on the measurements TIC to have a 1 s period Correction to apply for the measurement period different than 0 999999 s DriftCorrection Fp 175ns Slew 0 245944444375 Slew where F 1405396 825 Hz Equation 7 With the two corrections applied the reconstruction of the ICP becomes ICP RawICP AICP 4 5803 0 245944444375 Slew Value i l AICP RawICP RawICP Equation 8 The slew value is contained in Message ID 23 By using these equations and by calculating the first difference of pseudoranges measurement and delta ranges measured on the carrier a match between ICP and pseudoranges is obtained C 5 2 Double Difference Technique When using the carrier phase measurement with a double difference technique non coherency constant is the same for all satellites and therefore drop out of the equation You can use Equation 2 on Page 49 to unwrap the ICP measurement SUPERSTAR Additional User Information Rev 0B 51 Appendix C Measurements C 5 3 Matching the Carrier Phases and the Code Phases for 1 Second To account for the true measurement period the measurements have to be adjusted for the true measurement period In align mode the measurement period is 1 s The sequence of predicted time is taken directly from Message ID 23 without adjustments With this time the seq
55. ision shall survive termination of this Agreement howsoever arising SUPERSTAR Additional User Information Rev 0B 7 Software License 6 Warranty For 90 days from the date of shipment NovAtel warrants that the media for example compact disk on which the software is contained will be free from defects in materials and workmanship This warranty does not cover damage caused by improper use or neglect NovAtel does not warrant the contents of the software or that it will be error free The software is furnished AS IS and without warranty as to the performance or results you may obtain by using the software The entire risk as to the results and performance of the software is assumed by you 7 Indemnification NovAtel shall be under no obligation or liability of any kind in contract tort or otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person 8 For software UPDATES and UPGRADES and regu
56. l shall not be bound to take legal proceedings against any third party in respect of any infringement of letters patent registered design or like instrument of privilege which may now or at any future time be owned by it However should NovAtel elect to take such legal proceedings at NovAtel s request Licensee shall co operate reasonably with NovAtel in all legal actions concerning this license of the software under this Agreement taken against any third party by NovAtel to protect its rights in the software NovAtel shall bear all reasonable costs and expenses incurred by Licensee in the course of co operating with NovAtel in such legal action 4 Restrictions You may not 1 copy other than as provided for in paragraph 2 distribute transfer rent lease lend sell or sublicense all or any portion of the software 2 modify or prepare derivative works of the software 3 use the software in connection with computer based services business or publicly display visual output of the software 4 transmit the software over a network by telephone or electronically using any means or 5 reverse engineer decompile or disassemble the software You agree to keep confidential and use your best efforts to prevent and protect the contents of the software from unauthorized disclosure or use 5 Term and Termination This Agreement and the rights and licences hereby granted shall continue in force in perpetuity unless terminated by NovAtel or Licensee
57. lar customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only or 403 295 4900 or fax 403 295 4901 e mail to support novatel ca visit our website http www novatel ca or write to NOVATEL INC CUSTOMER SERVICE DEPT 1120 68 AVENUE NE CALGARY ALBERTA CANADA T2E 8S5 9 Disclaimer of Warranty and Limitation of Liability a THEWARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EX PRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FIT NESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND IN CLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE a NovAtel will not be liable for any loss or damage caused by delay in furnishing the software or any other performance under this Agreement a NovAtel s entire liability and your exclusive remedies for our liability of any kind including lia bility for negligence for the software covered by this Agreement and all other performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement THIS AGREEMENT IS GOVERNED BY THE LAWS OF THE PROVINCE OF ALBERTA CANADA EACH OF THE PARTIES HERETO IRREVOCABLY ATTORNS TO THE JURISDICTION OF THE COURTS OF THE PROVINCE OF ALBERTA SUPERSTAR Additional User Information Rev 0B
