GPStation - NovAtel Inc.
Contents
1. DND 8 conductor wire Table 4 VO Port Pin out E LEMO Pin PinDescrption WireColorCode Number Pin 1 VARF variable frequency Brown Pin 2 1 PPS one pulse per second Black Pin 3 MSR measure output Red Pin 4 MKI mark input Orange Pin 5 STATUS valid solutions available Yellow Pin 6 GND Green Pin 7 GND Blue Pin 8 GND White Note that the STATUS line is used to toggle the valid position LED on the front end cap between red power on and green valid position 10 GPStation User Manual NovAtel 2 Hardware Configuration USER SUPPLIED RADIO OR MODEM When using the GPStation as a DGPS base station it needs to be connected to user supplied equipment that will propagate the differential corrections to remote stations Whether this equipment is a modem that sends the corrections over telecommunication channels or radio transmitting equipment that sends the corrections through an atmospheric path the only requirement is that it have an RS 232C serial data interface through which data can be exchanged with either the COMI or COMZ port of the GPStation NOTE When using radio transmitting equipment please ensure that you comply with all applicable government regulations such as obtaining a license and obtaining approval before operating a transmitter or setting up an antenna near an airport When using a radio transmitter to dissem2. 14 GPStation User Manual NovAtel 3 Operation Refer to the Command Descriptions Manual for procedures and explanations related to data logging DOS One way to initiate multiple commands and logging from the GPStation is to create DOS boot up command files relating to specific functions This will save time when you want to duplicate test situations and minimize set up time Any convenient text editor can be used to create command text files Example _ For this example consider a situation where a PC s appropriately configured COMI port is connected to the GPStation s COMI port and where a remote terminal is connected to the GPStation s COM2 port The PC user wishes to monitor the GPStation s activity the following command file could be used to do this 1 Open a text editor on the PC and type in the following command sequences log com2 sata ontime 15 log com2 etsa ontime 15 log com2 rvsa ontime 60 5 log com2 posa ontime 15 log com2 dopa ontime 15 2 Savethis with a convenient file name e g C GPS BOOT1 TXT and exit the text editor 3 Use the DOS copy command to direct the contents of the BOOTI TXT file to the PC s COMI port C GPS gt copy bootl txt coml 1 files s copied C NGPS 4 The GPStation is now initialized with the contents of the BOOTI TXT command file and logging is directed from the GPStation s COM2 port to the remote terminal WINDOWS 3 1 OR HIGHER As any text editor or communica
3. GPStation User Manual 21 Appendix A Technical Specifications NovAtel WEE Size 320 mm x 130 mm x 60 mm Weight Operating Temperature 1 5 kg ENVIRONMENTAL 25 C to 40 C Storage Temperature Resistance Characteristics 40 C to 85 C Dust tight water tight Altitude 5000 m may operate above this altitude in a controlled environment however is not certified as such Humidity Acceleration Voltage Power Connector on GPStation RF Input Power Output to LNA 95 non condensing l VIBRATION The GPStation is not rated for vibration because of its effect on the OCXO ACCELERATION DYNAMICS 4 g maximum sustained tracking POWER REQUIREMENTS 10 to 36 V DC 11 W typical when OCXO heater off 16 W when OCXO heater is on RF INPUT LNA POWER OUTPUT TNC female 1575 42 MHz 4 0 5 0 V DC 10 25 mA current limit 35 mA Note if the antenna draws current above or below these limits the self test status code will be set to zero Refer to the RVSA log for more information Frequency 20 473 MHz Ageing 5 x 10 per day 1 x 10 per year Phase Noise 1Hz 80 dBc Hz 100 Hz 140 dBc Hz 1 kHz 150 dBc Hz 10 Hz 110 dBc Hz 10 kHz 155 dBc Hz Dual RS 232C Serial INPUT OUTPUT DATA INTERFACE Bit rates 300 1200 4800 9600 19200 57600 115200 bps 9
4. Tue Oct 08 1998 05 20 00 PM mdt GPS GPRMC 232924 0 5106 8448676 8 11402 6244772 8 0 113 274 5 081096 21 0 E 41 GPRMB A 0 01 R START STOP 5133 30000 8 11440 08000 0 35 40 318 7 0 081 V 6A Start Tue Oct 08 1996 05 18 47 PM mdt GPS GPVTG 350 012 T 329 012 M 0 1126568 N 0 208640 K 77 End Sat Oct 12 1996 09 18 47 PM mat GPS 12031 574j257215 00 21 1407183 AVA 04934162 510 000 16 262 81 12 92 15 88 0001 Target Dev 1 00 m SPH 874 257385 00 0 052 267 498 0 000 0 0E N V 874 257385 00 65566 7214 297 674 65566 7172 23 4038 877 446691 177 0 0 05 GPRMC 232939 0 5106 8444574 N 11402 6250231 U 0 082 280 5 081096 21 0 E 45 Velocity oem ajx er A D 01 R START STOP 5133 30000 N 11440 08000 U 35 40 318 7 0 064 V 61 GPVTG 350 012 T 329 012 M 0 0817861 N 0 151468 K 7E amp Command Console oem setnau 51 111 114 039 51 555 114 668 8 start stop maguar 21 log com2 posa ontime 15 log com2 spha ontime 15 Horiz log com2 nava ontine 15 0 26 m s log com2 gprmb ontime 15 5 8 log Con gputg ontime 15 5 0 0 00 mis Vertical A 8 For Help press F1 GPStation User Manual 13 3 Operation NovAtel WinSat is provided to facilitate the user s interaction with the GPStation However it certainly is possible to communicate with the GPStation through DOS or a Windows based communications program this is discussed in greater detail later
5. amp UPDATES 17 Upgrading Using the SAUTH Command 17 Updating Using the Loader tbty 2 eee er netter erben eve troia eb Yan REER E EDS Ee ege 18 Downloading Firmware Piles 18 Using the Loader Utility 5522 2 19 APPENDIX A TECHNICAL SPECIFICATIONS 21 APPENDIX B GPStation REPLACEMENT PARTS e Would Like To Hear From You 27 GPStation User Manual iii Table of Contents Note TABLES 1 Feature Summary GPStation Models 7 2 2 Strapht Cable Pin Conhigurations oerte Ee eet 8 3 Null Modem Cable Pin Configurations esssssesseseeeeeeeere trennen tenere tene tene tree tree tren tret nest ene enn rennen 9 4 W O Port Pin out Description otio e tr 10 FIGURES Photograph of GPStation pe ier oa EAR EH 1 2 GPStation Front End cap 3 2 GPStation Rear End cap paeem eren REDI mpi eb eR 3 4 Typical GPStation Installation Configuration esee trennen trennen eren inrer 4 5 Power Cables cesses 7 6 Straight Serial Port 6001050 8 7 Null Modem Serial Port Cable 9 8 WO Port Cable I evaetends 10 H Typical Operational Configurationi sccsessee sc escesctevensscneseessedscerssevstsenevecsssbsdeesesisebeessnssenbenssenssenssoessedsteveseusucesneder 12 10 Sample E des tearauaceuess co
