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OM-20000089 Europak3.book

1. Field Field Description Format Binary Binary Name Bytes Offset This field contains the message header in ASCII or Binary header format See Section 4 3 on Page 45 H 1 2 es ore Number of tracked satellite data sets to ULong 4 H follow 3 prn Satellite PRN being tracked ULong 4 H 4 4 sigchan Signal channel for the tracked satellite ULong 4 H 8 5 accums Number of accumulation values to follow Ulong 4 H 12 6 Asum Q accumulation value Long 4 H 16 Variable Next channel data set offset H 4 svobs 12 4 x accums variable 32 bit CRC ASCII and Binary only Hex 4 variable Recommended Input LOG ALLSOMQA ONNEW Example Output ALLSQMOQA COM1 0 78 0 FINESTEERING 465 265344 251 00000008 0000 33331 8 17 4 2 1971 3855 26 6 2 5176 6166 9 8 2 22864 20263 15 14 2 13497 13957 4 16 2 13646 24317 8 20 2 20834 35078 11 22 2 86 16272 28 24 2 13036 7862 F340434D lt The number of satellites and the signal channels tracked will be different for MEDLL receiver models Euro 3 and Enclosures User Manual Rev 3 Message ID 633 103 Chapter 6 Data Logs 6 3 7 ALLSQMQINFO Q Correlator Locations This log provides information about the correlation locations found in the ALLSQMQ log see Page 103 An individual message is sent for each configured channel of the receiver The message contents will be constant for a specific software version
2. 0 0 1 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 1 2 3 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 2 4 5 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 3 6 7 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 4 8 9 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 5 10 11 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 6 12 13 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 7 14 15 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 8 16 WAAS L1 C A Standard WAAS WAAS 500 Yes Idle Euro 3 and Enclosures User Manual Rev 3 Noa Electrostatic Discharge Control ESD B 1 Practices Overview Static electricity is electrical charge stored in an electromagnetic field or on an insulating body This charge can flow as soon as a low impedance path to ground is established Static sensitive units can be permanently damaged by static discharge potentials of as little as 40 volts Charges carried by the human body which can be thousands of times higher than this 40 V threshold can accumulate through as simple a mechanism as walking across non conducting floor coverings such as carpet or tile These charges may be stored on clothing especially when the ambient air is dry through friction between the body and or various clothing layers Synthetic materials accumulate higher charges than natural fibers Electrostatic voltage levels on insulators may be very high in the order of thou
3. Log Type Polled Message ID 657 Field Field Description Format Binary Binary Name Bytes Offset I tester IRE Seo ea EH S 0 2 svobs Number of tracked satellite data sets to follow ULong 4 H 3 sigchan Signal channel for the tracked satellite ULong 4 H 4 4 Ulong 4 H 8 Reserved Y 2 AAA 5 Ulong 4 H 12 6 locations Number of correlator locations to follow Long 4 H 16 7 AQxval Correlator spacing in C A code chips from punctual Float 4 H 20 variable Next channel data set offset H 4 svobs 16 4 x locations variable 32 bit CRC ASC and Binary only Hex 4 variable Recommended Input LOG ALLSOMOINFOA ONNEW Example Abbreviated ASCII Output ALLSOMQINFO COM1 0 77 0 FINESTEERING 465 265419 193 00000008 0000 33331 14 0 28 0 2 0 0000000 0 0255750 2 28 0 2 0 0000000 0 0255750 4 28 0 2 0 0000000 0 0255750 6 28 0 2 0 0000000 0 0255750 8 28 0 2 0 0000000 0 0255750 10 28 0 2 0 0000000 0 0255750 12 28 0 2 0 0000000 0 0255750 14 28 0 2 0 0000000 0 0255750 16 28 0 2 0 0000000 0 0255750 18 28 0 104 Euro 3 and Enclosures User Manual Rev 3 Data Logs 2 0 0000000 20 28 0 2 0 0000000 22 28 0 2 0 0000000 24 28 0 2 0 0000000 26 28 0 2 0 0000000 0255750 0255750 0255750 0255750 0255750 Chapter 6 lt The number of satellites and the signal channels tracked will be different for MEDLL receiver models Euro 3 and
4. 1 2 3 4 5 6 it 8 9 OONOATNARWN Reference Description Reference Description 10 DB9P male connector 12 9 conductor cable 11 DB9S female connector Figure 25 EuroPak 3 and EuroPak 3T Straight Through Serial Cable 156 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Appendix A A 2 2 4 O Strobe Port Cable NovAtel part number 60723065 The strobe lines on the EuroPak 3 and EuroPak 3T can be accessed by inserting the male DB9 connector of the I O strobe port cable into the O port The other end of this cable is provided without a connector to provide flexibility The jacket insulation is cut away slightly from the end but the insulation on each wire is intact The cable is approximately 2 m in length See Figure 26 ill 1 2 3 4 5 6 T 8 9 Wiring Table UO Port 1 O Port UO Port Cable 1 0 Port 1 O Port UO Port Cable Pin Signal Wire Color Pin Signal Wire Color 1 VARF Black 6 Reserved Green 2 PPS Brown 7 Reserved Blue 3 Reserved Red 8 GND Violet 4 Event Orange 9 GND White Grey 5 PV Yellow Reference Description Reference Description 10 DB9P male connector 11 9 conductor cable Figure 26 EuroPak 3 and EuroPak 3T I O Strobe Port Cable Euro 3 and Enclosures User Manual Rev 3 1
5. Table 27 DLL Bandwidth Values Frequency Valid Bandwidth Values C A signals 0 001 to 0 5 Hz P Y signals 0 001 to 0 5 Hz Example DLLBW CA 0 01 Euro 3 and Enclosures User Manual Rev 3 71 Chapter 5 Commands 5 2 11 ECUTOFF 72 This command sets the elevation cut off angle for tracked satellites The receiver will not track a satellite until it rises above the cut off angle Tracked satellites that fall below the cut off angle will no longer be tracked unless they were manually assigned using the ASSIGN command In either case satellites below the ECUTOFF angle will be eliminated from the internal position and clock offset solution computations If the receiver has not yet received an almanac satellites below the cut off angle may be tracked This command permits a negative cut off angle which could be used in these situations the antenna is at a high altitude and thus can look below the local horizon satellites are visible below the horizon due to atmospheric refraction lt Care must be taken when using ECUTOFF because the signals from lower elevation satellites are travelling through more atmosphere and are therefore degraded Syntax Message ID 50 ECUTOFF angle Mor Binary Binary Valid Values Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name H 0 See Section 4 3 on Page 45 Elevation cut off angle
6. 23 265 324000 8B042468772742500075DB788C586F50DAAD6FDBD2934F1A00003D16FBCA0000000 000000000 8B04246877AA93F8E9327CE98F6B1EF92701F373FE0719A101 A460000000000000000 8B042468782FFFF623044B9BFFI 8FFA4EF9307060000000000000008 28353AD1 Euro 3 and Enclosures User Manual Rev 3 E 265 320910 000 00840000 0000 33331 E19D14F1 EA272C59B8276557A4B0B 117 Chapter 6 Data Logs 6 3 13 RAWGPSSUBFRAMEWP Raw Subframe Data This log contains the raw GPS 300 bit subframes The subframes will be output even when there are parity failures See also Table 62 and Table 63 on Page 160 for the mapping of signal channels Log Type Asynch Message ID 570 Field Field Name Description Format Binary Binary Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 H 0 2 chan Signal channel number that the frame was decoded on ULong 4 H 3 PRN Satellite PRN number ULong 4 H 4 4 CH Number of words that had parity failures ULong 4 H 8 ailures 5 data Raw subframe data Hex 38 408 H 12 6 32 bit CRC ASCH and Binary only Hex 4 H 52 a In the Binary log case an additional 2 bytes of padding is added to maintain 4 byte alignment Recommended Input LOG RAWGPSSUBFRAMEWPA ONNEW Example Output RAWGPSSUBFRAMEWPA COM1 0 47 5 SATTIME 265 320934 000 00840000 118 0000 33331 26 11 0 8B0424F9A1E4DD8571F3949EC
7. Field Field Name Data Description Format Binary Binary Bytes Offset 1 header This field contains the message header in ASCI or H 0 Binary format See Section 4 3 on Page 45 2 comp Number of components Ulong 4 H 3 Type Component type see Table 56 on Page 134 Enum 4 H 4 4 Reserved Enum 4 H 8 5 Temp Board temperature C Float 4 H 12 6 Ant current Approximate internal antenna current A Float 4 H 16 7 Core volt 1V CPU core voltage V Float 4 H 20 8 Supply volt SV supply voltage V Float 4 H 24 9 RF volt SV RF supply voltage V Float 4 H 28 10 LNA volt Internal LNA voltage V Float 4 H 32 11 3 3 V supply 3 3 V supply voltage Float 4 H 36 12 ee Gente Control voltage for TCXO Float 4 H 40 13 idle time Idle time Float 4 H 44 14 LNA output LNA output voltage V Float 4 H 48 15 Next component offset H 4 comp x 48 variable 32 bit CRC ASCII and Binary only Hex 4 HEAT comp x 48 Recommended Input LOG SYSTEMLEVELSA ONTIME 1 Example Output SYST 0000 33331 1 GPSCA 128 EMLEVELSA COM1 0 42 0 FINESTEERING 265 320951 000 00840000 RD UNKNOWN 36 000 0 043 1 194 13 326 5 001 1 404 3 300 1 469 42 377 4 598 C64C995F Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 19 TIME Time Data This log is output at the TIME port at a maximum rate of 1 Hz and provides the GPS time of the receiver s 1 PPS signal
8. lt 1 CTS and DSR are inputs while RTS is an output 2 To create a common ground tie together all digital grounds GND with the ground of the power supply 150 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Appendix A A 2 EuroPak 3 and EuroPak 3T Enclosures INPUT OUTPUT CONNECTORS Antenna Input TNC female jack 50 O nominal impedance 5 VDC 100 mA max output from EuroPak 3 to antenna LNA PWR 4 pin LEMO connector EuroPak 3 Input Voltage 9 to 18 VDC Power Consumption 6 W typical EuroPak 3T Input Voltage 11 to 18 VDC Power Consumption 13 W typical COM DB9P connector COM2 DB9P connector USB1 DB9P connector AUX DB9P connector 1 0 DB9S connector OSC BNC connector Oscillator input on the EuroPak 3 Input Frequency 5 or 10 MHz 0 5 ppm Signal Level 0 to 13 dBm Oscillator output on the EuroPak 3T Output Frequency 10 MHz Signal Level 10 dBm 3 dB Phase Noise 0 1 Hz 55 dBc Hz 1 Hz 95 dBc Hz 10 Hz 125 dBc Hz 100 Hz 155 dBc Hz 1 kHz 165 dBc Hz 10 kHz 165 dBc Hz 100 kHz 165 dBc Hz PHYSICAL Size 236 x 153 x 71 mm Weight 1 2 kg maximum including Euro 3 GPSCard ENVIRONMENTAL Operating Temperature EuroPak 3 40 C to 60 C EuroPak 3T 20 C to 50 C Storage Temperature 45 C to 95 C Humidity Not to exceed 95 non condensing a The EuroPak 3 provides an external oscillator input on this connector while the EuroPak 3T provides an output from the
9. 1 6 5 Data Communications Equipment A PC or other data communications equipment is necessary to communicate with the receiver and if desired to store data generated by the receiver Euro 3 and Enclosures User Manual Rev 3 21 Chapter 2 Installation This chapter contains instructions and tips to set up your NovAtel receiver to create a GPS receiver system A WARNING Complete all installation instructions before applying power to the receiver 2 1 Additional Equipment Required In order for the receiver to perform optimally the following additional equipment is required e An interface for power communications and other signals and an enclosure to protect against the environment if your receiver has been purchased as a GPSCard without an enclosure e An active GPS antenna e A quality coaxial cable and interconnect adapter cable as necessary Data communications equipment capable of serial communications A serial cable if not included with the receiver A power supply e A power cable if not included with the receiver A CAUTION When the Euro 3 receiver is installed in a permanent location such as in a building it should be protected by a lightening protection device according to local building codes See also Warranty Policy on Page 13 2 1 1 Selecting a GPS Antenna An active antenna is required because its low noise amplifier LNA boosts the power of the incoming signal to compensate for the line loss b
10. Figure 4 on the next page shows a typical set up for an enclosed receiver Euro 3 and Enclosures User Manual Rev 3 Installation Reference 1 OO Om C0 bh Chapter 2 Figure 4 Typical Receiver Installation Description Receiver GPSAntenna Model 702 or 701 RF Antenna Cable 12V Power Cable Null Modem Data Cable shown or USB Cable Data Communications Equipment 2 2 1 Installing a GPSCard in a Wiring Harness and Enclosure To install a GPSCard begin with the following Ensure you are taking the necessary precautions against ESD as described in Section 2 2 1 1 below 2 Mount the GPSCard in a secure enclosure to reduce environmental exposure and RF interference as described in Section 2 2 1 2 on Page 26 3 Prepare a wiring harness to interface to the receiver s data status and power signals using the information given in Section 2 2 1 3 on Page 26 2 2 1 1 Electrostatic Discharge ESD Precautions Electrostatic discharge is a leading cause of failure of electronic equipment components and printed circuit boards containing ESD sensitive devices and components It is imperative that ESD precautions be followed when handling or installing a GPSCard Please see Appendix B Electrostatic Discharge Control ESD Practices starting on Page 161 for more information about ESD precautions Leave the GPSCard in its static shielding bag or clamshell when not connected in its normal operating environment When removing the GPSCar
11. 31 comp time HH MM SS HH hour MM minutes SS seconds a One character for each of the COM ports 1 2 and 3 where character 2 is for RS 232 Therefore the example is for a receiver that uses RS 232 for COM1 COM2 and COM3 Euro 3 and Enclosures User Manual Rev 3 Chapter 7 Firmware Updates The receiver firmware is stored in on board non volatile memory which allows it to be updated in the field So that updating firmware takes only a few minutes instead of several days which would be required if the receiver had to be sent to a service depot When updating to a higher revision level you will need to transfer the new firmware to the appropriate card using one of NovAtel s firmware loading utilities WinLoader is designed for use with Window based systems and was developed for use with Unix based systems Below is shown an outline of the procedure for updating your receiver s firmware 1 Contact the NovAtel Aviation Group Download update files Decompress files gt V P Run the firmware loading utility 7 1 Contacting the NovAtel Aviation Department The first step in updating the receiver is to contact the NovAtel Aviation Group via any of the methods described in Customer Support on Page 14 When you call be sure to have the EuroPak 3 s serial number and program revision level available This information is printed on the rear panel of the EuroPak 3 as shown in Figure 9 EUR