58. nal User Information Rev 0B NT AI Waypoint Navigation D 1 The purpose of this appendix is to familiarize you with the SUPERSTAR Waypoint Navigation feature Waypoint Navigation is a factory installed option also known as a config block on your GPS receiver Verify that you have configuration part number 169 613955 009 installed within the SUPERSTAR The Waypoint Navigation feature requires the use of the NMEA protocol An explanation of the supported NMEA protocol and field definitions is provided in the ALLSTAR User s Manual to assist you in understanding the Waypoint Navigation option For further details on the NMEA message structure and formats please refer to NMEA 0183 specification available from NMEA executive office Tel 252 638 2626 Fax 252 638 4885 internet www nmea org Start up in NMEA Protocol Mode To setup the I O operating mode to NMEA protocol Apply ground to the DISC_IP_3 signal connector J1 pin 7 of the SUPERSTAR D 2 Waypoints The SUPERSTAR can perform simple navigation calculations via the serial communications port A database containing a maximum of 100 waypoints can be maintained within the receiver Waypoint entry retrieval and editing is accomplished via defined input output messages Waypoint positions are in the Military Grid Reference System MGRS and Universal Transversal Mercator UTM co ordinate system formats A waypoint is defined by an identifier number and an 8 character name D 3
59. ng a valid port number installed on the port PC e g 1 for COMI 3 for COM3 Used to indicate the current protocol used by the GPS receiver protocol 0 Binary protocol 1 NMEA protocol Current speed used by the GPS receiver ee Any standard speed between 300 and 115200 Speed used to transmit information to the GPS receiver programming Any standard speed between 300 and 115200 F2 1 Example The following command line would used prog exe to update the GPS receiver s firmware using the binary file called 614174 007 The receiver is in binary mode at 9600 bps and we want to transmit the data at 115600 bps COMA of the PC is used Therefore you would enter the following line SUPERSTAR Additional User Information Rev 0B 60 Updating Receiver Firmware Appendix F PROG 614174 007 4 0 9600 115200 F3 Troubleshooting F3 1 Firmware Partially Erased or Invalid If upon powering up the receiver the following message is displayed at 9600 bps BAD OPERATIONAL JUMPING IN PROGRAMMING MODE then you have to use the same command again with the synchronization speed set to 9600 bps for the SUPERSTAR or SUPERSTAR II receivers and to 19200 for the ALLSTAR receiver The remaining parameters are according to your setup Please refer to the ALLSTAR manual Appendix F for details on how to hard program the receiver SUPERSTAR Additional User Information Rev 0B 61 TCXO Temperature Compensated Crystal Oscillator
60. ng period has been reached For more information on the FOM please refer to the ALLSTAR User s Manual When the surveying process is completed the associated data is then stored in Non Volatile Memory NVM The receiver then automatically switches to static mode using the last surveyed position which becomes the active known position SUPERSTAR Additional User Information Rev 0B 39 Appendix B Timing Engine and Relationships lt If you move the antenna the self survey process must be re initiated B 5 TRAIM The receiver implements a Time Receiver Autonomous Integrity Monitor TRAIM algorithm B 5 1 Alarm Limit and Time Integrity Limit Two fundamental TRAIM concepts must be accurately defined in order to understand its use Alarm Limit AL The maximum error in the time estimate that the you accept to tolerate in your application You are advised if the time solution cannot be guaranteed to be accurate within this limit You must provide this value to the receiver Time Integrity Limit TIL The level of protection that the time estimator can offer It defines the maximum error that can be induced by one faulty measurement in the estimate without being detected Beyond this limit TRAIM detects a fault in the time estimator This value is computed in real time based on parameters that prevail at the time Therefore when TIL AL an alarm is raised Determination of the Alarm Limit cannot be done without prior knowl