6. at the port prompt After establishing which new model revision level would best suit your needs and having described the terms and conditions Customer Service will issue to you an authorization code auth code The auth code is required to unlock the new features according to your authorized upgrade update model type There are two procedures to choose from depending on the type of upgrade update you require 1 If you are upgrading to a higher performance model at the same firmware revision level e g upgrading from a GPSTN Rev 3 42 to a GPSTNM Rev 3 42 you can use the AUTH special command 2 If you are updating to a higher firmware revision level of the same model e g updating a GPSTN Rev 3 42 to a higher revision level of the same model you will need to download new program firmware to the GPStation using the Loader utility program As the Loader and update programs are generally provided in a compressed file format you will also be given a file decompression password The Loader and update files can be found on NovAtel s BBS or FTP site or can be sent to you on floppy disk or by e mail Customer Service will provide you with all the information which you require to update or upgrade your receiver UPGRADING USING THE AUTH COMMAND The SAUTH command is a special input command which authorizes the enabling or unlocking of the various model features Use this command when upgrading to a higher performance GPStation model a
7. higher revision level of the same model Loader is a DOS utility program designed to facilitate program and model updates Once Loader is installed and running it will allow you to select a host PC serial port bit rate directory path and file name of the new program firmware to be downloaded to the GPStation DOWNLOADING FIRMWARE FILES To proceed with your program update you must first acquire the latest firmware revision You will need a file with a name such as OEMXYZ EXE where XYZ is the firmware revision level This file is available from NovAtel s GPS Bulletin Board 403 295 4206 or FTP site ftp novatel ca or via e mail gps novatel ca If downloading is not possible the file can be mailed to you on floppy disk You will need at least 1 MB of available space on your hard drive For convenience you may wish to copy this file to a GPS sub directory e g C GPS LOADER The file is available in a compressed format with password protection Customer Service will provide you with the required password After copying the file to your computer it must be decompressed The syntax for decompression is as follows Syntax filename s password where filename is the name of the compressed file but not including the EXE extension 8 is the password command switch password is the password required to allow decompression Example oem342 8s12345678 18 GPStation User Manual NovAtel 4 Firmware Upgrades amp Upda
8. in this section BOOT UP The GPStation s software resides in read only memory As such the unit self boots upon power up and undergoes a complete self test If an error condition is detected during a self test the self test status would change this self test status information can be viewed in the RGEA B C and RVSA B data output logs please refer to the GPSCard Command Descriptions Manual If a persistent error develops please contact NovAtel Customer Service When the GPStation is first powered up no activity information is transmitted from the COM ports except for the port prompt the screen on an external data communications device will display one of these two messages Com1 gt if connected to COMI port or Com2 if connected to COM2 port Either prompt indicates that the GPStation is ready and waiting for command input Commands are typed at the interfacing terminal s keyboard and sent after pressing the terminal s Return or Enter key NOTE Most valid commands do not echo a response to a command input the indication that they have been accepted is a return of the port prompt from the GPStation VERSION HELP and are the only commands that provide a data response other than the port prompt Example An example of no echo response to an input command is the FIX HEIGHT command It can be entered as follows COM2 fix height 550 Return COM2 gt The above example illustrates command input to the G
9. made and substantially improves the receiver s performance in differential mode The custom GPStation User Manual 1 NovAtel 1 Introduction built proprietary correlator chip combined with a high performance 32 bit CPU is capable of generating satellite code and carrier phase data at a rate of up to 20 times per second and computing up to 10 position solutions per second among the highest rates found in the industry Exceptional acquisition and re acquisition times are also a standard feature of this high performance receiver The GPStation is available in two models whose features are summarized in Table 1 Table 1 Feature Summary GPStation Models Corea aE T PSTN 12 parallel tracking channels Narrow Correlator spacing 1 2 wa 1 2 configurable RS 232C serial data ports 7 Fastre acquisition S 4 Field programmable for firmware upgrades d Y Multipath Elimination Technology N A d High stability OCXO Data Logging Rates Computed Data Position speed direction amp clock offset 10 sec Measured Data Pseudorange amp carrier phase 20 sec I SN Output Data Log Formats NovAtel proprietary ASCII and binary NMEA 0183 Ver 2 0 RINEX Ver 2 RTCM SC 104 Rel 2 0 Types 1 3 9 16 59N RTCA DO 217 Types 1 Positioning Modes of Operation Single point Waypoint navigation Differential using
10. pseudorange corrections Receiver Control Clock drift correction Ability to save receiver configuration settings amp almanac Reset hardware or firmware activated Serial port control Datum table or user definable Magnetic variation correction Undulation table or user definable Satellite elevation cutoff control Position height amp velocity constraints Satellite lockout control Satellite health control Strobes JJ Mark input position amp time 1 PPS timing output for GPS time synchronization Measurements strobe User defined frequency output pulse train Solution status output n E NESSES al Se 1 d m 1 1 m a SSSSSSNS d D E d The high stability Oven Controlled Crystal Oscillator OCXO ensures highly accurate pseudorange and carrier measurements for DGPS real time kinematic with an RT 20 enabled remote station and post processing applications 2 GPStation User Manual Note 1 Introduction The enclosure measures 320 mm x 130 mm x 60 mm weighs 1 5 kg and is constructed of extruded aluminum It is sealed by two end caps which are connected by five mounting screws NOTE 1 The unit is sealed to provide protection against adverse environmental conditions Any attempt to open the enclosure will impair its water resistant qualities and void the warranty NOTE2