12. 31 USBO D USBO interface data 32 Signal Descriptions Row C Pin GND Power ground 1 4 5 18VIN Voltage in 4 5 to 18 VDC 2 GPAI1 Reserved internal 19 2 kQ pull down resistor 3 GPAI2 Reserved internal 19 2 kQ pull down resistor 4 TRST JTAG test reset 5 TMS JTAG test mode select 6 TDI JTAG test data input 7 TDO JTAG test data output 8 TCLK JTAG test clock 9 ADC2_L1 I O Bit 2 L1 ADC samples 10 ADC1_L1 1 0 Bit 1 L1 ADC samples 11 ADCO L1 I O Bit 0 L1 ADC samples 12 ADC2 L2 I O Bit 2 L2 ADC samples 13 ADC1 L2 I O Bit 1 L2 ADC samples 14 ADCO L2 I O Bit 0 L2 ADC samples 15 Reserved for future use 16 18 MEDLL CLK ADC sample clock 19 IQ SYNC IQ alignment 20 Continued on Page 150 Euro 3 and Enclosures User Manual Rev 3 149 Appendix A Technical Specifications MSR Measurement strobe 21 Reserved for future use 22 23 VBUS1 USB1 BUS Power 24 USB1 D USB1 interface data 25 USB1 D USB1 interface data 26 USB1D1 USB1 host device select 27 USB2 D USB2 interface data 28 USB2 D USB2 interface data 29 USB3 D USB3 interface data 30 USB3 D USB3 interface data 31 GPI0_USER4 Reservea internal 10 kQ pull down resistor 32 Signal Descriptions Row D Pin GND Power ground 1 4 5 18VIN Voltage in 4 5 to 18 VDC 2 GND Digital ground 3 32 Signal Descriptions Row Z Pin GND Power ground 1 4 5 18VIN Voltage in 4 5 to 18 VDC 2 GND Digital ground 3 32
13. Chapter 6 Table 50 Receiver Error Data Logs Nibble Bit ETL Description NO 0 0x00000001 Dynamic Random Access Memory DRAM status OK Error 1 0x00000002 Reserved OK Error 2 0x00000004 OK Error 3 0x00000008 OK Error NI 4 0x00000010 Electronic Serial Number ESN access status OK Error 5 0x00000020 Authorization code status OK Error 6 0x00000040 Reserved OK Error J 0x00000080 Supply voltage status OK Error N2 8 0x00000100 Reserved OK Error 9 0x00000200 Temperature status as compared against acceptable limits OK Error 10 0x00000400 MINOS4 status OK Error 11 0x00000800 PLL RF1 hardware status L1 OK Error N3 12 0x00001000 PLL RF2 hardware status L2 OK Error 13 0x00002000 Reserved OK Error 14 0x00004000 OK Error 15 0x00008000 NVM status OK Error N4 16 0x00010000 Stack usage status OK Error 17 0x00020000 Memory usage status OK Error 18 0x00040000 Message queue usage status OK Error 19 0x00080000 Message usage status OK Error N5 N7 Reserved Table 51 Receiver Auxiliary 1 Status UE 0x00000001 0x00000002 0x00000004 0x00000008 0x00000010 0x00000020 0x00000040 0x00000080 0x00000100 0x00000200 0x00000400 0x00000800 NibbleX Bit Description NO Reserved NI OTG243 Port 1 overrun flag OTG243 Port 2 overrun flag OTG243 Port 3 overrun flag Reserved No overrun Over
14. Euro 3 and Enclosures USER MANUAL OM 20000089 Rev 3 Proprietary Notice Euro 3 and Enclosures User Manual Publication Number OM 20000089 Revision Level 3 Revision Date 2010 08 30 Associated Firmware Version Euro 3 2 201 or higher NovAtel Narrow Correlator tracking technology and MEDLLO are registered trademarks of NovAtel Inc GPSAntenna GPSCard and SafeTrak are trademarks of NovAtel Inc All other brand names are trademarks of their respective holders Copyright NovAtel Inc 2004 2010 All rights reserved Unpublished rights reserved under International copyright laws Printed in Canada on recycled paper Recyclable Ek 2 Euro 3 and Enclosures User Manual Rev 3 Table of Contents Notices Software License Warranty Policy Customer Support Foreword 1 Introduction Loterie of the EUto 8 nett Pete act Neto t d E idad 1 2 Overview of the Clock Card EuroPak 3T oni 1 9 S BAS QV6elVIeW 5i den eee en a fete e t t ct td 1 4 EuroPak 3 and EuroPak 3T Enclosures er eene nnne nnne 1 5 E re Features 2 tae neat tbe eate t et aeta e d HR Re eae 1 5 1 GEO Processing Iri ache eee tias 1 5 2 Multipath Reduction zarit aeternae aa aeara a T eaaa nn nnn nennen rrr rn nnns 1 5 3 Cross Correlation Detection Channel TT LTE 1 5 5 Signal Quality Monitoring acria cnn nn nar a rra rra 1 5 6 Digital Pulse Banking anar nn cnn nnnn nn nn enne remern enn 1 6 Euro 3 GPSCard 2 i
15. This command controls signal acquisition and a steady state lock threshold for the PY code The acqui and lock fields must have values They set the thresholds for the L2 channel Syntax Message ID 659 PLLTHRESHOLD lock acqui codetype d KA Binary Binary Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCII command name See Section 1 header H 0 4 3 on Page 45 2 leek 0 01 1 00 Steady state tracking lock threshold Float 4 H in cycles 3 acqui 0 01 1 00 Acquisition power threshold in Float 4 H 4 cycles Specifies which signal type the 4 codetype PY parameters should be applied to Fou i HE Example PLLTHRESHOLD 0 6 0 05 PY Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 18 PULSEBLANKING lt The PULSEBLANKING command should only be used by advanced users of GPS This command enables or disables digital pulse blanking By default the digital pulse blanking is enabled The sensitivity of the digital pulse blanking may be adjusted using the threshold field Figure 8 on Page 84 displays the relationship between the threshold value and the AGC bins Syntax Message ID 519 PULSEBLANKING frequency threshold Binary Binary Valid Values Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name H 0 See Section 4 3 on Page 45 2 Frequency L2 EE Enum 4 H 3 Threshold
16. ores Inr 92 AGG Slats Word TEE 94 Synchronization Flag Values oooccoononccccnnnncocccccnnaonncnnnnnno cnc nc e nennen ener nennen nenne ener 98 Clock Model Status Values oooococcconoccccccnnoconcccconanancncno nano eeudna aaas AARAA naar AE rra nn n nn cnn anar iS aeara 110 Constellation Change Flag Values ssssssee eene eene 110 solution Status Valles sui RE Le RR AME UEM AED ae le 112 Position Type Values nei ede dec te dr dv Mte ded e ede a a ete ded dd eee bed ede ded 112 Channel Tracking Status nres niena irren cete ete nune na anu tke eerte enne Race dee danes 115 Tracking State Bit Values iiiiseiiiis eiiis esee iint AT E E einn s adden ned 116 Correlator Spacing Bit Values ooooocoonnnccccnonnaccccccnnnoncncnnnnoncnnnna nana nnc cnn non nnncnn nnnm 116 Command Type Values esses ta 122 Recelvet EMO acotada hel bees tatu ees leia a bil educta ie eoe Up d 124 Receiver Auxiliary 1 Status oooooooonnnnccccinnnoccccccnncancnnccnnnoncncnnnnn nennen mnn enne R enne nnns 124 Euro 3 and Enclosures User Manual Rev 3 7 Tables Receiver Statys E EENEG a dd da 125 Satellite Visibility Valdes nia idilio odds 127 Complete Almanac Flag Values sss nennen ennemi en nnne nnns 127 Reject Code Values ci bz itane ius 132 Component We 134 Version Eog Fleld Fortmats uir ERREICHEN ERU EE FU EE ERES 134 Target Card IdentificatiOn 2 nee Eee e CE repere de ede 138 Per
17. 16 H 72 version 9 Zeie Firmware compile date See Table 57 on Page 134 Char 12 12 H 88 10 time Firmware compile time See Table 57 on Page 134 Char 12 12 H 100 11 Next component offset H 4 previous comp x 108 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 comp x 108 Recommended Input LOG VERSIONA ONCE Example Output 4 VERSIONA COM1 0 77 0 FINESTEERING 465 265277 071 00000008 0000 33331 2 GPSCARD GRC SVM05030043 2008 Jul 16 16 53 39 CPLD mm Im CPLD 1 mu mm mm 556c6991 Euro 3 and Enclosures User Manual Rev 3 E4G2 2 03 222 2 201A5 2 100db 133 Chapter 6 ASCII Binary UNKNOWN 0 GPSCARD 1 CPLD 8 Field Name Field Format hw version P RS CCC 134 Table 56 Component Type Values Description Unknown Component Receiver Component Complex Programmable Logic Device Table 57 Version Log Field Formats Description P hardware platform for example E4G2 R hardware revision for example 2 00 S processor revision for example A CCC COM port configuration for example 222 Data Logs sw version boot version P VRR Xxxx P platform version number V major revision number RR minor revision number X Special S Beta B Internal Development D A xxx number comp date YYYY MM DD YYYY year MM month DD day 1
18. 295 0 134 99321176 839 0 009 2550 556 36 9 153 460 01305C8B 23 0 21129930 016 0 306 111038530 762 0 028 2116 305 49 7 172 180 08105CA4 23 0 21129937 508 0 046 86523554 806 0 003 1649 069 46 2 150 460 01305CAB 16 0 22799268 596 0 362 119810963 733 0 026 2946 004 48 2 170 260 08105CC4 16 0 22799279 515 0 100 93359218 287 0 004 2295 589 39 4 138 960 01305CCB 4 0 24192022 374 1 267 127129934 904 0 041 1290 381 42 4 10 370 08005504 1 0 20395815 562 0 222 107180735 037 0 026 775 109 52 4 170 630 08105 D24 1 0 20395826 400 0 053 83517479 701 0 002 603 982 44 8 156 960 01305 20 0 20443446 171 910 08105 20 0 20443456 161 460 01305 11 0 25112352 167 690 08105 11 0 25112365 155 960 01305 122 0 4060512 117 076 8C023l A22AF9AB D2B 499 0 250 107431037 330 0 026 273 030 51 4 D44 214 0 047 83712520 728 0 003 212 752 45 9 DAB 659 0 697 131966297 666 0 026 3191 521 42 5 DAL 364 0 145 102830904 305 0 018 2486 906 36 1 DAB 9 400 0 729 213381400 234 0 028 5 028 42 1 E24 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 Table 46 Channel Tracking Status Nibble Bit Mask Description Range Value 0 0x00000001 So 1 0x00000002 0 to 22 2 0x00000004 Tracking state See Table 47 on Page 116 3 0x00000008 4 0x00000010 5 0x00000020 NI 6 0x00000040 7 0x00000080
19. C No gt 38 dB Hz DLL BW 0 05 Hz Single Channel Phase Accuracy L1 L2 C A 3 mm RMS C No gt 44 dB Hz PLL BW 3 Hz L2 P Y 5 mm RMS C No gt 38 dB Hz PLL BW 0 2 Hz C No Accuracy CIA 2 dB 30 60 dB Hz P Y 4 dB 34 54 dB Hz 8 dB 24 33 dB Hz Raw Data Availability Rate Code Phase SQM and MEDLL Time Almanac Data Once per second Once per second lt 15 minutes after reset Time to First Fix 100 seconds 95 with stabilized internal and external oscillators and initial time almanac and position Re acquisition L1 L2 C A L2 P Y GEO 5 seconds C No 44 dB Hz 16 60 seconds C No 38 dB Hz 10 10 seconds C No 44 dB Hz 10 Height Measurements Up to 18 288 metres 60 000 feet maximum a In accordance with export licensing Euro 3 and Enclosures User Manual Rev 3 144 Technical Specifications Appendix A A 1 Euro 3 GPSCard Size 100 mm x 160 x 16 mm excluding the 160 position I O connector Weight 150 grams MECHANICAL DRAWINGS 160 0 D2 8 c eA Om ab y amp 100 0 gas I ny E E a g H SM M CKNESS Qs ooch BEES D
20. Done is displayed in the main display area see Figure 15 on Page 139 Download Complete Resetting Card Resetting Done LLLLEEELELEEELEEEEELEEEEEEETTTTT COM 1 Connect 9600 Download 115200 Figure 15 Update Process Complete 8 Close WinLoad This completes the procedure required to update a EuroPak 3 receiver Euro 3 and Enclosures User Manual Rev 3 139 Chapter 8 Built In Status Tests 8 1 8 2 8 3 8 4 Overview The built in test monitors system performance and status to ensure the receiver is operating within its specifications Ifan exceptional condition is detected the user is informed through one or more indicators The receiver status system is used to configure and monitor these indicators Receiver status word Error strobe line RXSECSTATUS log 4 Status LED pop E In normal operation the error strobe is driven low and the status LED on the receiver flashes green When an unusual and non fatal event occurs for example there is no valid position solution a bit is set in the receiver status word Receiver operation continues normally the error strobe remains off and the LED continues to flash green When the event ends for example when there is a valid position solution the bit in the receiver status word is cleared When a fatal event occurs that is in the event of a receiver hardware failure a bit is set in the receiver error word to indicate the cause of the problem Bit
21. Enum 4 H 4 Example SETSATELLITE 29 DISABLE Table 37 Desired Health Values ASCII Binary Description DISABLE 0 Disable tracking ENABLE he Enable tracking Euro 3 and Enclosures User Manual Rev 3 87 Chapter 5 5 2 22 THRESHOLD This command controls signal acquisition and steady state lock signal thresholds The acqui and lock fields must have values They set the thresholds for the L1 channel See also Table 62 and Table 63 on Page 160 for the mapping of signal channels Commands gt lt If a signal channel is specified see the optional sigchan field below it overrides the codetype and system Syntax fields The threshold values are applied to that particular signal channel THRESHOLD acqui lock crosscorr codetype system sigchan Message ID 449 Field d Binary Binary Field Name Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCII command name See 1 header H 0 Section 4 3 on Page 45 Acquisition power threshold in 2 acqui 25 80 dBHz ULong 4 H Steady state tracking lock 3 lock 10 80 threshold in dBHZ ULong 4 H 4 Specifies the cross correlation power threshold in dBHz at S crosscou 10 80 which point the checks are ULong 4 EB performed Specifies which signal type the 5 codetype po Table 33 on parameters should be applied Enum 4 H 12 age 81 io System that the SV channel is 6
22. Euro 3 and Enclosures User Manual Rev 3 107 Chapter 6 Data Logs 6 3 9 CLOCKMODEL Current Clock Model Status The CLOCKMODEL log contains the current clock model status of the receiver Monitoring the CLOCKMODEL log will allow you to determine the error in your receiver reference oscillator as compared to the GPS satellite reference All logs report GPS time not corrected for local receiver clock error To derive the closest GPS time subtract the clock offset from the GPS time reported The clock offset can be calculated by dividing the value of the range bias given in field 6 of the CLOCKMODEL log by the speed of light c The following symbols are used throughout this section B Range bias m BR Range bias rate m s SAB Gauss Markov process representing range bias error due to SA clock dither m The standard clock model now used is as follows clock parameters array B_ BR SAB covariance matrix 2 S oc og B B BR B SAB 2 o c o o o BR B BR BR SAB 2 c o 6 E c SAB B SAB BR SAB 108 Euro 3 and Enclosures User Manual Rev 3 Data Logs Log Type Synch Chapter 6 Message ID 16 Field Field Name Description Format Binary Binary Bytes Offset This field contains the message header in ASCII or Binary header format See Section 4 3 on Page 45 H 0 Clock model status as computed from current 2 Ge measurement data See Table
23. SV channel number SUE eor p n depends on the receiver 8 0x00000100 NS 9 0x00000200 10 0x00000400 Phase lock flag 0 Not locked 1 Locked 11 0x00000800 Parity known flag 0 Not known 1 Known 12 0x00001000 Code locked flag 0 Not locked 1 Locked NE 13 0x00002000 14 0x00004000 Correlator spacing See Table 48 on Page 116 15 0x00008000 16 0x00010000 0 GPS 17 0x00020000 Satellite system 1 3 7 Reserved E 2 GEO 18 0x00040000 19 Reserved always 0 20 0x00100000 Grouping 0 Not grouped 1 Grouped 21 0x00200000 0 LI N5 Frequency 1 L2 22 0x00400000 2 3 Reserved 23 0x00800000 0 C A 1 P 24 1 o ds Re 2 P codeless N6 25 0x02000000 3 7 Reserved 26 0x04000000 Forward Error Correction Not FEC 1 FEC FEC Na 27 30 Reserved always 0 31 0x80000000 Channel assignment 0 Automatic 1 Forced a Grouped Channel has an associated channel L1 L2 pairs Euro 3 and Enclosures User Manual Rev 3 115 Chapter 6 116 Table 47 Tracking State Bit Values Bit Value Description 0 C A idle 1 C A sky search 2 C A wide frequency band pull in 3 C A narrow frequency band pull in 4 C A phase lock loop 5 C A reacquisition 6 C A steering 7 C A frequency lock loop 8 P Y idle 9 P Y P code alignment 10 P Y search 11 P Y phase lock loop Table 48 Correlator Spacing Bit Values Bit Value Description 0
24. The main screen is shown in Figure 10 FR winLoad F iBuilds Aviation Alpha_SWCRR 3 00013000A42013000420 hex SEE File Settings Help F Builds Aviation Alpha_SW CRR 3 000 3000420 3000420 hex ei wite Flash Card Properes PSN Enclosure OSN t Abort HW Rev Hex File Properties Platform Kaz Type APP Version 200020 Authorization Code A KA ER Run Script 23 Query Card com 1 Connect 9600 Download 115200 A Figure 10 Main Screen of WinLoad If you are running WinLoad for the first time you will need to make sure the file and communications settings are correct 7 4 10 Open a File to Download From the file menu choose Open Use the Open dialog to browse for your file see Figure 11 Look jn 31 00 D ck E3 Femme fe SSS Files of ype HesFies Cancel 7A Figure 11 WinLoad s Open Dialog Once you have selected your file the name should appear in the main display area and in the title bar see Euro 3 and Enclosures User Manual Rev 3 137 Chapter 7 Firmware Updates Figure 12 File Settings Help C UNZIPS2000438 hex Figure 12 Open File in WinLoad The Target Card ID field allows you to specify which receiver card to update see Table 58 below Table 58 Target Card Identification Description 0 Euro 3 GPSCard 7 4 2 Communications Settings To set the