61. oduct When returning any product to NovAtel please return the defective product in the original packaging to avoid shipping damage 9 SUPERSTAR Additional User Information Rev 0B Customer Service Contact Information If you have any questions or concerns regarding your SUPERSTAR please contact NovAtel Customer Service using any one of the following methods NovAtel GPS Hotline 1 800 NOVATEL North America 403 295 4900 International Fax 403 295 4901 E mail support novatel ca Website www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 885 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue the NVM Reset command ID 99 2 Log the following data requests to a file on your PC for 30 minutes Receiver Status ID 49 one shot Ephemeris Data ID 22 continuous Measurement Block ID 23 1Hz HW SW Identification IDs 45 one shot 3 Send the file containing the log to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel ca incoming or the support novatel ca e mail address Firmware Updates Firmware updates are firmware revisions to an existing model which improves basic functionality of the GPS receiver See also Appendix F Updating Receiver Firmware on Page 60 If you need further information please contact NovAtel using one of the methods given above
62. oncept A clock drift influences the duration of the measurements TIC by reaching the TIC count in advance or with a delay depending on the drift direction Time alignment compensates this effect by increasing or decreasing the measurement period by delaying or advancing the occurrence of the TIC interrupt based on the predicted clock drift Because the measurement TIC time base is the same as the carrier DCO clock the clock drift has an impact on the carrier cycles measurements The number of cycles measured is directly affected by the clock drift This effect is fully compensated by changing the measurements period SUPERSTAR Additional User Information Rev 0B 47 Appendix C Measurements Table 15 on Page 48 summarizes the effect of the clock drift on the measurement period time and the code and carrier phases Table 15 Clock Drift CD Effects Measurement Time Not Aligned Time Aligned The measurement period varies in the The measurement period varies in the range range 0 999999 Clock Drift 1s 175 ns 1 s K ns ee due to the C time correction granularity o ns Time 0 999999 Clock Drift E The clock drift has little impact on the If CD 0 then the period 0 999999 E EE If CD 1 us 1s then the period 1 s measurement period since it influences only the fraction of 175 ns offset from 1 s CD effect present due to the measurement Code period which is influenced by the clock CD has only a little effect drift CD ef
63. or an active antenna supply PREAMP is 12 Volts 2 3 2 Input Voltage VCC is the main and unique power source for normal operation with a maximum operating voltage of 5 5 Volts 2 3 3 Memory Back Up The SUPERSTAR has a supercap device allowing a warm start where the receiver has an approximate position an approximate time and a valid almanac without the need of an external power supply during a power off state VBATT is an external back up source for the time keeping circuit A warm start is available for 1 week typically 259 and 3 days over a more extreme temperature range 30 to 750 Therefore VBATT can be used to extend the time retention period lt An external series diode will be required between J1 3 and the external power source to prevent the supercap from discharging into your circuitry 16 SUPERSTAR Additional User Information Rev 0B Installation Chapter 2 2 4 Protocol Selection and Non Volatile Memory Discrete IOs are available with a SUPERSTAR Development Kit and are useful if you have Application Program Interface API software A summary is shown in Table 1 below Table 1 Use of Discretes Development KIT Discrete Name Equivalent Name Use Direction GPIO2 101 Navigator IN OUT GPIO3 102 SP IN OUT GPIO5 IP1 GPS Data IN OUT GPIO6 IP2 NVM Control IN OUT GPIO7 IP3 Protocol Select IN OUT If you use NMEA the SUPERSTAR offers you the option of setting the I O operat