11. up the red dot on the connector shell with the red index mark on the socket Insert the connector until it seats with a click it is now locked in place To remove a cable grasp the connector by the knurled ring and pull see illustration DO NOT PULL DIRECTLY ON THE CABLE GPSAntenna CONSIDERATIONS The purpose of the antenna is to convert the electromagnetic waves transmitted by the GPS satellites at the L1 frequency 1575 42 MHz into electrical signals The GPStation has been designed for use with the NovAtel Model 501 GPSAntenna as a means of ensuring the highest precision positioning accuracy The Model 501 uses low profile microstrip technology and include band pass filtering and an LNA which is powered directly by the GPStation It offers exceptional phase center stability as well as a significant measure of immunity against multipath interference To reduce multipath reception even further the GPSAntenna can be mounted on an optional NovAtel Choke Ring Ground Plane refer to the GPSAntenna Model 501 User Manual for more details The 501 s low noise amplifier LNA boosts the power of the incoming signals by 23 dB to compensate for cable losses if the losses are greater than this excessive signal degradation will occur and the GPStation may not be able to meet its performance specifications The 501 has an environmentally sealed radome NOTE The performance specifications of the GPStation are guaranteed only when i
12. 00 0 0006 DE9S Pin No Pin 1 DCD Brown Pin 4 Pin 2 RXD Black Pin 3 Pin 3 TXD Red Pin 2 Pin 4 DTR Orange Pin 6 Pin 5 GND Yellow Pin 5 Pin 6 DSR Green Pin 4 Pin 7 RTS Blue Pin 8 Pin 8 CTS Violet Pin 7 Pin 9 NULL Gray Pin 9 Pin 10 White Not used Pin 1 jumpered to Pin 6 GPStation User Manual 9 2 Hardware Configuration NovAtel I O STROBE PORT CABLE The I O strobe lines can be accessed by inserting the 8 pin LEMO connector of the I O strobe port cable NovAtel p n 01016330 into the I O port Figure 8 and Table 4 contain wiring and pin out information on this cable The other end of the cable is provided without a connector so that the user can provide an application specific one the jacket insulation is cut away slightly from the end but the insulation on each wire is intact The Input Output Strobes section of Appendix A contains a specification of each I O strobe signal For field replacement of the LEMO connector please consult Appendix B for the manufacturer s part number Figure 8 LO Port Cable Red marker at top of connector LEMO 8 pin socket BROWN 1 VARF BLACK 2 1PPS RED 3 MKO ORANGE 4 Ge MR YELLOW 5 STATUS GREEN 6 G DND BLUE 7 DND WHITE 8 G
13. 600 bps default Signals supported Electrical format TX RX RTS CTS DTR DSR DCD EIA RS232C Standard 22 GPStation User Manual 4 Appendix A Technical Specifications PERFORMANCE Subject To GPS System Characteristics Frequency 1575 42 MHz L1 Codes tracked C A code SPS Channels 12 independent tracking channels Time to First Fix stabilized OCXO temperature Re acquisition 3 s typical Computed Data Update Rate gt 70 s typical cold start no initial time almanac or position required assuming gt 10 solutions per second Measured Data Update Rate gt 20 data records per second Pseudorange Position Accuracy real time Stand alone 15 m CEP SA off GDOP lt 2 40 m CEP SA on Differential using two R option Performance Series GPSCards GDOP 4 lt 0 75 m CEP lt 1 00 m SEP Pseudorange Code Measurement Accuracy 10 cm RMS 3 minutes no multipath C No gt 44 dB Hz 30 cm RMS in multipath environment with choke ring ground plane Single Channel Carrier Phase Measurement Accuracy 2 mm RMS C No gt 44 dB Hz Loop BW 15 Hz Differential Channel Carrier Phase Measurement Accuracy 0 5 mm RMS 1 second smoothed no multipath C Ng gt 44 dB Hz Height Measurements Velocity Measurements lt 515 m s due to export licensing restrictions Velocity Accuracy 0 05 m s SA off 0 20
14. Although the GPStation has a rugged enclosure it is neither intended for kinematic applications nor designed to withstand high levels of vibration or shock Any of these conditions would impair the stability of the OCXO NovAtel leads the industry in state of the art GPS receiver design We believe our GPStation product line will meet your high expectations Future products and enhancements from NovAtel are aimed at helping you to maintain that level of satisfaction CONNECTIONS AND INDICATORS The GPStation features front and rear end caps Figures 2 amp 3 each with appropriate indicator lights and connectors The front end cap indicator light glows red if power is present then green when a valid position is computed Figure 2 GPStation Front End cap GPStation On the rear end cap there are connections for the I O strobe signals COMI amp COM2 serial ports power input and RF input from the GPSAntenna There is a LED above each serial port connector If a LED glows red data is being received by the GPStation on that port while if a LED glows green data is being transmitted by the GPStation on that port Figure 3 GPStation Rear End cap GPStation User Manual 3 2 Hardware Configuration HARDWARE CONFIGURATION Installing the GPStation is a straightforward process As shown in Figure 4 a minimum configuration is established with the following set up Set the GPSAntenna and optional choke ring
15. Current lt 5mA 24 GPStation User Manual Appendix B GPStation Replacement Parts NovAtel WE GPStation REPLACEMENT PARTS The following lists describe the replacement parts available for the GPStation system Should you require assistance or need to order additional components please contact your NovAtel Customer Service representative Part Description NovAtel Part Number I O strobes cable 01016330 Null modem serial data cable 01016329 Power cable 1 LEMO 4 pin socket to 2 pole plug 01016380 Power cable 2 2 pole socket to cigarette lighter plug 01016446 Power cable 3 2 pole socket to AC DC converter c w AC power cord 01016447 Straight serial data cable 01016383 Part Description LEMO Part Number 4 pin socket connector on power cable FGJ 0B 304 CNLD52Z 8 pin socket connector on I O cable FGL 1K 308 CLLC45Z 10 pin plug connector on both serial data cables FGG 1K 310 CLAC55Z Part Description Dominion Automotive Part Number 2 pole plug connector male connector body DA 762158 2 pole plug connector male plug DA 762150 2 pole plug connector grommet DA 762152 2 pole socket connector female connector body DA 762159 2 pole socket connector female socket DA 762151 2 pole socket connector grommet DA 762152 26 GPStation User Manual Moche We Would LikeTo Hear From You NovAtel Inc is committed to providing you our valued customer with quality products and customer s