25. internal clock ASCII Example CLOCKADJUST DISABLE Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 9 COM This command permits you to configure the receiver s asynchronous serial port communications drivers You can change only the COM options and not the USBI options See Section 4 1 on Page 40 for a description of the factory defaults Syntax Message ID 4 COM port bps parity databits stopbits handshake lecho break Binary Offset Valid Values Description Format 1 header This field contains the Abbreviated ASCII command name See H 0 Section 4 3 on Page 45 Serial port to apply the settings 2 port Ges Se tlon to If no value is supplied the Enum 4 H SE settings are applied to COM1 9600 19200 38400 Toad 3 bps 57600 115200 or EH baud rate ULong 4 H 4 230400 Be See Table 23 on Parity If not specified no 4 panty Page 70 parity is assumed Enam A Heg 5 databits 7 or 8 Number of data bits ULong 4 H 12 6 stopbits 1 or2 Number of stop bits ULong 4 H 16 7 handshake E SR Handshaking Enum 4 H 20 8 echo See SEN Echo ability Enum 4 H 24 9 break P zoron Break detection Enum 4 H 28 a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware is required for higher rates such as 230 400 bps Example COM COM3 57600 N 8 1 N OFF ON Euro 3 and Enclosures User Manual Rev 3 69 Chapter 5 Com
26. 141 Reading the Bits in the Receiver Status Won 141 Location of Receiver Error Word 141 Reading the Bits in the Receiver Error Word c oooooocccccnnncocccccnnnnonc cinco nan nc cn no nano eene 142 Status LED Flash Sequence Example enne 143 Euro 3 Board Dimiensiofis ioci tcr esteri ad ege ees ete ea ed ata d vae Cave dea 145 Pin View of 160 Pin Connector on the Euro 148 EuroPak 3 and EuroPak 3T Power Cable eene eene nnne neni 154 EuroPak 3 and EuroPak 3T Null Modem Cable 155 EuroPak 3 and EuroPak 3T Straight Through Serial Cable esee 156 EuroPak 3 and EuroPak 3T I O Strobe Port Cable nnnnoonnnnunsnernnnssnrnnnessrnrrnnrsrrrrrssernrrresnsnne 157 USB Serlal CABS iii A Er Ere eet A eve dem ae a vv e oe ut 158 Euro 3 and Enclosures User Manual Rev 3 Tables OO OO JO Om P Gabi A NovAtel GPS Antenna Models oooonocccccnnncoccccccnononcncncnnnnnnnccnnno nn nn rnnnnn nnne nennen enne rra 23 Default Serial Port Configurations sse nennen enne 28 Available Strobe Signals on Receivers sss eene enne eene 29 EuroPak 3 and EuroPak 3T Status Indicators ssssssse eee 30 Response Messages 2 edited eden a A dcus 43 Log Triggers for Each Log Type sssssssee eene renen nenne nennen ens 45 ASCII Message Header Structure sss eee nnnm 47 Binary Message Header Structure 49 Field TYPOS E 50 BytevArranQe CT 51 Serial Port Identifi
27. 24 0x01000000 Stack warning OK Warning N6 25 0x02000000 Memory warning OK Warning 26 0x04000000 Message queue warning OK Warning 27 0x08000000 Message block usage warning OK Warning 28 0x10000000 Reserved 29 0x20000000 N7 30 0x40000000 31 0x80000000 AUXI status event flag No event Event Euro 3 and Enclosures User Manual Rev 3 125 Chapter 6 Data Logs 6 3 17 SATVIS Satellite Visibility Satellite visibility log with additional satellite information This log only gives GPS data no GEO data Log Type Synch Message ID 48 Field Field Description Format Binary Binary Name Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 i 0 A Indicates if the satellite visibility is valid See 2 qu Table 53 on Page 127 EES 4 H Indicates if the complete almanac was used See 3 comp alm Table 54 below Enum 4 H 4 4 sat Number of satellite data sets to follow ULong 4 H 8 5 PRN GPS satellite PRN number of range Short 2 H 12 measurement GPS only 6 Reserved Short 2 H 14 7 health Satellite health ULong 4 H 16 8 elev Elevation degrees Double 8 H 20 9 az Azimuth degrees Double 8 H 28 10 true dop Theoretical Doppler of satellite Hz Double 8 H 36 11 app dop Apparent Doppler for this receiver Hz Double 8 H 44 12 Next satellite data set offset H 12 previous sat x 40 H 12 variable 32 bit CRC ASCII and
28. 3 and Enclosures User Manual Rev 3 85 Chapter 5 Commands 5 2 20 SETAPPROXTIME This command sets an approximate time in the receiver The receiver will use this time as a system time until a GPS coarse time can be acquired This can be used to improve time to first fix This command is only valid if time has not yet been determined by the receiver The time entered should be within 10 minutes of the actual GPS time for best results Syntax Message ID 102 SETAPPROXTIME week sec r Field e GE Binary Binary Field Name Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCII command name See 1 header H 0 Section 4 3 on Page 45 2 week 0 1023 GPS week number ULong 4 H 3 See 0 604799 Number of seconds into GPS Double 8 H 4 week Example SETAPPROXTIME 850 425384 86 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 21 SETSATELLITE Set the health of a PRN to disable it from being tracked or to enable it lt All satellites are defaulted as enabled Syntax Message ID 425 SETSATELLITE prn health Field OT Binary Binary Field Name Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCH command name See header Section 4 3 on Page 45 H 0 2 prn 0 37 120 138 A satellite PRN integer number Long 4 H 3 health See Table 37 below Desired health tracking mode
29. 3 prn Satellite PRN being tracked ULong 4 H 4 ERA luan fg ne 5 obs Number of channel data sets to follow ULong 4 H 12 6 Alsum Accumulation 1 Long H 8 7 A2sum Accumulation 2 Long H 12 8 A3sum Accumulation 3 Long H 16 9 A4sum Accumulation 4 Long H 20 10 ASsum Accumulation 5 Long H 24 11 syne te flag for channel See Table 41 on Emi H 28 12 5 Next channel data set offset H 12 previous prn x previous obs x 24 variable Next satellite data set offset variable variable 32 bit CRC ASCII and Binary only Hex variable Euro 3 and Enclosures User Manual Rev 3 97 Chapter 6 Data Logs Recommended Input LOG ALLSOMDATAA ONNEW Example Output ALLSQMDATAA COM1 0 76 5 FINESTEERING 465 265309 252 00000008 0000 33331 8 17 4 2 16991661 8282 1473 16435627 15593257 TRUE 16824362 16548 16836828 15992096 16002062 TRUE 26 6 2 5280395 9710 3878 5104527 4831457 TRUE 5228061 8323 5218907 4956911 4961293 TRUE 9 8 2 8857372 13543 4705 8549598 8104496 TRUE 8762825 723 8772699 8305291 8326387 TRUE 15 14 2 6405615 2935 2488 6206501 588901 6349056 6495 6350052 6036326 6034364 TRU 4 16 2 6292347 6311 6167 6080143 573987 6237395 7988 6221825 5896489 5897003 TRU 1 R 8 9 TRUE 8 20 2 4475521 160 3470 4314983 407364 4431972 10899 4434046 4182840 4189202 T 11 22 2 8773572 18602 3853 8458208 7987682 TRUE 8680426 8774 8689846
30. 5 Auxiliary Status Codes sss nnne rr IER REN A Technical Specifications B Electrostatic Discharge Control ESD Practices C Standards References D Replacement Parts Euro 3 and Enclosures User Manual Rev 3 138 140 140 140 140 140 140 141 142 142 142 142 144 161 163 164 Figures OO Oo JO om P Go A The SBAS ele 17 EuroPak 3 and EuroPak 3T Enclosures cccccsssseccceeceensesceeceaueeseceeeaeanceeeeceaueaseeeteeeaaaeeeeeeeaees 18 EuroPak 3 and EuroPak 3T Rear Panel 19 Typical Receiver Installation cnn nn nn nn rra rn rn nn 25 Euro 3 Connector and Indicator Locations nennen nnne 27 USB Cable Connection a acce er loe a AAA teo era dx ee eee e ties a daa E UL Pu C 28 The WGS84 ECEF Coordinate System sss eene eene erre 76 Threshold n dieat O eee beides ti E eade ees eie ine 84 Serial Number and Version Label c cccccccecesssceceeeeceeeeeceeeceaescceeeeaueeseeeesaueeseceeeeeanseeeeeeeaees 135 Main Screen of WINLOa d Lucia id cae terea ad rat Havre p esa Age 137 WinLoad s Open Dialog 2 ridere a atts edie 137 Open Filein Witiboa40 3 n etm er e s ps Ro ett LE PLE e e ead Re 138 COM Port Setup id etico i added Se t ee dott le re fides e oes dan Ee 138 Authorization Code Dialog nen nemen nennen 139 Update Process Complete oooccoccncconocccccccccccncccnncnnonnonnnncnnncnnnnnnnnnnnn neret nn einn nnne nementn sensns 139 Location of Receiver Status Word
31. Double 8 H 84 15 incl angle Angle of inclination relative to 0 3 7 radians Double 8 H 92 16 SV config Satellite configuration ULong 4 H 100 17 health prn SV health from subframe 4 or 5 ULong 4 H 104 18 health alm SV health from almanac ULong 4 H 108 19 antispoof A GE Enum 4 H 112 20 Next almanac data set offset H 4 previous msg x 112 H 4 21 32 bit CRC ASCII and Binary only Hex 4 112 x msg Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 Recommended Input LOG ALMANACA ONCHANGED ASCII Example ALMANACA COM1 0 64 5 SATTIME 235 508014 000 00000028 42F1 0 315 1 1049 61440 0 5 10788E 03 7 8974718E 09 4 5666114E 01 1 7361 153E 00 9 1286238E 01 1 1730194E 04 0 00000000 1 4584974E 04 2 6560862E 07 1 7532921E 02 1 0 0 FALSE 2 1049 61440 0 1 95422E 02 8 0917656E 09 1 5495060E 00 2 14498 23E 00 2 5208892E 00 1 7547607E 04 3 6379788E 12 1 4585339E 04 2 6560419E 07 8 2930836E 03 1 0 0 FALSE 30 1049 61440 0 5 61333E 03 7 9889042E 09 1 5991652E 00 1 47591 91E 00 2 7901058E 00 9 5367432E 06 0 00000000 1 4585534E 04 2 6 560183E 07 1 9534287E 03 1 0 0 FALSE 31 1049 61440 0 9 47952E 03 8 0917656E 09 2 6421445E 00 8 05646 63E 01 1 9109259E 01 3 7193298E 05 0 00000000 1 4585948E 04 2 65 59680E 07 8 8922949E 03 1 0 0 TRUE fc97918d
32. It also includes the information about the receiver clock offset and the clock model status Log Type Sync Message ID 101 Field Field Description Format Binary Binary Name Bytes Offset This field contains the message header in ASC or Binary format Reader See Section 4 3 on Page 45 H 9 clock Clock model status not including current 2 status measurement data See Table 42 on Page 110 Enum 4 u Receiver clock offset in seconds from GPS time A positive offset implies that the receiver clock is ahead 3 offset of GPS time To derive GPS time use the following Double 8 H 4 formula GPS time receiver time offset 4 offset std Receiver clock offset standard deviation s Double 8 H 12 5 12 Reserved 24 H 20 13 32 bit CRC ASCH and Binary only Hex 4 H 44 Recommended Input LOG TIMEA ONTIME 1 Example Output TIMEA COM1 0 42 0 F INESTEERING 265 320951 000 00840000 0000 33331 VALID 1 964658463E 07 1 698770041E 07 0 00000000000 1985 2 6 17 9 11000 INVALID 14D424B8 Euro 3 and Enclosures User Manual Rev 3 129 Chapter 6 Data Logs 6 3 20 TRACKSTAT Tracking Status These logs provide channel tracking status information for each of the receiver s channels 130 Log Type Synch Message ID 83 Field Field Description Format Binary Binary Name Bytes Offset 1 boador This field contains the message hea
33. 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 NovAtel 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
34. Reserved 1 Standard correlator spacing gt 0 1 chip 2 Narrow correlator spacing 0 1 chip 3 Reserved 4 Reserved Data Logs Euro 3 and Enclosures User Manual Rev 3 Data Logs 6 3 12 RAWEPHEM Raw Ephemeris This log contains the raw binary information for subframes one two and three from the satellite with the parity information removed Each subframe is 240 bits long 10 words 24 bits each and the log contains a total 720 bits 90 bytes of information 240 bits x 3 subframes This information is preceded by the PRN number of the satellite from which it originated This message will not be generated unless all 10 words from all 3 frames have passed parity Ephemeris data whose Time Of Ephemeris TOE is older than six hours will not be shown Message ID 41 Log Type Asynch Chapter 6 Field Wee Description Format pin peii 1 header This field contains the message header in ASCI or H 0 Binary format See Section 4 3 on Page 45 2 prn Satellite PRN number Ulong 4 H 3 ref week Ephemeris reference week number Ulong 4 H 4 4 ref secs Ephemeris reference time seconds Ulong 4 H 8 5 subframel Subframe 1 data Hex 30 H 12 6 subframe2 Subframe 2 data Hex 30 H 42 7 subframe3 Subframe 3 data Hex 32 H 72 8 32 bit CRC ASCH and Binary only Hex 4 H 104 Recommended Input LOG RAWEPHEMA ONCHANGED Example Output RAWEPHEMA COM1 6 47 5 SATTIMI
35. a Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware is required for higher rates including 230 400 bps INPUT OUTPUT STROBES MSR Measure Output Event Mark Input Normally high active low where the pulse width is 1 ms The falling edge is the receiver measurement strobe 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 PV Position Valid Output indicates a good solution or a valid GPS solution when high ERROR Output that Indicates fatal error warning when high STATUS_RED Status output which is high or pulses to indicate that the Euro 3 card is not working properly STATUS_GREEN Status output which pulses to indicate that the Euro 3 card is working properly PPS Pulse Per Second VARF Variable Normally high active low pulse is 1 ms wide 1 Hz Falling edge is used as the reference A variable frequency output ranging from 0 20 MHz This is a normally high Frequency active low pulse RESETOUT Reset TTL signal output to external system active high RESETIN Reset TTL signal input from external system active low gt 1 us duration Output Voltage LVTTL levels Low minimum 0 VDC and maximum 0 55 VDC 24 mA High minimum 2 4 VDC and maximum 3 6 VDC 8 mA Input Voltage LVTTL levels Low minimum 0 VDC and maximum 0 8 VDC High minim
36. a binary value of 00111 Converting this value to decimal results in a value of 7 Therefore bit 7 of the receiver error word is set indicating there is a problem with the supply voltage of the receiver s power circuitry LSG 3 Gel Y 9 10 11 Reference 1 OO JO OC FP W M o 11 Figure 20 Status LED Flash Sequence Example Description Red Yellow 1 Second Pause Word Identifier Flash Bit Identifier Flashes End of Sequence End of Previous Sequence Beginning of Sequence Most Significant Bit of Binary Value Least Significant Bit of Binary Value Start of Next Sequence See also the RXSECSTATUS log and its tables starting on Page 123 of this manual for more details on this log and receiver error status Euro 3 and Enclosures User Manual Rev 3 143 INTO Technical Specifications Table 59 Performance Specifications PERFORMANCE All values subject to GPS system characteristics Frequency L1 1575 42 MHz L2 1227 6 MHz GPS L1 C A Code GPS L2 C A Code Codes Tracked Ge SBAS GEO L1 C A Code GPS SVN PRN 0 37 GEO SVN PRN 120 138 Satellite Tracking Channels Standard Model 14 L1 L2 GPS 4 L1 GEO or 18 L1 L2 GPS MEDLL Model 8 L1 L2 GPS 1 L1 GEO Position Accuracy stand alone 1 5 m CEP Pseudorange Measurement Accuracy L1 L2 C A Narrow L1 C A GEO L2 P Y 10 cm RMS C No gt 44 dB Hz DLL BW 0 05 Hz 1 m RMS C No gt 44 dB Hz DLL BW 0 05 Hz 50 cm RMS