64. satellites being tracked select Satellites Status from the Window menu 14 SUPERSTAR Additional User Information Rev 0B Installation Chapter 2 2 1 6 Requesting Messages The SUPERSTAR GPS card uses a comprehensive command interface Input messages can be sent to the receiver using the Xmit Msg menu in StarView The following information is important when entering commands 1 Message requests are only output to the receiver in binary format 2 You can send a message request using one shot or continuos by selecting Xmit Msg General Message Request 3 There is an option in StarView to save all messages transmitted by the receiver into a file Select File Port Save Data after you have finished selecting messages in Step 2 above The ALLSTAR User s Manual and this manual provide all the available messages and parameters they use 2 2 Minimum Connections J1 is the 20 pin connector on the SUPERSTAR see also Section A 4 20 Pin Interface Connector starting on Page 37 The minimum number of connections on J1 required for the system to operate Signal Name J1 Pin VCC 2 Ground 10 13 16 amp 18 TX_No_1 11 RX_No_1 12 If DGPS corrections are required for the application they may be transmitted to the SUPERSTAR through the Main port or through the Auxiliary port Signal Name J1 Pin RX_No_2 15 If an active antenna is used Signal Name J1 Pin PREAMP 1 2 2 1 NO Connec
65. se Timing Information ID 113 4 4 NMEA Protocol Output Messages 4 4 1 User Position in UTM Format ID 905 oooocccconcocccccconoccnononnnancnnnnnna nora nnnnnnnos SUPERSTAR Additional User Information Rev 0B Table of Contents Appendices A Technical Specifications 33 B Timing Engine and Relationships 38 C Measurements 46 D Waypoint Navigation 53 E Satellite Based Augmentation System 55 F Updating Receiver Firmware 60 4 SUPERSTAR Additional User Information Rev 0B Figures OO JO Om P OM SUPERSTAR ini a Eer 12 Basic SUPERSTAR Setup coooccccnocccononcncconcnnnnnnnnnnncnnnnn cnn nen carr n nan c inns sn tnter een ns sn iainta n nn nnnnncnnnncnns 13 One Shot Alignment Mode Confouration corran cnn rn rra nennen nnne 42 Modulated GPS Data Doppler Present 47 Demodulated GPS Data Doppler Present eene nennen nene 47 Thi SBAS Cof Cept 5 ic ke dd eee ds tope sna de cu ga e ahai e Rn erae g ass 56 SV DeSeleCtiOn MN LE 57 SBAS SIatiS iicet uA UM D M MA sii A 58 WAAS e E EE 59 SUPERSTAR Additional User Information Rev 0B Tables OO JO Om P OM Hee OF DISCOS m 17 Discretes IP2 and IPS functions 17 E Eu 19 Fold Bee 19 List of Input Messages on Primary Communications Port ssssssseeeem 24 Message Summary sssssssssssssssseseeeenne RR 25 List of Output Messages on Primary Communications Port sssssseeeee 31 Top View of 20 Pin Connector on the SUPERSTAR
66. t Timing Parameters 21 29 ID 80 Set Operating Mode 22 39 41 ID 90 Satellite Deselection 23 ID 905 User Position in UTM 31 53 ID 23 Measurement Block 49 62 input discrete 17 pins 36 voltage 34 36 integrity 41 interface 16 37 K kit development 35 L limits 40 M measurements 46 carrier phase 48 code phase 48 period 52 pseudoranges 50 TIC 46 memory 16 18 messages 15 default 18 input 34 output 23 34 Military Grid Reference System MGRS 53 mode aligned 52 modem cable null 14 N navigation solution 53 status 53 waypoint 24 31 53 NMEA 17 24 31 44 53 non volatile memory NVM 18 37 null modem cable 14 number SV 26 O one shot 15 operation static 30 38 39 timing mode 30 oscillator 41 42 SUPERSTAR Additional User Information Rev 0B Index P PC 14 performance 34 phase carrier 27 48 code 26 48 pins 36 37 planning route 53 port auxiliary 15 main 15 serial 14 37 position 14 16 power 16 37 specifications 34 supply 14 protocol 18 19 25 37 pseudorange 40 pseudoranges measurement 50 pulse width 39 Q quick start 13 R range 53 reset 37 41 residual 30 38 40 42 RF cable 14 connector 16 route planning 53 A satellite 40 save to file 15 SBAS 25 28 55 56 58 scope 11 self surveying 22 38 40 serial communication 34 port 14 37 setup 13 signals 36 signal to noise ratio SNR 26