16. INTENANCE PROCEDURES ID 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 III NORMAL WEAR AND TEAR IV DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON V SHIPPING DAMAGE OR VD SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NOVATEL IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES EXPERIMENTAL DEVELOPMENTAL PREPRODUCTION SAMPLE INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES EXPRESS OR IMPLIED WRITTEN OR ORAL INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED NOVATEL SHALL NOT BE LIABLE FOR ANY LOSS DAMAGE OR EXPENSE 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 INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE There are no user serviceable parts in the GPStation and no maintenance is required When the status code indicates that a unit is faulty replace with another unit a
17. NovAtel software Rev 3 34 OM 20000014 Rev 1 0 GPStation User Manual GPStation Products NovAtel Inc Moche 6 User Manual Publication Number OM 20000014 Revision Level 1 0 96 10 22 GPStation Narrow Correlator and Multipath Elimination Technology are trademarks of NovAtel Inc Dominion Automotive is a trademark of Dominion Automotive IBM and PC are registered trademarks of International Business Machines Corporation LEMO is a registered trademark of LEMO S A Windows is a registered trademark of Microsoft Corporation Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc The software described in this document is furnished under a license agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication 1996 NovAtel Inc All rights reserved Unpublished r
18. PStation COM 2 port which sets the GPStation antenna height as fixed to 550 m above sea level and causes position solutions to be constrained as 2D with height fixed However your only confirmation that the command was actually accepted is the return of the COM2 gt prompt If a command is incorrectly entered the GPStation will respond with Invalid Command Name or a more detailed error message followed by the port prompt After initial boot up you may find the following logs useful for observing the GPStation activities While WinSat is the easiest way to do this you can also use DOS or a Windows based communications program examples of both are provided below e Use the RCCA log to list the default command settings After the GPStation has been operational for a while the RCCA log will be useful for indicating status of all current command settings Displaying the RCCA log after a RESET will show the saved configuration see the description of the SAVECONFIG command for more information se the ETSA log to monitor the channel tracking status se the SATA log to observe the satellite specific data se the POSA log to observe the current computed position solutions se the DOPA log to monitor the dilution of precision of the current satellite constellation se the RVSA log to monitor the receiver status se the HELP command to list all available commands Jse the HELP LOG command to list all available logs ve e e e e e e
19. ation s default port settings are as follows e RS232C protocol 9600 bits per second no parity 8 data bits 1 stop bit no handshaking echo off Changing the default settings requires the use of the COMn command which is described in the GPSCard Command Descriptions Manual It is recommended that the user become thoroughly familiar with the commands and logs to ensure maximum utilization of the GPStation s capabilities 12 GPStation User Manual 3 Operation NOTE Although the GPStation can operate at bit rates as low as 300 bps this may not always be desirable For example if several data logs are active i e a significant amount of information needs to be transmitted every second but the bit rate is set too low data will overflow the serial port buffers and cause an error condition in the receiver status COMMUNICATING USING A REMOTE TERMINAL One method of communicating with the GPStation is through a remote terminal The GPStation has been pre wired to allow proper RS232C interface with a data terminal To communicate with the terminal the GPStation only requires the RX TX and GND lines to be used handshaking is not required although it can optionally be used Ensure that the terminal s communications set up matches the GPStation RS232C protocol COMMUNICATING USING A PERSONAL COMPUTER An IBM compatible PC can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple
20. command batch files and data logging storage files Any standard communications software package that emulates a terminal can be used to establish bi directional communications with the GPStation One can create command batch files using any text editor these can then be directed to the serial port that is connected to the GPStation using a communications software package This is discussed in greater detail later in this chapter GETTING STARTED Included with your GPStation are NovAtel s WinSat and Convert programs together with a user manual for them WinSat is a Windows based graphical user interface which allows one to interact with the GPStation without struggling with communications protocol or writing special software WinSat automatically recognizes the model of GPStation being used and adjusts the displays accordingly Figure 10 shows a sample WinSat screen Convert is a Windows based utility that allows you to convert between file formats and strips unwanted records for data file compilation Figure 10 Sample WinSat Screen Ii Plan All VAT SPORIS IT ION THER UE nn e oo Ome an ee Channel PRN number Chan State Doppler C No db Hz 6 000 393 Residual 0 00 LookTime D Reject Code Good Good Good Good NoEphm System Cor GPS N GPS N GPS N GPS N GPSN GPS N Measurement LI C A LI C A LLC A Dis LI C A LI C A LI C A m LI C A LICIA LI C A LON W 114 02 37 008 11 003m Std Dev HGT 1068 813m MSL 24 351m Std Dev