37. accumulated Doppler range AGCMODE command 58 AGCSTATS log 93 ALLMEDLLESTIMATES log 95 ALLSQMI log 99 ALLSQMIINFO log 101 ALLSQMQ log 103 ALLSQMQINFO log 104 almanac reset 77 time status 53 ALMANAC command 60 ALMANAC log 106 ambiguity 113 anomaly 60 106 132 antenna active 21 23 30 62 altitude 72 cables 23 164 card status 141 considerations 27 dual frequency 23 input 151 models 23 power 30 single frequency 23 27 ANTENNAPOWER command 62 anti spoofing AS 61 106 anti static 9 26 161 162 ARINC 163 array clock model 108 AS see anti spoofing ASCII 42 46 47 assign all channels 65 single channel 63 ASSIGN command 60 63 ASSIGNALL command 65 ASSIGNL2CODETYPE command 66 asterisk 46 asynchronous logs 44 atmosphere 19 72 113 automatic channel assignment overriding 63 65 auxiliary status 142 azimuth 126 B baseline 19 bias 68 Binary 48 117 142 bit rate see bps bit synchronization 21 blanking 21 59 boot code version 133 boot up 38 bps 69 break detection 69 buffer 44 78 byte arrangements 51 C C A code 66 C NO see carrier to noise density ratio cables 158 antenna 164 coaxial 21 23 30 extended cable lengths 24 warranty 13 carrier phase 16 68 113 carrier to noise density ratio C NO 113 130 cautions 9 26 31 CHANCONFIG command 67 channel assigning 63 65 160 configuration setting 67 contr
38. dual frequency capabilities make the following possible Longer baselines in differential positioning mode due to the reduction of atmospheric errors Enhanced positioning precision due to the additional measurements Support for L1 and L2 GPS signal processing Support for L1 GEO signal processing Ability to significantly reduce multipath effects on GPS data MEDLL see Section 1 5 2 below e GPS signal quality monitoring SQM functionality see Section 1 5 5 on Page 20 Digital pulse blanking for the L2 signal The majority of these features are discussed further in the following sections 1 5 1 GEO Processing Specific channels in the Euro 3 have the capability to receive and process the SBAS signal provided by GEOs The signal is in band at L1 and is identified through the use of SBAS specific PRN numbers The SBAS message is decoded and separated into its various components The SBAS message and associated pseudorange are provided as an output 1 5 2 Multipath Reduction The Euro 3 with the MEDLL option can achieve a high level of multipath reduction NovAtel has developed a multipath elimination technology that approaches the theoretical limits of multipath free GPS signal reception This patented technology known as Multipath Estimating Delay Lock Loop MEDLL uses a combination of hardware and software techniques which together are capable of reducing the combined effects of pseudorange and carrier phase multipath errors by as m
39. faulty unit to NovAtel Inc Before shipping any material to NovAtel or Dealer please obtain a Return Material Authorization RMA number from the point of purchase You may also visit our Web site at www novatel com and log in through Support Helpdesk amp Solutions E Service 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 the defective product in the original packaging to avoid ESD and shipping damage Euro 3 and Enclosures User Manual Rev 3 13 Customer Support Contact Information If you have any questions or concerns regarding your Euro 3 receiver please contact the NovAtel Customer Support using any one of the following methods NovAtel GPS Hotline 1 800 NOVATEL U S and Canada 403 295 4900 International Fax 403 295 4901 E mail support novatel ca Web site www novatel com Write Customer Support Dept NovAtel Inc 1120 68 Avenue NE Calgary Alberta Canada T2E 885 Firmware Updates Firmware updates are firmware revisions to an existing model which improves basic functionality of the GPS receiver The process for obtaining firmware updates is discussed in Chapter 7 Firmware Updates starting on Page 135 If you need further information please contact NovAtel using one of the methods given above 14 Euro 3 and Enclosures User Manual Rev 3 F
40. functionality DLLBW Configure receiver s DLL filter bandwidth FRESET Reset receiver to factory default PLLBW Configure receiver s phase lock loop bandwidths RESET Perform a hardware reset POSITION CONTROL Command Description FIX Constrain receiver position SATELLITE TRACKING AND CHANNEL CONTROL Command Description ALMANAC Inject almanac data into the receiver ASSIGN Assign individual satellite channel ASSIGNALL Assign all satellite channels ASSIGNL2CODETYPE Set the receiver to track a specific L2 code type CHANCONFIG Set receiver channel tracking configuration ECUTOFF Set satellite elevation cut off angle SETSATELLITE Set the health of a satellite PRN PLLTHRESHOLD Control PY code signal thresholds PULSEBLANKING Enables or disables L2 digital pulse blanking THRESHOLD Control signal thresholds for acquisition tracking cross correlation Continued on Page 56 55 Euro 3 and Enclosures User Manual Rev 3 Chapter 5 Commands CLOCK INFORMATION STATUS AND TIME Command Description CLOCKADJUST Enable or disable adjustments to the internal clock and 1PPS output EXTERNALCLOCK Set the parameters for an external clock SETAPPROXTIME Set an approximate time Table 15 Command Summary Message Command Name ID Description AGCMODE 229 Control Automatic Gain Control agcmode frequency mode AGC functionality pulsewidth load
41. hours The time stamp consists of the number of weeks since that zero point the Euro 3 rolls over 0 to 1023 and the number of seconds since the last week number change 0 to 603 799 GPS time differs from UTC time since leap seconds are occasionally inserted into UTC but GPS time is continuous In addition a small error less than 1 microsecond can exist in synchronization between UTC and GPS time The data in synchronous logs like the RANGE log are based on a periodic measurement of satellite pseudoranges The time stamp on these logs is the receiver estimate of GPS time at the time of the measurement When setting time in external equipment a small synchronous log with a high baud rate will be accurate to a fraction of a second A synchronous log with trigger ONTIME 1 can be used in conjunction with the 1 PPS signal to provide relative accuracy better than 250 ns Other log types asynchronous and polled are triggered by an external event and the time in the header may not be synchronized to the current GPS time Logs that contain satellite broadcast data have the transmit time of 52 Euro 3 and Enclosures User Manual Rev 3 Using Commands and Logs Chapter 4 their last subframe in the header In the header of differential time matched logs the time of the matched reference and local observation that they are based on is given Logs triggered by a mark event have the estimated GPS time of the mark event in their header The header of a
42. invalid CHANNELS LOCKED DUE TO ERROR 23 Channels are locked due to error INJECTED TIME INVALID 24 Injected time is invalid COM PORT NOT SUPPORTED 25 The COM port is not supported MESSAGE IS INCORRECT 26 The message is invalid INVALID PRN 27 The PRN is invalid MESSAGE TIMED OUT 31 The message has timed out UNKNOWN COM PORT REQUESTED 33 Unknown COM port requested O NOTEORMATTED 34 Hex string not formatted correctly INVALID BAUD RATE 35 The baud rate is invalid MESSAGE IS INVALID FOR THIS MODEL 36 This message is invalid for this model of receiver COMMAND ONLY VALID IF IN NVM FAIL 40 Command is only valid if NVM is in fail mode MODE INVALID OFFSET 41 The offset is invalid MAX NUMBER OF USER MESSAGES 78 The maximum number of user messages allowed has REACHED been reached GPS PRECISE TIME IS ALREADY KNOWN 84 GPS precise time is already known Euro 3 and Enclosures User Manual Rev 3 43 Chapter 4 Using Commands and Logs 4 2 Logging Data You can control how the receiver logs data by using the LOG command given on Page 78 A field within this command allows you to specify which data log from Chapter 6 to capture There are some things to be noted however 1 The receiver can handle 20 logs at a time If you attempt to log more than 20 logs at a time the receiver will respond with the error message Not enough resources in system 2 Maximum flexibility for logging data is provided to you by these
43. is valid CONVERGING 1 The clock model is near validity ITERATING 2 The clock model is iterating towards validity INVALID 3 The clock model is not valid ERROR 4 Clock model error Table 43 Constellation Change Flag Values ASCII Binary Description FALSE 0 There has not been a change in the constellation TRUE 1 The constellation has changed Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 10 PSRPOS Pseudorange Position This log contains the pseudorange position computed by the receiver along with three status flags Log Type Synch Message ID 47 Field Field Description Format Binary Binary Name Bytes Offset EN a EE NU 2 sol status Solution status See Table 44 on Page 112 Enum 4 H 3 pos type Position type See Table 45 on Page 112 Enum 4 H 4 4 lat Latitude decimal degrees Double 8 H 8 5 lon Longitude decimal degrees Double 8 H 16 6 hgt Height above ellipsoid m Double 8 H 24 7 Reserved Float 4 H 32 8 datum id Datum ID number This will always be 61 for the WGS84 Enum 4 H 36 coordinate system 9 lat o Latitude standard deviation m Float 4 H 40 10 lon o Longitude standard deviation m Float 4 H 44 11 hgt o Height standard deviation m Float 4 H 48 12 Char 4 4 H 52 13 Reserved Float 4 H 56 14 Float 4 H 60 15 obs Number of observations tracked UChar 1 H 64 16 GPSL1 Number of GPS L1
44. it is open circuited or short circuited On startup the ANTENNAPOWER is set to ON for all software models except for GRC and GRCT when it is set to OFF Abbreviated ASCII Syntax Message ID 98 ANTENNAPOWER flag A Field ASCII Binary E Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name See Section H 0 4 3 on Page 45 2 flag OFF 0 Disables internal powering of Enum 4 H antenna ON 1 Enables internal powering of antenna ASCII Example ANTENNAPOWER ON Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 24 ASSIGN Dx The ASSIGN command should only be used by advanced users of GPS This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic satellite channel assignment and reacquisition processes with manual instructions The command specifies that the selected tracking channel should search for a specified satellite at a specified Doppler frequency within a specified Doppler window The instruction will remain in effect for the specified SV channel and PRN even if the assigned satellite subsequently sets If the satellite Doppler offset of the assigned SV channel exceeds that specified by the window parameter of the ASSIGN command the satellite may never be acquired or re acquired If a PRN has been assigned to a channel and the channel
45. 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 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 if 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 Euro 3 and Enclosures User Manual Rev 3 11 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 termin
46. ranges used in computation UChar 1 H 65 17 UChar 1 H 66 18 UChar 1 H 67 19 UChar 1 H 68 20 TOURISME UChar 1 H 69 21 UChar 1 H 70 22 UChar 1 H 71 23 32 bit CRC ASCII and Binary only Hex 4 H 72 Euro 3 and Enclosures User Manual Rev 3 111 Chapter 6 Data Logs Recommended Input LOG PSRPOSA ONTIME 1 Example Output PSRPOSA COM1 0 43 0 FINESTEERING 265 320943 000 00840000 0000 33331 SOL COMPUTED SINGLE 51 11638529847 114 03825624352 1045 2359 0 0000 WGS84 1 5908 1 4096 2 3924 0 000 0 000 10 8 0 0 0 0 0 0 84ea7b68 Table 44 Solution Status Values ASCII Binary Description SOL_COMPUTED 0 Solution computed INSUFFICIENT OBS 1 Insufficient observations NO CONVERGENCE 2 No convergence SINGULARITY 3 Singularity at parameters matrix CONV TRACE 4 Covariance trace exceeds maximum trace gt 1000 m TEST DIST 5 mod Keen is maximum of 3 rejections 1f COLD START 6 Not yet converged from cold start vacuum m c ct VARIANCE 8 Variance exceeds limits RESIDUALS 9 Residuals are too large DELTA POS 10 Delta position is too large NEGATIVE VAR 11 Negative variance Table 45 Position Type Values ASCH Binary Description NONE 0 No solution E o SINGLE 16 Single point position 112 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 11 RANGE Satellite Range Information RANGE contains the channel measurements for the cur
47. signal tracking lock time is reset The resetting of the signal lock time is used to indicate that conditions exist in which a cycle slip might occur The time filtering that is performed on the loop variance determination 1s controlled using the third argument of this command This value is used to compute the first order time constant that provides a noise equivalent bandwidth for the specified bandwidth The filtering equation used is new value e T x old data 1 e T9 x new data where AT the PLL sampling rate and 4 x filter constant Syntax Message ID 518 PLLBW codetype bw Valid Values Description Format Binary Binary Bytes Offset 1 header This field contains the Abbreviated ASCII command name See H 0 Se Section 4 3 on Page 45 See Table 33 on Specifies which signal type the 2 codetype Page 81 parameters should be applied to ME 3 bw See Table 34 on PLL low pass filter bandwidth in Float 4 H 4 Page 81 Hz Example PLLBW PY 1 0 80 Euro 3 and Enclosures User Manual Rev 3 Commands Table 33 Code Type Values ASCII Description CA GPS and GEO C A signals PY GPS P Y signals Table 34 PLL Bandwidth Values Frequency Valid Bandwidth Values GPS and GEO CA signals 0 5 to 15 Hz GPS PY signals 0 01 to 1 0 Hz Euro 3 and Enclosures User Manual Rev 3 Chapter 5 81 Chapter 5 Commands 5 2 17 PLLTHRESHOLD 82
48. system a eee SC ER tracking Ifa value is not given Enum 4 H 16 TER the default is GPS The parameters should be See Table 62 and applied to this signal channel If 7 sigchan Table 63 on Page specified this signal channel Ulong 4 H 20 160 overrides the codetype and system fields Example THR 88 ESHOLD 35 15 25 CA GPS Euro 3 and Enclosures User Manual Rev 3 Commands 5 2 23 UNLOG This command permits you to remove a specific log request from the system Syntax UNLOG port datatype Valid Values Description Format ASCII Binary Binary Binary Offset Chapter 5 Message ID 36 1 header This field contains the Abbreviated ASCH command name See 0 Section 4 3 on Page 45 Serial port at which log is being output Ifa value 2 port See Section 4 1 on Page 40 isnot provided COM is Enum H assumed 3 datatype Message name Message ID Log to be disabled ULong H 4 Example UNLOG COM3 PSRPOSA Euro 3 and Enclosures User Manual Rev 3 89 Chapter 5 Commands 5 2 24 UNLOGALL This command disables all logs on the specified port only All other ports are unaffected P4 This command does not disable logs that have the HOLD attribute set See the LOG command in Section 5 2 15 on Page 78 for more information about this attribute To disable logs with the HOLD attribute use the UNLOG command Syntax Message ID 38 UNLOGALL port Sch Binary B
49. values to follow Ulong 4 H 12 6 Asum I Accumulation value Long 4 H 16 variable Next channel data set offset H 4 svobs 12 4 x accums variable 32 bit CRC ASCII and Binary only Hex 4 variable Recommended Input LOG ALLSQMIA ONNEW Example Output ALLSQMIA COM1 0 77 5 FINESTEERING 465 265326 251 00000008 0000 33331 8 17 4 8 15992769 16423669 16808489 16978087 16812655 16420665 15975501 15561269 26 6 8 4918622 5058514 5188994 5242268 5183938 5059072 4917114 4785856 9 8 8 8266904 8502555 8719084 8810665 8719538 8500979 8262084 8040467 15 14 8 5830017 5990535 6136885 6186449 6133423 5989559 5826123 5679435 4 16 8 5864633 6047522 6209547 6265714 6215509 6061390 5903329 5753388 8 20 8 4196987 4330468 4451671 4500476 4450889 4337614 4210259 4099840 11 22 8 8976212 9251214 9474104 9571284 9482272 9259946 8997084 Euro 3 and Enclosures User Manual Rev 3 99 Chapter 6 Data Logs 8750832 28 24 8 13512877 13911754 14266691 14415486 14281405 13935844 13533 057 13154588 7B70B193 lt The number of satellites and the signal channels tracked will be different for MEDLL receiver models 100 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 5 ALLSQMIINFO ICorrelator Locations This log provides information about the correlation locations found in the ALLSQMI log see Page 99 An individual message is sent for each configu