67. tion Rev 0B 43 Appendix B Timing Engine and Relationships Table 13 1PPS and Message ID 20 a 1PPS ID 20 J 915 ms a With software 169 614174 B08 Message ID 20 begins 915 ms after the 1PPS signal The transmission duration is approximately 115 ms Table 14 1PPS and NMEA Messages MESSAGE Beginning of messages Transmission duration reference to 1PPS rising edge approximate GGA 815 ms 100 ms GLL 915 ms 70 ms GSA 400 ms 70 ms GSV 300 ms 100 ms VTG 720 ms 50 ms ZDA 0 ms 60 ms a With software 169 614174 VAR 1PPS ZDA GSV GSA VTGGGA GLL 44 SUPERSTAR Additional User Information Rev 0B Timing Engine and Relationships Appendix B SUPERSTAR Additional User Information Rev 0B 45 Ne Measurements C 1 This appendix explains in detail for advanced users the processing of the raw carrier and code phase measurements of the SUPERSTAR Basically GPS receivers provide 2 types of raw measurements raw code phase measurements and raw carrier phase measurements Before being used in an algorithm the raw measurements must be manipulated in order to provide a meaning to you perhaps as a system integrator Both raw measurements are taken and latched simultaneously at the measurement TIC Raw measurements are provided in Message ID 23 The structure of Message ID 23 is provided in Chapter 4 on Page 26 Details on the integrated carrier phase output by this messag
68. tion to Waypoint 87 907 User Position MGRS Format 57 4 4 1 User Position in UTM Format ID 905 Current position in UTM format and UTC time of position HEADER CONTENTS OF DATA FIELDS SPMCAG 905 XX XXXXXX XXXXXXxx hhmmss ss A hh CR LF d Status UTC time of position Grid northing Grid easting Zone number Status A Data Valid fi Navigation Mode B Data Valid fi Position Initialized V Data Invalid Example SPMCAG 905 18 602090 5038779 141105 A 79 lt CR gt lt LF gt Zone number 18 Easting 602090 Northing 5038779 UTC time 14 11 05 Status Valid Data lt The position references the receiver s active datum SUPERSTAR Additional User Information Rev 0B 31 Chapter 4 Output Messages 32 SUPERSTAR Additional User Information Rev 0B NT Technical Specifications A 1 Dimensions S tar TMM Series 4 079 pitch osa O 122222259 O RN A 2 SUPERSTAR GPS Card GENERAL CHARACTERISTICS 12 PARALLEL i ALL IN VIEWi TRACKING L1 Frequency 1 575 42 MHz Minimum Tracking Sensitivity 135 dBm antenna input level SUPERSTAR Additional User Information Rev 0B 33 Appendix A PERFORMANCE 34 Position Accuracy Technical Specifications DGPS lt 1 m CEP Single Point lt 5 m CEP Time to First Fix Hot start 15 s typical with current almanac position time an
69. tor J1 The connector shall be a 2mm straight header or right angle 2x10 position connector PN from one suggested supplier is Samtec part number TMM 110 03 T D A suggested mating connector could be the Samtec 2mm female connector part no TCSD 10 01 N The cable could also be ordered as one piece part no TCSD 10 D 2 00 01 N for a 21 flat cable with a connector at each end Part no TCSD 10 S 12 0 01 N has only one connector and is 12 inches long You could also use a PCB mounted connector part no SQT 110 01 L D 1 0 340 long standoffs will be required SUPERSTAR Additional User Information Rev 0B 15 Chapter 2 Installation lt The latest connector specifications can be obtained from Samtec or other equivalent manufacturers 2 2 2 HF Connector J2 The standard RF connector is a straight MCX jack connector A right angle MCX connector is offered as an option Suggested supplier Johnson Comp On Board connector 133 3701 211 Interface between SUPERSTAR and customer application Suggested Supplier Omni Spectra Supplier part number 5831 5001 10 or Suggested Supplier Suhner Supplier part number 11MCX 50 2 10C or Suggested Supplier Radiall Supplier part number R113082 The center conductor will provide power for an active antenna PREAMP signal from J1 1 2 3 Power Requirements See also Appendix A Technical Specifications starting on Page 33 2 3 1 Antenna The maximum operating voltage f