21. dels and software features with unique functionality These documents are to be considered as companion manuals and should be kept together to allow easy reference from one to the other For example a reference in this manual to a command or logging activity may require you to consult the GPSCard Command Descriptions Manual for a deeper understanding of the full contents and usage of that particular command or log Prerequisites The GPStation requires the addition of peripheral equipment before it can become fully functional Section 2 Hardware Configuration provides information concerning installation requirements and considerations The GPSCard mounted within the GPStation utilizes a comprehensive user interface command structure which requires communications through its serial communications ports COMI and COM2 To utilize the built in command structure to its fullest potential it is recommended that some time be taken to review and become familiar with Sections 2 through 6 of the Command Descriptions Manual before the initial operation viii GPStation User Manual Note 1 Introduction INTRODUCTION The NovAtel GPStation is a high performance reliable GPS receiver with a built in high stability oscillator As such it is intended for use as a differential GPS base station as well as other demanding positioning applications The GPStation is intended to be used with the following NovAtel accessories e Model 501 GPSAn
22. des e EEE REE EE E ances EEE EEEE E EEOSE EE EEE 13 11 Main screen of LOADER program eeii ee E E EE EE E E E ESEE SEE tne nete EEES 19 12 GPS tation Side 1 21 13 GPStation Front E d cap Meester eege SEENEN E EEE EEEE EE EErEE EOE EE EEEE EEE De 21 14 GPStation Rear End cap View 5 eene HS REIR E ai INO REISEN IU GEL ESO REIS S E 21 iv GPStation User Manual 4 NovAtel Warranty 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 GPStation Series One 1 Year GPSAntenna Series One 1 Year Cables and Accessories Ninety 90 Days Software Support One 1 Year Date of sale shall mean the date of the invoice to the original customer for the product NovAtel s responsibility respecting this warranty is limited solely to product repair at an authorized NovAtel location only Determination of 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 ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION OPERATING AND MA
23. e the purpose please note that the performance specifications of the GPStation are guaranteed only when it is used with NovAtel supplied RF cables NOTE The coaxial cable should be connected to the antenna and GPStation before system power is turned on If the antenna cable becomes disconnected from the antenna or GPStation remove power from the GPStation before reconnecting the cable this will prevent the GPStation s antenna current limiting circuit from unnecessarily activating POWER SUPPLY CONSIDERATIONS The GPStation incorporates a DC to DC power converter providing filtering automatic reset circuit protection and voltage regulation It accepts a single input voltage between the range of 10 to 36 V DC The power input is reverse polarity protected Refer to the Power Requirements section of Appendix A for further information The DC output of the autoranging AC DC converter will meet the GPStation s requirements for an input of 110 220 V AC NOTE Operating the GPStation outside the specified input voltage range may result in damage to the GPStation and or unreliable data INPUT POWER CABLES As shown in Figure 5 there are three power cables supplied with the GPStation 1 4 pin LEMO socket connector to 2 pole plug connector NovAtel p n 01016380 2 2 pole socket connector to cigarette lighter plug with built in 2 amp fuse NovAtel p n 01016446 3 2 pole socket connector to AC DC converter and AC
24. ecommended in Section 2 The following instructions are based on a configuration such as that shown in Figure 9 It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility Furthermore it should be understood that communication between the GPStation and a computer is achieved by virtue of the GPS firmware which resides within the GPStation Figure 9 Typical Operational Configuration User interface GPSAntenna Models 501 511 or 521 GPSCard lt Power to LNA amp OCXO RF signal Power source 10 to 36 V DC OCXO WARM UP Each time the GPStation is powered up allow 3 5 minutes for temperature stabilization of the OCXO to occur before beginning base station transmissions This will ensure that the differential corrections sent to remote stations are of the highest accuracy COMMUNICATIONS WITH THE GPSTATION Communication with the GPStation is straightforward and consists of issuing commands through the COMI or COM2 port from an external serial communications device This could be either a terminal or an IBM compatible PC that is directly connected to a GPStation serial port using a null modem cable Further information on the GPSCard commands and logs can be found in the GPSCard Command Descriptions Manual SERIAL PORT DEFAULT SETTINGS For communication to occur both the GPStation and the PC or terminal have to be configured properly The GPSt
25. en select Program Card 5 Select the disk drive e g A B C D in which the update file e g 342 BIN is located Select the path where the update program file is located e g C GPS LOADER the directory from which you started Loader is the default path Select the required update file e g 342 BIN 6 At the prompt enter your update auth code e g 1702 32df 6080 92b5 e5b9 gpstnm GPStation User Manual 19 4 Firmware Upgrades amp Updates NovAtel 9 When prompted by the program turn on power to the GPStation Loader will automatically establish communications with the GPStation The time required to transfer the new program data will depend on the bit rate which was selected earlier When the download is complete use the terminal emulator in Loader select Terminal or any other one to issue the VERSION command this will verify your new program version number When using the terminal emulator in Loader a prompt does not initially appear you need to enter the command first which then produces a response after which a prompt will appear Exit Loader select Quit This completes the procedure required for field updating a GPStation 20 GPStation User Manual NovAtel Appendix A Technical Specifications E TECHNICAL SPECIFICATIONS Figure 12 GPStation Side View E Figure 13 GPStation Front End cap View GPStation Figure 14 GPStation Rear End cap View