50. 0 15 e Ulong 4 H 4 Examples PULSEBLANKING L2 5 Table 35 Frequency Switch ASCII Description L2 GPS L2 frequency Table 36 Pulse Blanking Threshold ASCII Description 0 Disable L2 pulse blanking Enable L2 pulse blanking with thresholds set according to Figure 8 on Page 84 1 15 Euro 3 and Enclosures User Manual Rev 3 83 Chapter 5 Commands 0 40 0 35 o w o N a lanking Threshold Setting ASUS vom gei jeuuoN N o gt a 0 05 0 00 j 0 00 0 65 1 30 1 95 2 60 3 25 3 90 4 55 Normal Distribution Argument Figure 8 Threshold 84 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 19 RESET This command performs a hardware reset Following a RESET command the receiver will initiate a cold start bootup and will retain the most recent receiver configuration The optional delay field is used to set the number of seconds the receiver is to walt before resetting Syntax Message ID 18 RESET delay Valid Values Description Format Binary Binary Bytes Offset This field contains the Abbreviated ASCII command name See l header Section 4 3 on Page 45 Seconds to wait before resetting 2 delay Any ulong value Ifno value is provided the default ULong 4 H of 0 seconds is assumed Example RESET 5 See also the FRESET command Euro
51. 0 is set in the receiver status word to show that an error occurred the error strobe is driven high and the LED flashes red and yellow showing an error code Receiver tracking is disabled at this point but command and log processing continues to allow you to diagnose the error Even if the source of the error is corrected at this point the receiver must be reset to resume normal operation Receiver Status Word The receiver status word indicates the current status of the receiver This word is found in the header of all logs See also Section 4 3 Log Formats on Page 45 Error Strobe Signal The error strobe line is one of the I O strobes and is driven low when the receiver is operating normally When the receiver is in the error state and tracking is disabled the error strobe is driven high This can be caused by a fatal error or by an unusual receiver status indication that the user has promoted to be treated like a fatal error Once on the error status will remain high until the cause of the error is corrected and the receiver is reset Receiver Status Log 8 4 1 Overview The Receiver Status log RXSECSTATUS provides information about the current system status and configuration in a series of hexadecimal words See also Page 123 The status word is the third last field in the RXSECSTATUS log as shown in Figure 16 on Page 141 It is also the third last field in the header of every log Euro 3 and Enclosures User Manual Rev 3 140 Bui
52. 00 33331 13 THRESHOLD 36 20 36 CA GPS 172E5E4B RXCOMMANDSA COM1 4 53 5 FINESTEERING 265 320946 699 00840000 RES 1 3 o o Z o Ww zi o 000 33331 13 TH HOLD 33 28 36 CA WAAS 30A171AA RXCOMMANDSA COM 193 5 FINESTEERING 265 320946 702 00840000 000 33331 4 COM COM3 9600 N 8 1 N OFF ON 51982FE8 RXCOMMANDSA COM1 2 53 5 FINESTEERING 265 320946 704 00840000 000 33331 0 ASSIGN 17 ACTIVE 122 0 5000 22963FE5 RXCOMMANDSA COM1 1 53 5 FINESTEERING 265 320946 706 00840000 000 33331 0 ASSIGN 16 ACTIVE 122 0 5000 547CBF8B RXCOMMANDSA COM1 0 53 5 FINESTEERING 265 320946 706 00840000 0000 33331 0 ASSIGN 14 ACTIVE 134 0 5000 ABDF0471 Ww z o Ww Z o LA o Euro 3 and Enclosures User Manual Rev 3 121 Chapter 6 122 Table 49 Command Type Values ASCII BINARY Description 0 0 ASSIGN command 1 1 ASSIGNALL command 2 2 ANTENNAPOWER command 3 3 CLOCKADJUST command 4 4 COM command 5 5 ECUTOFF command 6 6 EXTERNALCLOCK command 7 7 FIX command 8 8 FRESET command 9 9 LOG command 10 10 RESET command 11 11 SETAPPROXTIME command 12 12 SETSATELLITE command 13 13 THRESHOLD command 14 14 PLLTHRESHOLD command 15 15 DLLBW command 16 16 PLLBW command 17 17 ASSIGNL2C
53. 0000 33331 1 GPSCARD PM GRC SVM05030043 2 201A5 00000008 00000000 00400000 Receiver Error Word Figure 18 Location of Receiver Error Word Euro 3 and Enclosures User Manual Rev 3 141 Chapter 8 Built In Status Tests The numbering of the bits is shown in Figure 19 00000000 A ER EN T pol 1 f Era 1 Te Al I al bud 0000 0000 0000 0000 0000 0000 0000 0000 Bit 31 Bit 0 Figure 19 Reading the Bits in the Receiver Error Word See the RXSECSTATUS log on Page 123 for more detailed descriptions of this log If the error word is 00000000 the receiver is not experiencing an error condition If the receiver error word indicates an error please also see Section 8 2 Receiver Status Word on Page 140 8 4 3 Status Code Arrays There are 3 status code arrays the receiver status word the auxiliary status and the auxiliary 2 status The status word is similar to the error word with each of its 32 bits indicating a condition 8 4 4 Receiver Status Code The receiver status word is included in the header of all logs It has 32 bits which indicate certain receiver conditions If any of these conditions occur a bit in the status word is set 8 4 5 Auxiliary Status Codes 8 5 142 The auxiliary status codes are only seen in the RXSECSTATUS log The two bits representing the auxiliary status codes give indication about the receiver state for information only The bits typically do not cause degradatio
54. 00000 30 2 1 226275086 2 0 965870440 1 000000000 0 000701904 0 000000000 0 000000000 0 000000000 25 28 1 494421721 2 0 071545959 1 000000000 0 000000000 0 000000000 0 000000000 0 000000000 11 24 1 401616573 2 0 071545959 1 000000000 0 000152588 0 000000000 0 000000000 0 000000000 5 30 1 385931969 2 0 107318938 1 000000000 0 000427246 0 000000000 0 000000000 0 000000000 721c4721 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 3 ALLSQMDATA Signal Quality Monitoring Data ALLSOMDATA ALLSOMIINFO and ALLSQMQINFO see Section 6 3 5 and Section 6 3 7 starting on Page 101 are for signal quality monitoring SQM which is described in Section 1 5 5 on Page 20 This log provides information about the correlation function and multiple data sets can be provided A data set is provided for each tracked satellite and within each tracked satellite data set a data set is provided for each channel The message is updated every second and is therefore best to be logged ONNEW or ONCHANGED This information can be used as a means to detect anomalous waveforms in the broadcast signal from the satellite Log Type Synch Message ID 617 Description Format Binary Binary Bytes Offset 1 header This field contains the message header in ASCI or H 0 Binary format See Section 4 3 on Page 45 2 svobs Number of tracked satellite data sets to follow ULong 4 H
55. 023000 12 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 14 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 16 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 Euro 3 and Enclosures User Manual Rev 3 101 Chapter 6 102 18 28 0 8 0 0767250 0 0511500 0 0 0511500 0 0767250 0 1023000 20 28 0 8 0 0767250 0 0511500 0 0 0511500 0 0767250 0 1023000 22 28 0 8 0 0767250 0 0511500 0 0 0511500 0 0767250 0 1023000 24 28 0 8 0 0767250 0 0511500 0 0 0511500 0 0767250 0 1023000 26 28 0 8 0 0767250 0 0511500 0 0 0511500 0 0767250 0 1023000 3132FFFE Data Logs 0255750 0 0000000 0 0255750 0255750 0 0000000 0 0255750 0255750 0 0000000 0 0255750 0255750 0 0000000 0 0255750 0255750 0 0000000 0 0255750 lt The number of satellites and the signal channels tracked will be different for MEDLL receiver models Euro 3 and Enclosures User Manual Rev 3 Data Logs 6 3 6 ALLSQMQ Q Signal Quality Monitoring Data Chapter 6 This log provides information about the Q correlation function Multiple data sets can be provided A data set is provided for each tracked satellite and within each tracked satellite data set a data set is provided for each correlator The message is updated every second and is therefore best logged ONNEW or ONCHANGED Log Type Asynch
56. 047 0 000 0 000 NA 0 000 17 0 08104181 0 000 5000 000 0 047 0 000 0 000 NA 0 000 0 0 01304188 0 000 0 000 0 047 0 000 0 000 NA 0 000 11 0 08105DA4 25117210 733 3189 786 42 563 175 690 0 299 GOOD 0 189 11 0 01305DAB 25117223 424 2485 550 35 292 163 960 0 000 OBSL2 0 000 134 0 8C0221C2 0 000 716 400 0 047 0 000 0 000 NA 0 000 0 0 8C0221E0 0 000 0 000 0 047 0 000 0 000 NA 0 000 122 0 8C022202 0 000 2542 288 0 047 0 000 0 000 NA 0 000 122 0 8C023E24 40605135 646 2 918 41 875 125 076 0 000 NOEPHEMERIS 0 000 FFD043AF Euro 3 and Enclosures User Manual Rev 3 131 Chapter 6 132 Data Logs Table 55 Reject Code Values ASCH Binary Description GOOD 0 Observations are good BADHEALTH 1 Bad satellite health is indicated by ephemeris data Old ephemeris due to date not being updated OLDEPHEMERIS 2 during the last 3 hours Eccentric anomaly error during computation of EE 3 the satellite s position True anomaly error during computation of the ITRUBANOMALY x satellite s position Satellite coordinate error during computation of SATCOORDINATEERROR 5 the satellite s position ELEVATIONERROR 6 Elevation error due to the satellite being below the cut off angle Misclosure too large due to excessive gap between BSC POSURE 7 estimated and actual positions NOEPHEMERIS 9 Ephemeris data for this satellite has not yet been received Invalid IODE I
57. 130 drift 68 E eccentricity 60 106 echo 69 ECUTOFF command 72 electrostatic discharge ESD 25 161 162 elevation cut off 72 error 132 satellite visibility 126 tracking status 130 entering commands 40 ephemeris health 132 raw data 117 118 reset 77 time status 53 errors card status 141 clock 68 73 108 due to atmosphere 19 multipath 113 range reject codes 132 response messages 42 tracking 113 ESD see electrostatic discharge estimates MEDLL 95 extended cable lengths 24 external oscillator 30 73 146 EXTERNALCLOCK command 73 75 F factory defaults 40 field types 50 filter 80 130 fine time 53 firmware 133 FIX command 75 fix position 75 flag antenna 62 parity 113 formats 45 46 48 Euro 3 and Enclosures User Manual Rev 3 FRESET command 77 G GEO processing 19 Geodetic Survey of Canada 163 GPSAntenna 13 164 H handshaking 69 hardware 18 77 85 133 header 142 ASCII 42 47 Binary 42 48 document convention 15 health satellite 126 132 SV 61 106 height fix 75 limit 112 position 111 hexadecimal 15 140 hold logs 79 I I O 153 identifier ASCII 46 impedance 146 151 inclination angle 60 106 INPUT 147 input 151 153 L latitude 75 111 LED 29 140 142 LNA see low noise amplifier LOADER utility 137 local horizon 72 lock signal 88 time 130 LOG command 78 logs cancelling 89
58. 2 data terminal ready output for RS 232 16 TXD2 TXD2 COM2 transmitted data for RS 422 transmitted data for RS 232 17 RXD2 RXD2 COM received data for RS 422 received data for RS 232 18 RXD2 DCD2 COM received data for RS 422 data carrier detected input for RS 232 19 TXD3 0UT3 COM3 transmitted data for RS 422 spare output for RS 232 20 CTS3 DSR3 COM3 clear to send for RS 422 data set ready for RS 232 21 RXD3 DCD3 COMS received data for RS 422 data carrier detected input for RS 232 22 GND Digital ground 23 31 GPIO_FR Reserved internal 10 kQ pull up resistor 32 Signal Descriptions Row B Pin GND Power ground 1 4 5 18VIN Voltage in 4 5 to 18 VDC 2 NC Not connected 3 LNA_PWR Optional external power to antenna other than a standard NovAtel GPSAntenna see 4 the ANTENNAPOWER command on Page 62 STATUS_RED Indicates the Euro L5 is not working properly when high or pulsing 5 Continued on Page 149 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Appendix A STATUS_GREEN Indicates the Euro L5 is working properly when pulsing at 1 Hz 6 SEL1 COM1 RS 232 RS 422 select 7 TXD1 OUT1 COMI transmitted data for RS 422 spare output for RS 232 8 CTS1 CTS1 COM1 clear to send for RS 422 clear to send for RS 232 9 RTS1 RTS1 C
59. 2 angle 90 0 to 90 0 relative to horizon in Float 4 H degrees Example ECUTOFF 10 0 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 12 EXTERNALCLOCK Overview The EXTERNALCLOCK command allows the Euro 3 to operate with an optional external oscillator You are able to optimally adjust the clock model parameters of the receiver for various types of external clocks D4 1 This command will affect the interpretation of the CLOCKMODEL log see Page 108 2 Ifthe EXTERNALCLOCK command is enabled and set for an external clock TCXO OCXO RUBIDIUM CESIUM or USER and the CLOCKADJUST command see Page 68 is ENABLED then the clock steering process will take over the VARF output pins If clocksteering is not used with the external oscillator the clocksteering process must be disabled by using the CLOCKADJUST DISABLE command There are three steps involved in using an external oscillator 1 Follow the procedure outlined in Section 2 3 3 on Page 30 of this manual to connect an external oscillator to your Euro 3 card or EuroPak enclosure 2 Using the EXTERNALCLOCK command select a standard oscillator and its operating frequency 3 Using the CLOCKADJUST command disable the clocksteering process if external clocksteering is not used Theory An unsteered oscillator can be approximated by a three state clock model with two states representing the range bias and range bias rate and a third state assumed to be
60. 3192102D2FF1A84369FA22F 47966A108D7A15F95F905C011A00 B4228756 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 14 RAWWAASFRAMEWP Raw SBAS Frame Data This log contains the raw SBAS 250 bit frame The frames are output even when there are parity failures See also Table 62 and Table 63 on Page 160 for the mapping of signal channels Log Type Asynch Message ID 571 Field Field Name Description Format Binary Binary Bytes Offset This field contains the message header in ASCH or Binary l header format See Section 4 3 on Page 45 H 0 2 chan Signal channel number that the frame was decoded on ULong 4 H 3 PRN GEO satellite PRN number ULong 4 H 4 4 parity flag Parity failure flag ULong 4 H 8 5 data Raw SBAS frame data Hex 32 32 H 12 6 32 bit CRC ASCH and Binary only Hex 4 H 44 Recommended Input LOG RAWWAASFRAMEWPA ONNEW Example Output RAWWAASFRAMEWPA COM1 0 47 5 SATTIME 265 320943 000 00840000 0000 33331 31 122 0 53665917FFFE9FE800007F80803C3D8000000000000000000000 0000378219C0 1EBA57B0 Euro 3 and Enclosures User Manual Rev 3 119 Chapter 6 Data Logs 6 3 15 RXCOMMANDS Receiver Configuration This log outputs all of the current receiver configuration parameters set using the commands in Chapter 5 When requested one RXCOMMANDS log is output for each command type The embedded message is the most recent command string ente