70. u to set the date time UTC and the GPS Time Alignment mode BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header refer to Section V of the ALLSTAR User s Manual Password in ASCII format U character first UGPS 000 Sets system time to provided date amp time if no SV is currently being tracked SIS UGPS 100 Requests a 1 shot 1PPS output Na Char 8 and sets system time to provided date amp time if no SV is currently being tracked 13 15 UTC time h min s Uchar Uchar Uchar 16 19 UTC date dy mo yr Uchar Uchar Ushort 3 4 NMEA Protocol Input Messages Table 5 lists a set of input messages supporting Waypoint Navigation see Appendix D Waypoint Navigation starting on Page 53 The message contents are described in the ALLSTAR User s Manual Table 5 List of Input Messages on Primary Communications Port Sentence Length Maximum Message lD Characters 000 Configure Primary Port Command 17 001 Initialization Data Command 77 005 Set Output Configuration Command 67 009 Define Waypoint 57 010 Select Active Waypoint 18 24 SUPERSTAR Additional User Information Rev 0B Chapter 4 Output Messages This section contains messages that have a difference in the Binary protocol between the ALLSTAR and SUPERSTAR OEM boards The NMEA protocol is identical for both products 4 1 Receiver to Host CPU Messages Table 6 Message Summary ID DEFINITION MESSAGE TYPE RATE
71. uence of pseudorange measurements are computed to produce pseudorange measurements for the actual measurement period which is slightly different than 1 s Oz PredictedTime Floor PredictedTime CodePhase CodePhaseUnitPeriod if p 0 orl p 7 p Equation 9 The Carrier phase measurements must be modified to match the 1 s code phase measurements The following equations does the job k ICP cycles RawICP 2 AICP TrunkCorrection TimeCorrection ClockDrift c Lambda i l where AICP RawICP RawICP TimeCorrection Slew fp 175e 9 fiy 1405396 825 Hz ClockDrift 175e 9 Slew NominalDrift PredictedTime PredictedTime 1 0 NomunalDrift le 6 Equation 10 The TimeCorrection element adjusts the ICP to the effective measurement period It is used to remove the nominal cycles for the period going from 0 999999 to the actual measurement period The clock drift is removed from the ICP because the clock drift is absent on the pseudorange This method for carrier and code phase matching works for time measurements only It is also applicable for 1 Hz measurements only since the slew is required The slew is output only once a second Note that the slew is used to remove the clock drift element The clock drift can be computed externally and then removed Doing that would allow you to work with any rate of measurements both aligned or not aligned 52 SUPERSTAR Additio
72. ws 30 ns 10 or 60 ns peak to peak using DGPS or WAAS corrections B 2 Definitions This section gives some definitions to some fundamental timing elements presented in this appendix The 1PPS Output Time represents the predicted time in UTC units at which the 1PPS signal has been output This predicted time is based on a propagation of the receiver s previously computed system time including clock bias and clock drift The 1PPS Residual is simply the difference between the 1PPS Output Time and the desired output time For example if the desired output time is 12 00 00 000000000 and the computed 1PPS Output Time is 12 00 00 000000025 then the 1PPS Residual is 0 000000025 The clock bias represents the estimated error in the previous predicted time This value is computed at the standard receiver solution update rate and is based on the GPS measurements and the known receiver position The clock bias values are typically filtered to remove the intrinsic measurement noise thermal noise atmospheric corrections mis modeling etc The intent is to have the clock bias represent the true oscillator s phase error as accurately as possible Note that the clock bias does not represent the absolute error of the time misalignment For example if there is a 10 ns offset in all pseudorange measurements the filter tracks the best estimate along that constant offset The clock drift represents the oscillator s frequency error This value is

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