26. ervice We would appreciate hearing from you Please take a few moments to think about the questions below then respond through any of the methods listed in the Customer Service section at the beginning of this manual At NovAtel we value your input e Which products have you purchased from NovAtel GPS Receivers GPStation GPSCard OEM Series PC Series GPS Antenna Accessories Other e Are you satisfied with the performance of these products Yes No Please explain e Are you satisfied with the level of customer service provided Yes No Please explain e What influenced you to purchase NovAtel GPS products e Do you have any comments concerning this User Manual e Are there any new features or products that you would like to see from NovAtel GPS Do you have any other comments or suggestions Your name Company Address phone number GPStation User Manual 27 NOTES 28 GPStation User Manual NOTES GPStation User Manual 29 LOBAL PQSITIONING SYSTEM NovAtel Inc 6732 8th Street N E Calgary Alberta Canada T2E 4 GPS Hotline 403 295 4900 GPS Fax 403 295 4901 E mail gos novatel ca Web site http www novatel ca Recyclable eS Printed in Canada on recycled paper OM 20000014 Rev 1 0 96 10 22 Software Rev 3 34
27. ground plane Route and connect coaxial cable between the GPSAntenna and GPStation Connect an 45232 communication interface to one of the serial ports of the GPStation The supplied null modem cables are intended for RS232 communications only Connect the output of the power adapter to the input power jack of the GPStation Figure 4 Typical GPStation Installation Configuration GPStation GPSAntenna Models 501 511 or 521 pictured GPSAntenna Model 501 amp Choke ring Ground Plane Model A030 Automotive RF cable cigarette lighter adapter Power cable UO strobes cable AC DC converter Null modem serial data cable female connector attaches to user supplied operator interface Straight serial data cable male connector attaches to user supplied modem or radio transmitter Operator interface 4 GPStation User Manual NovAtel 2 Hardware Configuration CABLE CONNECTION CONSIDERATIONS The connectors that are used to mate the cables to the GPStation have a locking mechanism which requires careful insertion and removal Observe the following when handling the cables To insert a cable make certain you are using the appropriate cable for the port the COMI CONZ serial port cable has a different connector 10 pin than the I O cable 8 pin e Line
28. ights reserved under International copyright laws Printed in Canada on recycled paper Recyclable ex ii GPStation User Manual Table of Contents TABLE OF CONTENTS FOREWORD 1 INTRODUCTION 1 A S 1 Connections and Indicators eese eene nennt rrr tenere terere te trn ene enn sese a e anne ne aie aoia 3 2 HARDWARE CONFIGURATION Cable Connection Considerations 5 552 4 2 2 GPSAnmtenna Consideratwoms E H 5 Antenna Cable Considerations 5 eterni eH Ie Hiper EE 6 LN ge EE EEN 6 Input Power Cables oho d en Deo d e egit itin aos i pt e 6 Senal Data Cables EP 7 TO Strobe Port Cablecom enei E EE E REER ERE EE EE N EER REE RE E 10 User Supplied Radio 11 Oven Controlled Crystal Oscillator OCXO nennen nennen entente ettet erret netten innen 11 3 OPERATION 12 12 Communications with the OGbbtanon icenen iastan eE Ee ESEE ES CAE ESE EREE OE SRE EEEN 12 Serial Port Default Settings ro rettet he e e SEE NK MEE NER EEEE EEE AEREE REER 12 Communicating Using a Remote Terminal 0 0 13 Communicating Using a Personal Computer 13 Get nb Stared r EE 13 ib 4 DOSa e e E EREN Sa cots dys Sige ea Sei eunsed chp aba E A A 15 Windows 3 1 or EE 15 4 FIRMWARE UPGRADES
29. inate the differential corrections keep in mind that its maximum line of sight range will primarily be influenced by the effective radiated power determined in turn by the transmitter s power output the gain of its antenna and any losses in the transmitting subsystem the height of the transmitting antenna and the height of the receiving antenna The documentation supplied with the radio equipment should contain the information needed to design an effective radio network OVEN CONTROLLED CRYSTAL OSCILLATOR OCXO The built in high stability OCXO enables the GPStation to generate highly accurate differential corrections The OCXO section of Appendix A summarizes the operating characteristics of this oscillator It is important to remember that the OCXO requires 3 5 minutes after power up to stabilize its temperature differential corrections should not be sent until after this stabilization has occurred The GPStation power requirements increase when the OCXO heater switches on see the Power Requirements section of Appendix A NOTE The accuracy of the OCXO is impaired by vibration and shock so it is essential that the GPStation be at rest on a stable and secure surface during operation The GPStation has rubber feet in order to reduce the effect of vibration GPStation User Manual 11 3 Operation NovAtel OPERATION Before using the GPStation for the first time ensure that you have set up your system as r
30. m s SA on Time Accuracy relative lt 18 288 m due to export licensing restrictions 50 ns SA off 250 ns SA on GPStation User Manual 23 Appendix A Technical Specifications NovAtel INPUT OUTPUT STROBES VARF Output A programmable variable frequency output ranging from 156 Hz 10 23 MHz refer to FREQUENCY OUT command with pulse width 49 ns This is a normally high active low pulse The time between pulses may vary by as much as 49 ns jitter PPS Output A one pulse per second time synchronization output This is a normally high active low pulse 200 us where the falling edge is the reference Measure Output 20 pulses per second output normally high active low where the pulse width is 200 us The falling edge is the receiver measurement strobe Mark Input An input mark negative pulse gt 55 ns time tags output log data to the time of the falling edge of the mark input pulse refer to LOG command syntax ONMARK This line is TTL or contact closure compatible Status Output Indicates a valid GPS position solution is available A high level indicates a valid solution or that the FIX POSITION command has been set Table 4 contains I O port pin out information The electrical specifications of the strobe signals are as follows Output Voltage Standard TTL levels Sink Current 64 mA Source Current 15 mA Input Voltage Standard TTL levels