61. 42 on Page 110 Enum X H 3 reject Number of rejected range bias measurements ULong 4 H 4 4 noise time GPS time of last noise addition GPSec 4 H 8 5 update time GPS time of last update GPSec 4 H 12 6 8 H 16 Clock correction parameters a 1x3 array of length 7 parameters 3 listed left to right Double 8 H 24 8 8 H 32 9 8 H 40 10 8 H 48 11 8 H 56 12 8 H 64 Covariance of the straight line fit a 3x3 array of sorda length 9 listed left to right by rows Double rem IPS 14 8 H 80 15 8 H 88 16 8 H 96 17 8 H 104 18 range bias Ge E E measurement of the range bias Double 8 H 112 19 ER bias EE measurement of the range bias Double 8 H 120 Indicates whether or not there is a change in the 20 change constellation See Table 43 on Page 110 Enum SC 21 32 bit CRC ASCII and Binary only Hex 4 H 132 Euro 3 and Enclosures User Manual Rev 3 109 Chapter 6 110 Recommended Input LOG CLOCKMODELA ONTIME 1 Example Output FC LOCKMODI Data Logs ELA COM1 0 43 0 FIN 0000 33331 VA EST EERING 265 320943 000 00840000 LID 0 320943 000 320943 000 6 022986468e 01 2 031644576e 01 8 706996251e 00 5 137097514e 01 1 634750366e 02 5 096931554e 01 1 634750366e 02 1 975273882e 02 6 548797429e 03 5 096931554e 01 6 548797429e 03 5 148202750e 01 6 915049843e 01 2 542941484e 01 FALSE 9d3530cd Table 42 Clock Model Status Values ASCH Binary Description VALID 0 The clock model
62. 5 Straight through serial data cable Figure 25 on Page 156 60723066 Null modem serial data cable Figure 24 on Page 155 60715062 DB to USB serial data cable Figure 27 on Page 158 01017408 Power cable LEMO 4 pin socket to 12V power outlet plug Figure 23 on Page 154 01017023 D 2 Accessories Part Description NovAtel Part EuroPak 3 Compact Disc with PC utilities 01017478 Optional NovAtel GPSAntennas Model 702 L1 L2 GPS GLONASS GPS 702 GG Model 701 L1 GPS GLONASS GPS 701 GG Model 533 L1 L2 ANT C2GA TW N Model 532 L1 L2 ANT A72GA TW N Optional RF Antenna Cable 5 meters C006 15 meters C016 30 meters C032 22 cm interconnect adapter cable GPS C002 D 3 Manufacturer s Part Numbers The following original manufacturer s part numbers are provided for information only and are not available from NovAtel as separate parts Part Description LEMO Part 4 pin socket connector on power cable Figure 23 on Page 154 FGG 0B 304 CLAD52Z 10 pin plug connector on serial and null modem cables for LEMO version Figures 24 and FGG 1K 310 CLAC60Z 25 starting on Page 155 Part Description HARTING Part 160 pin 5 row mating connector see Figure 22 on Page 148 02 02 160 1201 Euro 3 and Enclosures User Manual Rev 3 164 165 1PPS see one pulse per second A accumulated Doppler range ADR 113 accuracy 53 75 acquisition 16 assignment 63 65 satellite 63 signal 88 times 75 ADR see
63. 57 Appendix A Technical Specifications A 2 2 5 USB Serial Cable NovAtel part number 01017408 The USB cable shown below provides a means of interfacing between the COMI port on the EuroPak 3 and another serial communications device such as a PC At the EuroPak 3 end the cable is equipped with a DB9 connector which plugs directly into a COM port At the other end the cable provides a USB connector ES d e E CHI ru o SESCH 11 2000 25 0 WIRING DB9 CONNECTION SIGNAL SERIES A WIRE ON RECEIVER USB PLUG COLOR PIN 5 GND PIN 4 BLACK PIN 6 USB D PIN 3 GREEN PIN 9 USB D PIN 2 WHITE INSULATE TO PREVENT SHORT RED Reference Description 10 Female DB9 connector 11 USB connector Figure 27 USB Serial Cable 158 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Appendix A A 2 3 Mounting Bracket Dimensions O S 4 00 5 A 3 Channel Assignments Table 62 and Table 63 on Page 160 show the mapping of signal channels for both softwa
64. 7 is the last 0 to 8 MEDLL 0 to 7 for GPS and 8 for GEO or or 0 to 13 for GPS and 14 to 17 for ULong 4 H 0 to 17 non MEDLL GEO See also CHANCONFIG on Page 67 and Tables 62 and 63 on Page 160 2 channel Optional desired SV channel 3 state See Table 19 below state If a value is not given the Enum 4 H 4 default of ACTIVE is used Optional satellite PRN code from 0 37 for GPS channels and 120 4 prn 0 to 37 120 to 138 138 for GEO channels A value is Long 4 H 8 required only when the state field is set to ACTIVE Optional current L1 Doppler offset of the satellite specified in the prn field in Hz 5 doppler 100 000 to 100000 NOTE Satellite motion receiver 1 ong 4 H 12 antenna motion and receiver clock frequency error must be included in the calculation of Doppler frequency Error or uncertainty in the L1 Doppler estimate given in the 6 window 0 to 10 000 doppler field in Hz ULong 4 H 16 NOTE This is a value For example enter 500 for 500 Hz Examples ASSIGN 0 ACTIVE 29 0 2000 ASSIGN 15 120 250 O ASSIGN 11 28 250 0 The first example sets the first SV channel to acquire satellite PRN 29 in a range from 2000 Hz to 2000 Hz until the satellite signal has been detected SV channel 11 is set to acquire satellite PRN 28 at an offset of 250 Hz only in the third example Table 19 Channel State Values ASCII Description IDLE Set the SV channe
65. 8212008 8214334 TRUE 28 24 2 14312056 23620 3084 13813172 13047876 TRUE 14160400 4748 14168966 13417814 13414462 TRUE A4390FF1 Table 41 Synchronization Flag Values ASCII Binary Description TRUE 1 Correlators are synchronized with the master channel FALSE 0 Correlators are not synchronized with the master channel 98 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 4 ALLSQMI lI Accumulation Signal Quality Monitoring Data ALLSQMI is for signal quality monitoring SQM which is described in Section 1 5 5 on Page 20 This log provides information about the I correlation function Multiple data sets can be provided A data set is provided for each tracked satellite and within each tracked satellite data set a data set is provided for each correlator The message is updated every second and is therefore best to be logged ONNEW or ONCHANGED This information can be used as a means to detect anomalous waveforms in the broadcast signal from the satellite Log Type Asynch Message ID 632 Field Field Description Format Binary Binary Name Bytes Offset 1 Rode This field contains the message header in ASCII or H 0 Binary format See Section 4 3 on Page 45 2 Bene US of tracked satellite data sets to ULong 4 H 3 prn Satellite PRN being tracked ULong 4 H 4 4 sigchan Signal channel for the tracked satellite ULong 4 H 8 5 accums Number of accumulation
66. 90 configuring 78 format 45 functional list 91 holding 79 summary 92 triggers 44 78 types 44 Euro 3 and Enclosures User Manual Rev 3 Index longitude 75 111 low noise amplifier LNA 55 62 146 low pass filter configuring 80 LSB 51 LVTTL 147 M mark input MKI 147 MEDLL 19 95 memory 40 44 77 78 message almanac 106 formats 45 MKI see mark input model clock 108 109 reset 77 version 133 month 134 motion mean 60 106 mounting 26 MSB 51 multipath 19 23 95 113 N noise oscillator 73 thermal 113 time of 109 non volatile memory NVM 40 77 Notices 9 NovAtel Inc 13 O offset clock 73 108 129 Doppler 63 65 ONCE trigger 44 ONCHANGED trigger 44 one pulse per second 1PPS 56 68 129 ONNEW trigger 44 ONNEXT trigger 44 ONTIME trigger 44 oscillators 30 68 73 108 146 output 16 151 overload 44 78 overview SBAS 16 P P code 16 66 parity 28 69 113 117 167 Index 168 patent 16 performance specifications 144 perigee 60 106 period 78 phase lock loop PLL 80 124 PLLBW command 80 polled logs 44 ports 90 129 position 55 75 91 111 power 23 62 132 146 154 precision 19 prerequisites 15 processing 22 91 prompts 38 pseudorange 68 111 113 130 PSRPOS log 111 PULSEBLANKING command 83 Q quotation marks 46 R radio frequency RF 21 30 141 range bias 53 108 109 measu
67. ANDSA COM1 16 53 5 FINESTEERING 265 320946 665 00840000 0000 33331 16 PLLBW PY 0 2000 7C221DE3 RXCOMMANDSA COM1 15 53 5 FINESTEERING 265 320946 667 00840000 0000 33331 5 ECUTOFF 0 0 2F52B1E5 RXCOMMANDSA COM1 14 53 5 FINESTEERING 265 320946 667 00840000 0000 33331 7 FIX NONE 71B6CEFF RXCOMMANDSA COM1 13 53 5 FINESTEERING 265 320946 669 00840000 0000 33331 21 PULSEBLANKING L2 15 3CD77038 RXCOMMANDSA COM1 12 53 5 FINESTEERING 265 320946 677 00840000 0000 33331 14 PLLTHRESHOLD 0 24 0 08 PY 29C1CF72 RXCOMMANDSA COM1 11 53 5 FINESTEERING 265 320946 680 00840000 0000 33331 39 DLLORDER GPS 1 09923047 RXCOMMANDSA COM1 10 53 5 FINESTEERING 265 320946 683 00840000 0000 33331 39 DLLORDER WAAS 2 5C3E2DA1 RXCOMMANDSA COM1 9 53 5 FINESTEERING 265 320946 686 00840000 0000 33331 2 ANTENNAPOWER ON 179B84E2 RXCOMMANDSA COM1 8 53 5 FINESTEERING 265 320946 689 00840000 120 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 0000 33331 6 EXTERNALCLOCK DISABLE 0MHZ 0 000000 0 000000 0 000000 F169EA1B RXCOMMANDSA COM1 7 53 5 FINESTEERING 265 320946 692 00840000 000 33331 3 CLOCKADJUST ENABLE 382DE842 RXCOMMANDSA COM1 6 53 5 FINESTEERING 265 320946 692 00840000 000 33331 4 C0M COM2 9600 N 8 1 N OFF ON D49E958E RXCOMMANDSA COM1 5 53 5 FINESTEERING 265 320946 695 00840000 0
68. Antenna Once the GPSCard is installed in a wiring harness and enclosure the antenna to be used with the receiver must be mounted The GPS receiver has been designed to operate with any of the NovAtel single frequency or dual frequency GPS antenna models See Section 2 1 1 on Page 23 for more information When installing the antenna system e Choose an antenna location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For more information about multipath please refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Choose an antenna location that provides low multipath conditions for the received signal For example in the middle of a flat roof The edge of a roof with visibility to a parking lot is a high multipath environment Mount the antenna on a secure stable structure capable of safe operation in the specific environment 2 2 8 Connecting the Antenna to the Receiver Connect the antenna to the receiver using high quality coaxial cable as discussed in Section 2 1 2 on Page 23 The EuroPak 3 and EuroPak 3T provide a TNC female connector which can be connected to the antenna directly with any of NovAtel s coaxial cables For the GPSCards an interconnect adapter cable 1s required to convert the TNC male end of the coaxial cable to the card s SMB straight male jack RF input connector The location of the RF connector for the GP
69. Binary only Hex 4 sat x 40 a Satellite health values may be found in ICD GPS 200 To obtain copies of ICD GPS 200 see the ARINC Web site at http www arinc com Recommended Input LOG SATVISA ONTIME 60 ASCII Example SATVISA COM1 0 42 0 FINEST 0000 33331 TRUE FALSE 8 070 73 9 70 9 113 322 115 254 20 71 0 238 3 272 360 274 292 25 95 1 65 4 1855 893 1857 825 23 92 3 283 3 2115 700 2113 769 196 EERING 265 320949 000 00840000 126 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 29 9 140 0 2943 175 2941 243 13 713 9 278 5 3271 579 3269 647 30 7 7 30 0 2890 469 2892 401 11 6 5 215 8 3189 170 3191 102 8E2D6ABC Euro 3 and Enclosures User Manual Rev 3 Data Logs Table 53 Satellite Visibility Values ASCII FALSE Binary 0 Description Satellite visibility is invalid TRUE 1 Satellite visibility is valid Table 54 Complete Almanac Flag Values ASCII Binary FALSE 0 Description Complete almanac was not used TRUE 1 Complete almanac was used Euro 3 and Enclosures User Manual Rev 3 Chapter 6 127 Chapter 6 Data Logs 6 3 18 SYSTEMLEVELS System Hardware Levels This log contains environmental and voltage parameters for the receiver card Log Type Synchronous Message ID 653
70. Enclosures User Manual Rev 3 105 Chapter 6 6 3 8 ALMANAC Decoded Almanac 106 Data Logs This log contains the decoded almanac parameters from subframes four and five as received from the satellite with the parity information removed and appropriate scaling applied Multiple messages are transmitted one for each SV almanac collected For more information about Almanac data refer to the GPS SPS Signal Specification listed at http www arinc com Log Type Asynch Field Field Name Description Message ID 73 Format Binary Binary Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 H 0 2 msg o cam of satellite PRN almanac data sets to Long 4 H 3 PRN eee for current message ULong 4 H 4 4 week Almanac reference week GPS week number ULong 4 H 8 5 seconds Almanac reference time seconds into the week Double 8 H 12 6 ecc Eccentricity dimensionless Double 8 H 20 7 Rate of right ascension radians second Double 8 H 28 8 WI Right ascension radians Double 8 H 36 9 o Argument of perigee radians Double 8 H 44 10 Mo Mean anomaly of reference time radians Double 8 H 52 11 afo Clock aging parameter seconds Double 8 H 60 12 ag Clock aging parameter seconds second Double 8 H 68 13 N Corrected mean motion radians second Double 8 H 76 14 A Semi major axis meters
71. Euro 3 and Enclosures User Manual Rev 3 Table of Contents 4 1 Entering Command onanerer tese idit dd ad sn i EA 40 4 1 1 Command Settings on Power Up sssssssseesee enne nenne nenne 40 4 1 2 Determining the Current Command Settings eene 41 41 3 Response Formats ren uel a da 41 4 14 Response Messag6S i deo o eet o d He b MO hae Heads M e EO recede te 42 4 2 Logging Data Ue a rita 44 4 2 A Eog Types sio eie a eia nq dt Ee uite 44 4 2 2 L0g Triggersss Senece te ea avs didi ded edi 44 Ge Hie EE 45 4 3 1 Specifying Log Fomats nn nrcnnnn nennen nnne nennen enne 45 ALAS A e fitam en dee te lie tala 46 O eiu 48 WE ET 50 4 4 T Field We 50 4 4 2 Commonly Used Fields eid a atada 52 5 Commands 55 5 1 Functional Listing of Commands siina r A a eee enne nennen nennen enne 55 5 2 Command Reference siii aoi uiti 58 5 2 AGGMODE ee De Ims M ML IM EIUS 58 5 2 2 8 E MANAG annaa eite dete tdeo lirio lleida lis didas 60 52 3 ANTENNAPOWER gedeeft tiradas 62 5 24 ASSIGN arnee ene tinta aiuti efecto hse cue 63 52 5 AS SIGNALS zoe cce tS URL A d eM cM d Md IAM ts 65 5 2 6 ASSIGNE2GODBETYBE che b lad p ae qoem diste ptus 66 5 2 T GHANGONPF IG erst REED ee Eet reis 67 5 2 9 CEQCKADJUS T r do ot eter Patre eite ded 68 2 DCO Mites tes eene hi LE Mm EE 69 5 2 T0 RTE CET teptescadibusdit il id Lester NE 71 ll ECUTOFR eege eene er ee 72 5 242 EXTERNALEGEOQGQNK EE 73 Ee E Ge 75 5 2 M E NET 77 Lay Zed Eo El CMM ee Ae Re
72. ING 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 III 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 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
73. Message Header Structure Binary Ignored Description Offset on Input sync Char Hexadecimal 0xAA 1 0 N 2 sync Char Hexadecimal 0x44 1 1 N 3 sync Char Hexadecimal 0x12 1 2 N 4 SH UChar Length of the header 1 3 N ength message Message ID The message IDs for logs are 3 m See given in Table 39 on Page 92 2 4 N message Message type indicator as explained in B type Char Section 4 2 1 on Page 44 8 N port The port from which the log was generated 7 address che See Table 11 on Page 52 a The length in bytes of the body of the 8 message UShort message This does not include the header nor 2 8 N Ign the CRC For multiple related logs A number that counts down from N 1 to 0 where N is the 9 sequence UShort number of related logs and 0 means it is the 2 10 N last one of the set Most logs only come out one at a time in which case this number is 0 The percentage of time that the processor is idle in the last second Take the time 0 200 10 idle time Char and divide by two to give the percentage of l E d time 0 100 The quality of the GPS time as described in b Hl time status Enum Section 4 4 2 4 on Page 53 p 13 N 12 week UShort GPS week number 2 14 N 13 milli GPSec Milliseconds from the beginning of the GPS 4 16 N seconds week 32 bits representing the status of various receiver hardware and software components of the B status ULong receiver This number i