31. nd return the faulty unit to NovAtel Inc You must obtain a RETURN MATERIAL AUTHORIZATION RMA number by calling GPS Customer Service at 1 800 280 2242 or 403 295 4900 before shipping any product to NovAtel or Dealer L Once you have obtained an RMA number you will be advised of proper shipping procedures to return any defective product When returning any product to NovAtel please return all original diskettes along with the defective product in the original packaging to avoid electrostatic and or shipping damage ANY ATTEMPT TO OPEN THE GPStation CASE WILL IMPAIR THE WATER RESISTANT QUALITIES OF THE ENCLOSURE AND VOID THE WARRANTY GPStation User Manual v Customer Service Note CUSTOMER SERVICE If you require customer service please provide the following information along with a detailed description of the problem when you call or write Serial No Model No Software Release No Date Purchased Purchased from User name Title Company Address City Prov State Zip Postal Code Country Phone Fax E mail GPStation interface Computer type Operating Shell Other interface used Please provide a complete description of any problems you may be experiencing or the nature of your inquiry attach additional sheets if needed You may photocopy and fax this page call or mail the above information to
32. ordinates and sets the magnetic variation correction to 21 degrees The POSA SPHA and NAVA logs have been set to output from the GPStation COMI port at intervals of once every 15 seconds whereas the GPRMB and GPVTG NMEA logs have been set to be logged out of the GPStation COM2 port at intervals of 15 seconds and offset by five seconds The RCCA log has been set to output every 60 seconds from the GPStation COM2 port 16 GPStation User Manual NovAtel 4 Firmware Upgrades amp Updates FIRMWARE UPGRADES amp UPDATES The GPStation stores its program firmware in non volatile memory which allows the user to perform firmware upgrades and updates without having to return the GPStation to the factory New firmware can be downloaded to the GPStation through a serial port and the unit will immediately be ready for operation at a higher level of performance The first step in upgrading your receiver is to contact NovAtel GPS Customer Service via any of the methods described in the Customer Service section at the beginning of this manual A Customer Service Representative will assist you in selecting the best upgrade option that suits your specific GPS needs When you call be sure to have available your GPStation model number serial number and program revision level This information is printed on the original shipping box as well as on the back side of the GPStation itself You can also verify the information by issuing the VERSION command
33. power cord NovAtel p n 01016447 These cables allow you to power the GPStation from either an AC source or an automotive DC source For field replacement of either the LEMO connector or the 2 pole connectors please consult Appendix B for a list of the manufacturers part numbers 6 GPStation User Manual NovAtel 2 Hardware Configuration Figure 5 Power Cables Red marker at top Cigarette lighter of connector 2 pole connector socket plug Y LEMO 4 pin socket BROWN e GND ORANGE 29 10to 36VDC RED 39 1010436 V DC BLACK 456 GND 2 pole connector socket 4 conductor wire RB AC DC converter AC socket AC plug li SERIAL DATA CABLES Two serial data cables are supplied to connect the GPStation to a PC or modem They are described as follows e straight cable 10 pin LEMO plug to 9 pin D connector DE9P plug see Figure 6 amp Table 2 This is used to connect the GPStation to a modem or radio transmitter to propagate the differential corrections Its NovAtel part number is 01016383 e null modem cable 10 pin LEMO plug to 9 pin D connector DE9S socket see Figure 7 amp Table 3 This is used to connect the GPStation to a serial RS232 communication port on a terminal or computer Its NovAtel part number is 01016329 The 10 pin pl
34. t is used with a NovAtel supplied antenna When installing the antenna select a location with a clear view of the sky to the horizon so that each satellite above the horizon can be tracked without obstruction The location should also be one that minimizes the effect of multipath for a discussion on multipath please refer to the chapter on Multipath Elimination Technology in the GPSCard Command Descriptions Manual Ensure that the antenna is securely mounted on a stable structure that will not sway or topple GPStation User Manual 5 2 Hardware Configuration NovAtel ANTENNA CABLE CONSIDERATIONS The RF cable that you require will depend on the specific antenna selected for use in your system and the distance between the antenna and the GPStation NovAtel offers high quality coaxial cable in the following lengths 5 m Model C005 15 m Model C015 and 30 m Model C030 these come with a TNC male connector at each end Should your application require the use of cable longer than 30 m contact your NovAtel GPS Customer Service representative and request Application Note APN 003 Extended Length Antenna Cable Runs before you proceed The GPSAntenna Model 501 can compensate for up to 23 dB of cable loss if this limit is exceeded excessive signal degradation will occur and the GPStation may not be able to meet its performance specifications While there may be other coaxial cables on the market which might also serv
35. tenna e Model A030 Choke ring Ground Plane to reduce the effects of multipath reception e Model C005 C015 or C030 5 15 or 30 m length coaxial cable to connect the GPSAntenna to the GPStation After the addition of these accessories together with user supplied data communications equipment and a power supply the GPStation will be ready for use FEATURES The GPStation includes the following features e GPS receiver rugged water and dust resistant enclosure see Figure 1 modified NovAtel OEM2 GPSCard with GPStation software two serial communication ports and a strobe port high stability Oven Controlled Crystal Oscillator OCXO one straight and one null modem serial data cable one I O strobe cable an AC DC converter and power cables NovAtel WinSat graphical user interface software and user manual Figure 1 Photograph of GPStation The GPStation features a 12 channel parallel tracking C A Coarse Acquisition code GPS receiver operating on the 1 1575 42 MHz frequency Each dedicated channel independently tracks the code and carrier phase of a GPS satellite in view The GPStation incorporates NovAtel s patented Narrow Correlator technology that achieves pseudorange accuracy with near P code performance and provides the industry s most robust resistance against errors introduced by multipath signals The improved pseudorange accuracy reduces the time required for ambiguity resolution when carrier phase measurements are being
36. tes The self extracting archive will then generate the following files e LOADER EXE Loader utility program e LOADER TXT Instructions on how to use the Loader utility e XYZ BIN Firmware version update file where XYZ program version level e g 342 BIN USING THE LOADER UTILITY The Loader utility can operate from any DOS directory or drive on your PC The program is comprised of three parts Program Card authorization procedure Setup communications configuration and Terminal terminal emulator The main screen is shown in Figure 11 Figure 11 Main screen of LOADER program NovAtel GPS Serial Downloader 02 00 1 Menu 1 Program card Setup Terninal Quit If you are running Loader for the first time be sure to access the Setup menu step 3 below before proceeding to Program Card step 4 below otherwise you can go directly from step 2 below to step 4 The procedure is as follows 1 Turn off power to the GPStation 2 Startthe Loader program 3 From the main menu screen select Setup to configure the serial port over which communication will occur default COMI and the data transfer rates for both programming default 115 200 bits per second and terminal emulation default 9600 bps To minimize the time required select the highest serial bit rate your PC can reliably support Loader will verify and save your selections in a file named LOADER SET and return to the main menu screen 4 From the main scre
37. the address listed below For customer support contact_the NOVATEL GPS Hotline at 1 800 280 2242 or 403 295 4900 send a fax to 403 295 4901 send e mail to support novatel ca visit our web site at www novatel ca or write to NovAtel Inc GPS Customer Service 1120 68th Avenue N E Calgary Alberta Canada T2E 8S5 vi GPStation User Manual NovAtel Notices FCC NOTICE FCC approval Class A digital device is pending CAUTION Handle with Care AA Use Anti Static Precautions GPStation User Manual vii Foreword Note FOREWORD Scope This manual provides sufficient information for the initial set up and operation of the GPStation its focus is on the user s perspective for integration evaluation and operation purposes It is beyond the scope of this manual to provide service or repair details Please contact your NovAtel Customer Service Centre for any customer service problems or inquiries The following documents have been supplied to provide you additional valuable reference information e GPSCard Command Descriptions Manual a description of the GPSCard commands and logs available to the user Itis written in generic form so as to accommodate all models of GPSCard based receivers e WinSat Graphical Interface Program User Manual a description of the user interface software included with all GPSCard receivers Other supplementary manuals may be included to accommodate special mo
38. tions program can be used for these purposes the use of Windows 95 is described only as an illustration The following example shows how the Windows 95 accessory programs Notepad and HyperTerminal can be used to create a hypothetical waypoint navigation boot file on a PC and send it to the GPStation It is assumed that the PC s serial port COMI is connected to the GPStation s COMI port and that a remote terminal is connected to the GPStation s COM port Example 1 Open Notepad and type in the following command text setnav 51 111 114 039 51 555 114 666 0 start stop magvar 21 log coml posa ontime 15 log coml spha ontime 15 log coml nava ontime 15 log com2 gprmb ontime 15 5 log com2 gpvtg ontime 15 5 log com2 rcca ontime 60 2 Savethis with a convenient file name e g C GPS BOOTNAV1 TXT and exit Notepad GPStation User Manual 15 3 Operation NovAtel 3 Ensure that the HyperTerminal settings are correctly set up to agree with the GPStation communications protocol these settings can be saved e g C GPS OEMSETUP HT for use in future sessions You may wish to use XON XOFF handshaking to prevent loss of data 4 From the Transfer menu use the Send text file selection to locate this file to be sent to the GPStation Once you double click on the file or select Open then HyperTerminal will send the file to the GPStation The above example initializes the GPStation with origin and destination waypoint co
39. ug on each cable can be plugged into either the COMI or COM port on the GPStation For field replacement of the LEMO connector please consult Appendix B for the manufacturer s part number GPStation User Manual 7 2 Hardware Configuration NovAtel Figure 6 Straight Serial Port Cable Red marker at top of connector S1 S5 ES pe S6 S9 LEMO 10 pin plug DE9P male BROWN 1 6 01 BLACK 20 0 2 RED 3 gt o3 ORANGE 4 gt oO 4 YELLOW 5 gt o5 GREEN 66 o6 BLUE 7 9 o7 VIOLET 896 o8 GRAY 9 gt o9 WHITE 100 10 conductor cable Table 2 Straight Cable Pin Configurations LEMO Pin No RS232 Signal Wire Color Code DESP Pin No Pin 1 DCD Brown Pin 1 Pin 2 RXD Black Pin 2 Pin 3 TXD Red Pin 3 Pin 4 DTR Orange Pin 4 Pin 5 GND Yellow Pin 5 Pin 6 DSR Green Pin 6 Pin 7 RTS Blue Pin 7 Pin 8 CTS Violet Pin 8 Pin 9 NULL Gray Pin 9 Pin 10 White Not used 8 GPStation User Manual 4 NovAtel 2 Hardware Configuration Figure 7 Null Modem Serial Port Cable Red marker at top of connector T S5 S1 S9 S6 DE9S female ROWN B BLACK 26 m NE GREEN YELLOW 5 8 SL E o5 GREEN Go VIOLET e 6 TE SS GRAY 9 GRAY 9 WHITE 100 10 conductor cable Table 3 Null Modem Cable Pin Configurations LEMO Pin RS232Signal wire
40. vailable within the same revision level as your current model e g upgrading from a GPSTN Rev 3 42 to a GPSTNM Rev 3 42 This command will only function in conjunction with an auth code assigned by GPS Customer Service The upgrade can be performed directly from WinSat s Command Line Screen or from any other communications program The procedure is as follows 1 Power up the GPStation and establish communications over a serial port see Section 3 Operation 2 Issue the VERSION command to verify the current firmware model number revision level and serial number 3 Issue the SAUTH command followed by the auth code and model type The syntax is as follows Syntax auth auth code GPStation User Manual 17 4 Firmware Upgrades amp Updates NovAtel where auth is a special command which allows program model upgrades auth code is the upgrade authorization code expressed as hhhh hhhh hhhh hhhh hhhh model where the h characters are an ASCII hexadecimal code and the model would be ASCII text Example Sauth 17cb 29af 3d74 01ec fd34 gpstnm Once the AUTH command has been executed the GPStation will reboot itself Issuing the VERSION command will confirm the new upgrade model type and version number UPDATING USING THE LOADER UTILITY Loader is required instead of the AUTH command when updating previously released firmware with a newer version of program and model firmware e g updating a GPSTN Rev 3 42 to a
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