74. OD 0 126 25 0 01305C2B 21368820 572 1448 498 44 705 152 960 0 000 OBSL2 0 000 22 0 08104041 0 000 0 000 0 047 0 000 0 000 NA 0 000 Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 0 0 01304048 0 000 0 000 0 047 0 000 0 000 NA 0 000 30 0 08105C64 24603694 896 2895 544 45 151 177 090 0 217 GOOD 0 206 30 0 01305C6B 24603707 664 2256 268 37 493 167 960 0 000 OBSL2 0 000 13 0 08105C84 24250255 857 3274 252 45 985 177 530 0 206 GOOD 0 227 13 0 01305C8B 24250267 345 2551 367 35 974 161 460 0 000 OBSL2 0 000 23 0 08105CA4 21126709 349 2115 294 49 551 180 180 1 350 GOOD 0 242 23 0 01305CAB 21126716 772 1648 281 46 591 158 460 0 000 OBSL2 0 000 16 0 08105CC4 22794785 079 2944 692 48 000 178 260 0 567 GOOD 0 238 16 0 01305CCB 22794795 814 2294 567 39 630 146 960 0 000 OBSL2 0 000 21 0 081040E1 0 000 0 000 0 047 0 000 0 000 NA 0 000 0 0 013040E8 0 000 0 000 0 047 0 000 0 000 NA 0 000 4 0 08105D04 24190060 883 1287 093 42 408 18 370 0 000 NOEPHEMERIS 0 000 4 0 01304109 0 000 1002 929 0 047 0 000 0 000 NA 0 000 1 0 08105D24 20396997 146 776 500 52 322 178 630 0 764 GOOD 0 126 1 0 01305D2B 20397008 146 605 065 44 559 164 960 0 000 OBSL2 0 000 20 0 08105D44 20443865 099 276 505 51 285 179 910 1 034 GOOD 0 245 20 0 01305D4B 20443874 713 215 458 45 887 169 460 0 000 OBSL2 0 000 2 0 08104161 0 000 1000 000 0 047 0 000 0 000 NA 0 000 0 0 01304168 0 000 0 000 0
75. ODETYPE command 18 18 Reserved 19 19 AGCMODE command 20 20 CHANCONFIG command 21 21 PULSEBLANKING command 22 22 UNLOG command Data Logs Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 16 RXSECSTATUS Receiver Section Status This log is used to output the version and status information for the receiver card Log Type Synchronous Message ID 638 Description Format 1 Header This field contains the message header in ASCII or Binary H 0 format See Section 4 3 on Page 45 2 comp Number of components cards and so on Ulong 4 H 3 Type Component type see Table 56 on Page 134 Enum 4 H 4 4 Reserved Enum 4 H 8 5 model Model Char 16 16 H 12 6 psn Product serial number Char 16 16 H 28 7 sw version Firmware software version Char 16 16 H 44 8 status word Receiver status word See Table 52 on Page 125 Ulong 4 H 60 Jenorwora Receiver r lue le a 10 duel stint E QE 1 status word See Table 31 on Ulong 4 H 68 11 Next component offset H 4 comp x 68 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 SH Recommended Input LOG RXSECSTATUS ONNEW ASCII Example RXSECSTATUSA COM1 0 77 5 FINEST 0000 33331 1 GPSCARD PM GRC SVM05030043 2 201A5 00000008 00000000 00400000 CBBAD115 T ERING 465 265287 000 00000008 Euro 3 and Enclosures User Manual Rev 3 123
76. OM1 request to send for RS 422 request to send for RS 232 10 CTS1 DSR1 COM1 clear to send for RS 422 data set ready for RS 232 11 GPAIO Reserved internal 19 2 kQ pull down resistor 12 CTS3 CTS3 COMS clear to send for RS 422 clear to send for RS 232 13 RTS3 RTS3 COMS request to send for RS 422 request to send for RS 232 14 ERROR Indicates fatal error warning 15 TXD2 OUT2 COM2 transmitted data for RS 422 spare output for RS 232 16 CTS2 CTS2 COM2 clear to send for RS 422 clear to send for RS 232 17 RTS2 RTS2 COM2 request to send for RS 422 request to send for RS 232 18 CTS2 DSR2 COM2 clear to send for RS 422 data set ready for RS 232 19 SEL2 COM2 RS 232 RS 422 select 20 VARF Variable frequency out 21 PPS Normally high active low pulse is 1 ms wide 1 Hz 22 Falling edge is used as the reference MKO Normally high active low pulse is 1 ms 50 ns wide 23 Falling edge is used as the reference MKI Normally high active low pulse must exceed 55 ns in duration 24 The falling edge is the reference LVTTL contact closure compatible PV Output indicates a good solution or a valid GPS solution when high 25 GPIO_USER2 Reserved internal 10 KQ pull down resistor 26 SEL3 COM3 RS 232 RS 422 select 27 RESETIN Reset TTL signal input from external system active low 28 RESETOUT Reset TTL signal output active high 29 GPIO_USER3 Reserved internal 10 KQ pull down resistor 30 USBO D USBO interface data
77. OPAK 3 L1L2GEO 4 Y ak MTNA TN RU IT NYJ12345678 H W Rev 1 00 P N 01017409 Made in CANADA Figure 9 Serial Number and Version Label You can also verify the information by powering up the receiver and requesting the VERSION log After conferring with the Aviation Group to establish the required revision level as well as the terms and conditions of your firmware update the Aviation Group will issue you an authorization code or auth code The auth code is required to unlock the receiver features according to your authorized model type If it is determined that you will be updating to a higher revision level with the use of the firmware loading utility the Aviation Group will confirm with you as to the procedures files and methods required for using this utility As the main utility and other necessary files are generally provided in a compressed file format you will also be given a file decompression password The utility and update files are available from the Aviation Group by FTP e mail or diskette 135 Euro 3 and Enclosures User Manual Rev 3 Chapter 7 Firmware Updates 7 2 7 3 136 Downloading the Files Typically there are two files required when performing firmware updates on a particular receiver card WINLOAD EXE the firmware loading utility program e XXXX HEX the firmware update file Typical EuroPak 3 firmware files might be named 2100 HEX for example To proceed with your update you wil
78. Perform a hardware reset reset delay SETAPPROXTIME 102 Set an approximate GPS time setapproxtime week sec Continued on Page 57 56 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 SETSATELLITE 425 Set the health of a satellite PRN setsatellite prn health Control signal thresholds for threshold acqui lock THRESHOLD 449 acquisition tracking cross crosscorr codetype system correlation sigchan UNLOG 36 Remove log from logging control unlog port datatype UNLOGALL 38 Remove all logs from logging control un1ogall port Euro 3 and Enclosures User Manual Rev 3 57 Chapter 5 Commands 5 2 Command Reference All syntax strings and command examples given in this section are in the Abbreviated ASCII format unless otherwise indicated The tables provided show the fields necessary for all formats unless otherwise noted ENTER gt lt As mentioned in Section 4 1 on Page 40 all command strings must be followed by lt 5 2 1 AGCMODE lt This command can fundamentally change the way that the receiver operates Do not alter the default settings unless you are confident that you understand the consequences This command controls the EuroPak 3 s Automatic Gain Control AGC mechanism which has two primary functions To perform the analog to digital conversions in the receiver s front end Mitigate jamming Dx When the AGC mode is disabled the Receiver Status word in the m
79. S 653 System hardware levels TIME 101 Receiver time information TRACKSTAT 83 Channel tracking information VERSION 37 Receiver hardware and software version numbers 6 3 Log Reference 92 lt For each log the recommended input command for generating the log is provided The recommended command is shown in ASCI format unless otherwise specified An example of the log output in ASCII format is provided for each recommended input All logs are followed by a carriage return and line feed However in some of the examples carriage returns have been inserted in the middle of the log to clearly indicate different data sets Euro 3 and Enclosures User Manual Rev 3 Data Logs Chapter 6 6 3 1 AGCSTATS Automatic Gain Control Status This log provides status information for the automatic gain control mechanism and details of the parameters it is currently using Log Type Synch Message ID 630 Field Field Data Description Format Binary Binary Name Bytes Offset O se sean i apea 8 0 2 RF decks Number of RF decks reported in this message Ulong 4 H 3 AGCword AGC status word see Table 40 on Page 94 Ulong 4 H 4 4 gain AGC gain 0 to 99999 Ulong 4 H 8 5 me VARF pulse width Ulong 4 H 12 6 modulus VARF modulus Ulong 4 H 16 7 binl A D bin 1 decimal percentage Double 8 H 20 8 bin2 A D bin 2 decimal percentage Double 8 H 28 9 bin3 A D bin 3 decimal perc
80. SCII Format Log PSRPOSA COM1 0 43 0 FINESTEERING 265 320943 000 00840000 0000 33331 SOL COMPUTED SINGLE 51 11638529847 114 03825624352 1045 2359 0 0000 WGS84 1 5908 1 4096 2 3924 0 000 0 000 10 8 0 0 0 0 0 0 84ea7b68 CR LF Euro 3 and Enclosures User Manual Rev 3 47 Chapter 4 Using Commands and Logs 4 3 3 Binary Binary messages are provided as a machine readable format They are also ideal for applications where the amount of data being transmitted is fairly high Because of the inherent compactness of binary as opposed to ASCII data the messages are much smaller This allows a larger amount of data to be transmitted and received by the receiver s communication ports The structure of all Binary format messages follows the general conventions as noted here 1 Basic format Header 3 sync bytes plus 25 bytes of header information The header length is variable as fields may be appended in the future Always check the header length Parameters Variable length binary data CRC 4 bytes 2 The 3 Sync bytes are always Byte Hex Decimal First AA 170 Second 44 68 Third 12 18 3 The CRC is a 32 bit cyclic redundancy check performed on all data including the header See Section 4 4 2 3 on Page 54 for the CRC algorithm 4 The header is in the format shown in Table 8 on Page 49 48 Euro 3 and Enclosures User Manual Rev 3 Using Commands and Logs Chapter 4 Table 8 Binary
81. SCard is shown in Figure 5 above Euro 3 and Enclosures User Manual Rev 3 27 2 2 4 Chapter 2 Connecting Data Communications Equipment Installation In order to communicate with the receiver by sending commands and obtaining logs a connection to some form of data communications equipment is required usually a PC computer The default configuration available for each of the receiver types is given in the table below See Page 147 of Appendix A for data connection details Table 2 Default Serial Port Configurations Receiver COM1 COM2 COM3 USB1 Euro 3 RS 232 RS 422 RS 232 RS 422 RS 232 RS 422 USB 1 1 EuroPak 3 RS 232 RS 232 RS 232 USB 1 1 EuroPak 3T RS 232 RS 232 RS 232 USB 1 1 Each port may support some or all of the following signals e Clear To Send CTS Transmitted Data TXD Request To Send RTS e Received Data RXD Data Carrier Detect DCD Extra control lines are provided on COM2 for use with modems or other differential correction data links The EuroPak 3 and EuroPak 3T enclosures are Data Terminal Equipment DTE so that TXD RTS and DTR are outputs while RXD CTS and DCD are inputs A null modem cable is required to connect to another DTE like a terminal or a PC The RS 232 or RS 422 port settings bit rate parity and so on are software configurable These are further described in Chapter 3 Operation on Page 38 See Table 60 EuroPak 3 3T Serial Port Pin Out Descri
82. a Gauss Markov GM process representing the range bias error generated from satellite clock dither The third state is included because the Kalman filter assumes an unmodeled white input error The significant correlated errors produced by satellite clock dither are obviously not white and the Markov process is an attempt to handle this kind of short term variation The internal units of the new clock model s three states offset drift and GM state are meters meters per second and meters When scaled to time units for the output log these become seconds seconds per second and seconds respectively Note that the old units of the third clock state drift rate were meters per second per second The user has control over 3 process noise elements of the linear portion of the clock model Namely the ho h 1 and h elements of the power law spectral density model used to describe the frequency noise characteristics of oscillators where fis the sampling frequency and S f is the clock s power spectrum Typically only ho bh and h z affect the clock s Allan variance and the clock model s process noise elements Usage Before using an optional external oscillator several clock model parameters must be set There are default settings for a voltage controlled temperature compensated crystal oscillator VCTCXO ovenized crystal oscillator OCXO Rubidium and Cesium standard which are given in Table 29 on Page 74 Or the user may ch
83. a Logs Chapter 6 6 3 2 ALLMEDLLESTIMATES MEDLL Signal Estimates If you have a MEDLL version of the Euro 3 this log provides information about the MEDLL signal estimates being generated A data set is provided for each tracked satellite and within each tracked satellite data set a data set is provided for each signal estimate The message is updated every second and is therefore best to be logged ONNEW or ONCHANGED Field 5 the test statistic is limited to 0 0 99 regardless of the number of signals estimated The MEDLL test statistic algorithm is as follows TestStat Si Zi o pM i 0 j 0 if 0 99 lt TestStat TestStat 0 99 if more than one signal for example a mulitpath signal is estimated TestStat TestStat 1 where O and T Lj are the estimated Q and I values for each estimated signal O and J are the measured Q and I values K is the number of estimated signals N is the number of correlator locations lt The Amplitude field Field 8 in the table below is always normalized by the first estimate The first occurrence of the amplitude field for each PRN will be 1 To apply pseudorange PSR and accumulated Doppler range ADR corrections for multipath do the following Corrected PSR PSR delay Field 77 below Corrected ADR ADR phase Field 9 below The PSR and ADR measurements can be found in the RANGE log PSR is also in the TRACKSTAT log Log T
84. ain it from NovAtel Customer Support directly High quality coaxial cables should be used because a mismatch in impedance possible with lower quality cable produces reflections in the cable that increase signal loss Though it is possible to use other high quality antenna cables the performance specifications of the Euro 3 based receivers are warranted only when used with NovAtel supplied accessories 2 1 3 Power Supply Requirements This section contains information about the requirements for the input power to the receiver See Page 146 for more power supply specifications A WARNING Ifthe voltage supplied is below the minimum specification the receiver will suspend operation If the voltage supplied is above the maximum specification the receiver may be permanently damaged voiding your warranty The Euro 3 GPSCard contains a DC to DC converter that is very tolerant to noise and ripple at its input A tightly regulated input supply to the card is not required as long as it falls within the given input range The power supply used should be capable of 10 W The voltage input range for the Euro 3 GPSCard is 4 5 to 18 VDC The receivers are designed to prevent internal damage when subjected to a reverse polarity power connection They also provide protection from short over voltage events It is recommended that appropriate fuses or current limiting be incorporated as a safety precaution on all power lines used Use a sufficient gauge o
85. al a o S a a ag D oS i 0 88 ca p Ya o He c ds D IE S G G o H D O Lo gr Figure 21 Euro 3 Board Dimensions Euro 3 and Enclosures User Manual Rev 3 145 Appendix A ENVIRONMENTAL Technical Specifications Operating Temperature 40 C to 85 C Storage Temperature 45 C to 95 C Humidity PO Voltage Not to exceed 95 non condensing WER REQUIREMENTS 4 5 to 18 VDC Allowable Input Voltage Ripple 50 mV p p max Power consumption 6 W typical RF INPUT LNA POWER OUTPUT Antenna Connector SMB straight vertical male jack 50 Q nominal impedance RF Input Frequencies 1575 42 MHz L1 1227 60 MHz L2 LNA Power Internal Output from card default External Optional input 5 VDC 0 100 mA 8 to 30 VDC 150 mA max user supplied EXTERNAL OSCILLATOR INPUT Connector SMB straight vertical male jack External Clock Input Frequency 5 MHz or 10 MHz Input Impedance 50 Q nominal Input VSWR 2 0 1 Signal Level 0 dBm minimum to 13 0 dBm maximum Frequency Stability 0 5 ppm maximum Wave Shape Sinusoidal 146 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Electrical format Appendix A INPUT OUTPUT DATA INTERFACE COM1 COM2 AND COM3 RS232 Bit rate 9600 default 19200 38400 57600 115200 230400 bps Signals supported TX RX RTS CTS DTR DCD
86. at multiple correlation locations See also the ALLSQMIINFO and ALLSQMQINFO logs starting on Page 101 for more information about correlator locations 1 5 6 Digital Pulse Blanking Digital pulse blanking involves removing or attenuating pulses in the RF signal that exceed a specified level The Euro 3 provides digital pulse blanking for the L2 signal path only Use the PULSEBLANKING command to enable disable L2 pulse blanking or to control its sensitivity see Page 83 1 6 Euro 3 GPSCard The Euro 3 card consists of a radio frequency RF and a digital electronics section In addition to the Euro 3 a GPS receiver system typically contains three other major components e A GPS antenna and optional LNA power supply e A power supply Data communications equipment 1 6 1 Radio Frequency RF Section The receiver obtains a filtered and amplified GPS signal from the antenna via the coaxial cable The RF section performs the translation from the incoming RF signal to an IF signal usable by the digital section It also supplies power to the active antenna s LNA through the coaxial cable while maintaining isolation between the DC and RF paths The RF section can reject a high level of potential interference for example MSAT 20 Euro 3 and Enclosures User Manual Rev 3 Introduction Chapter 1 Inmarsat cellular phone and TV sub harmonic signals 1 6 2 Digital Electronics Section The digital section of the receiver receives a down conve
87. ation 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 provision shall survive termination of this Agreement howsoever arising 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 consequen
88. aw Ephemeris nennen 6 3 13 RAWGPSSUBFRAMEWP Raw Subframe Data sse 6 3 14 RAWWAASFRAMEWP Raw SBAS Frame Data ooconoccccccnnoncccccnnnoncccnnnnnnnncnnnannncncnnnns 6 3 15 RXCOMMANDS Receiver Confiouraton een 6 3 16 RXSECSTATUS Receiver Section Giatus nnn 6 3 17 SATVIS Satellite Visibility sssssseeeeene en 6 3 18 SYSTEMLEVELS System Hardware Levels sss 6 3 19 TIME Time Data oce ecce tot eed eee edet ed etd 6 3 20 TRACKSTAT Tracking Status aeii niaaa eiaa eene enne 6 3 21 VERSION Version Information eene 7 Firmware Updates 7 1 Contacting the NovAtel Aviation Department 7 2 Downloading the Files co ooococi nncccn n cocoa 7 3 Decompressing the Files reiris areira i arad A ae eA aA are Ae aE E Era 7 4 Running the Utility EE 7 4 1 Open a File to Download 7 4 2 Communications Settings cc ccc nee eee etneee sere ene eee ee ano eene enne nennen nennen nen 7 4 3 Downloading Firmware 8 Built In Status Tests O MOVES W AA AAR E 3 2 Receiver Status WO A A eve cet desi ea 8 3 Error Strobe Sigrial iei tete dee td e eee e aede d eee ee v dea tide 8 4 Receiver Status LOG is iret ere etre da 8 4 1 e as oh iter A A oT e E b YEAR NERO B42 EMO WV OF ner eec A Ie Ee sie ou edet DU EPA A EEN 8 4 3 Status Code Arrays 2 deiude idle dic 8 4 4 Receiver Status Code iei ient nna ther nai eae doe eo inwsadiacdahelssbendaccaneudavestacad 8 4
89. cking channel under test An initial power check between the two channels is made to check alignment and the cross correlation channel shifts its code phase repeatedly to measure the power If at any point it determines that the cross correlation power is within a certain level of the initial power the channel under test is tracking one of the minor cross correlation peaks The tracking channel then re acquires the satellite to remove the cross correlation error 1 5 4 Bit Synchronization Bit synchronization identifies the location of navigation bit edges with respect to the 1 ms C A code epochs Bit edge detection is based on observing the sign transition between successive 1 ms accumulations that are aligned with the received C A code epochs The bit synchronization is verified by an additional hardware channel and software steering This additional hardware is configured to generate a stream of 1 ms accumulations until sufficient data has been collected to perform the test The tracking channel is forced to re acquire if the results of this test confirms a bit alignment error 1 5 5 Signal Quality Monitoring Signal Quality Monitoring SQM technology is used to monitor GPS signals in space for anomalous behavior To do this the Euro 3 outputs accumulations at the specified correlation function values It collects accurate accumulation values and outputs them in a timely fashion The Euro 3 hardware is capable of tracking the correlation function
90. communications port and baud rate select COM Settings from the Settings menu see Figure 13 on Page 138 Choose the port on your PC from the Com Port drop down list and the baud rate from the Download Baudrate drop down list The baud rate should be as high as possible the default of 115200 is preferred Com Port E Download Baudrate ns y Connect Baudrate s y DK Cancel Figure 13 COM Port Setup 7 4 3 Downloading Firmware To download firmware follow these steps 1 Setup the communications port as described in Communications Settings above Select the file to download see Open a File to Download on Page 137 Make sure the file path and file name are displayed in main display area see Figure 12 gt N Click on the Write Flash button to download the firmware a 5 While WinLoad searches for the card power cycle the receiver turn it off and then on again lt You will only be able to access information from the card and download new firmware during the first few seconds after power initiation 6 WinLoad should be able to locate the card and the hex file should start downloading When the 138 Euro 3 and Enclosures User Manual Rev 3 Firmware Updates Chapter 7 Authorization Code dialog opens see Figure 14 enter the auth code and select OK Authorization Code EN Figure 14 Authorization Code Dialog 7 The receiver should finish downloading and reset The process is complete when
91. d EuroPak 3T enclosures provide strobe signals at their I O port as described in Table 61 on Page 153 Strobe signals include an input and several outputs as described below Mark Input Eventl A pulse on this input triggers certain logs to be generated see Section 4 2 2 Log Triggers on Page 44 Measure Output MSR Falling edge is synchronized with internal GPS measurements e Pulse Per Second Output PPS A pulse for which the trailing edge is synchronized with GPS time e Clock Model Valid Output PV High when good GPS time solution Error Output ERROR High when a receiver hardware failure is detected LED Red Output STATUS RED Hardware failure when on or pulsing LED Green Output STATUS GREEN Normal operation when pulsing at 1 Hz e Variable Frequency VARF Variable output range from 0 to 20 MHz See the Strobe Electrical Specifications section starting on Page 147 for further information about the strobe signal characteristics Table 3 Available Strobe Signals on Receivers STATUS STATUS Signal EVENT1 MSR PPS PV ERROR _RED GREEN VARF Euro 3 Pin B24 Pin B23 PinB22 Pin B25 Pin B15 Pin BS Pin B6 Pin B21 EuroPak 3 and UO port I O port 1 O port 1 O port 1 O port Not Not UO port EuroPak 3T pin 4 pin 3 pin 2 pin 5 pin 8 available available pin 1 2 3 2 Status Indicators The Euro 3 receivers have LED indicators that provide the status of the receiver The GPSCard
92. d connecting it to pin 40 of the 40 pin connector on the Euro 3 See also Appendix A RF Input and LNA Power on Page 146 In either case the LNA power is fed to the antenna through the same coaxial cable used for the RF signals The internal LNA power source should be disabled using the ANTENNAPOWER command Refer to Volume 2 of this manual for more information about this command Euro 3 and Enclosures User Manual Rev 3 Installation Chapter 2 A CAUTION No warranty is made that the receiver meets its performance specifications if a non NovAtel antenna is used 2 3 5 Mounting Bracket EuroPak 3 and EuroPak 3T Only Along with the EuroPak 3 and EuroPak 3T enclosures mounting kits have been provided to facilitate mounting the receivers to a surface This section provides information about how to mount the receivers lt The mounting kits are not designed for use in high dynamics or high vibration environments Contact NovAtel Customer Support if your application requires the EuroPak 3 and EuroPak 3T to be mounted in these types of environments To install the mounting bracket provided with the EuroPak 3 and EuroPak 3T refer to the instructions provided with the mounting kit Page 59 provides the dimension information for the bracket 2 3 6 Installing the USB Driver and the USB Virtual Serial Port Utility Once the EuroPak is connected to the PC and power supply install NovAtel s USB Driver and NovAtel s USB Virtual Serial Port util
93. d edenda ii tt de 1 6 1 Radio Frequency RF Gechon nano eese nan mener enne nen 1 6 2 Digital Electronics Gechon nr cc cnn nar cnn naar rn 1 6 3 GPS Antenria TEE EE 1 6 4 Principal Power Supply sssssssssssssssssseneee ene I rennen enhn nnn nennen nter nene 1 6 5 Data Communications Equipment emen 2 Installation 2 1 Additional Equipment Required sssssssssssssseeseeeeeee en e eren nennen ennn tenn Ennn nns 2 1 1 Selecting a GPS Antenna EE 2 1 2 Choosing a Coaxial Cable eee ene n enn erret 2 1 3 Power Supply Reourements ener er eren nennen nnne nenne 2 2 HIE EE de Tue NET 2 2 1 Installing a GPSCard in a Wiring Harness and Enclosure ssseeese 2 2 2 Mounting the GPS Antenna nennen eene nennen arras 2 2 3 Connecting the Antenna to the Receiver emen enne 2 2 4 Connecting Data Communications Equipment eene 2 2 5 Applying Power to the Receiver nennen eere nnne 2 3 Additional Features and Information DEMO MODEST aen rir te ertet 2 3 2 Status Indicators iiec tere da 2 9 3 External Oscillatot ena e et e ata 2 3 4 External Antenna LNA Power Euro 3 GPSCard Only 2 3 5 Mounting Bracket EuroPak 3 and EuroPak 3T On 2 3 6 Installing the USB Driver and the USB Virtual Serial Port Unit 3 Operation 3 1 Pre Start Check E ET EE 3 3 Communicating with the Receiver ssssssssssseeeneeneen mener nennen nennen nens 4 Using Commands and Logs
94. d from the ESD protection follow accepted standard anti static practices Failure to do so may cause damage to the GPSCard and void the warranty Euro 3 and Enclosures User Manual Rev 3 25 Chapter 2 Installation When you remove the GPSCard from the original packing box it is recommended that you save the box and ESD protection for future storage or shipment purposes A WARNING Remember 2 2 1 2 Always wear a properly grounded anti static wrist strap when handling the GPSCard Always hold the GPSCard by its corners or the RF shield and avoid direct contact with any of the components Do not let the GPSCard come in contact with clothing at any time because the grounding strap cannot dissipate static charges from fabrics Failure to follow accepted ESD handling practices could cause damage to the GPSCard Warranty may be voided if equipment is damaged by ESD Mounting the Printed Circuit Board The Euro 3 GPSCards are OEM products and therefore the printed circuit board is provided without a housing structure This allows flexibility in creating a mounting environment to suit particular product and marketing requirements The mounting and enclosure should provide the following mounting of external connectors protection from hostile physical environments for example rain snow sand salt water extreme temperatures electromagnetic shielding to protect from hostile RF environments for example nearby transmitters el
95. define CRC32 POLYNOMIAL OxEDB88320L p ur Calculate a CRC value to be used by CRC calculation functions unsigned long CRC32Value int i int j unsigned long ulCRC ulCRC i for j28 j 0 j if ulCRC amp 1 ulCRC ulCRC 1 CRC32 POLYNOMIAL else ulCRC gt gt 1 return ulCRC unsigned long CalculateBlockCRC32 unsigned long ulCount Number of bytes in the data block unsigned char ucBuffer Data block unsigned long ulTempl unsigned long ulTemp2 unsigned long ulCRC 0 while ulCount 0 ulTempl ulCRC gt gt 8 OxOOFFFFFFL ulTemp2 CRC32Value int ulCRC ucBuffer Oxff ulCRC ulTempl ulTemp2 return ulCRC Euro 3 and Enclosures User Manual Rev 3 5 1 Functional Listing of Commands Table 14 lists the commands by function Please see Section 5 2 starting on Page 58 for a more detailed description of each individual command Table 14 Commands By Function COMMUNICATIONS CONTROL AND STATUS Command Description ANTENNAPOWER Control power to low noise amplifier LNA of an active antenna COM Set serial port configuration LOG Request a log UNLOG Remove a specified log from logging control UNLOGALL Remove all logs from logging control GENERAL RECEIVER CONTROL Command Description AGCMODE Control Automatic Gain Control AGC
96. der in ASCII or H 0 Binary format See Section 4 3 on Page 45 2 sol status Solution status See Table 44 on Page 112 Enum 4 H 3 pos type Position type See Table 45 on Page 112 Enum 4 H 4 4 cutoff Primary antenna low elevation cut off angle Float 4 H 8 5 chans Number of hardware channel data sets to Long 4 H 12 follow 6 PRN GPS satellite PRN number of range Short 2 H 16 measurement 7 Reserved Short 2 H 18 8 ch tr Channel tracking status See Table 46 on Page ULong 4 H420 status 115 9 psr Pseudorange m Double 8 H 24 10 Doppler Doppler frequency Hz Float 4 H 32 11 C No Carrier to noise density ratio dB Hz Float 4 H 38 12 elias Number of seconds of continuous tracking no Float 4 H 42 cycle slips 13 pst res d M residual from pseudorange filter Float 4 H 46 f Range reject code from pseudorange filter Ss reject See Table 55 on Page 132 Enum 2 Iro 15 psr weight Pseudorange filter weighting Float 4 H 54 16 Next hardware channel data set offset H 16 previous chans x 40 i i H 16 variable 32 bit CRC ASCII and Binary only Hex 4 chans x 40 Recommended Input LOG TRACKSTATA ONTIME 1 Example Output TRACKSTATA COM1 0 55 5 FINESTEERING 265 320953 000 00840000 0000 33331 SOL COMPUTED SINGLE 0 000 32 19 0 08104002 0 000 2719 200 0 047 0 000 0 000 NA 0 000 0 0 01304008 0 000 0 000 0 047 0 000 0 000 NA 0 000 25 0 08105C24 21368810 458 1858 905 51 424 179 720 0 286 GO
97. e CA L2 C A code Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 7 CHANCONFIG This command changes the channel configuration of the receiver This will effect the number of channels tracking GPS signals and the number of channels tracking GEO signals Entering this command will reset the receiver causing the receiver to initiate a cold start bootup and reset all data stored in NVM to factory default values except for the channel configuration The default configuration is 14GPS4GEO 1 for models without MEDLL and 8GPS1GEO_1M for models with MEDLL See also Tables 62 and 63 on Page 160 lt The 8GPS1GEO_1M config value is only available on MEDLL models Syntax Message ID 501 CHANCONFIG config EP Binary Binary Valid Values Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name See H 0 Section 4 3 on Page 45 Specifies the channel 2 config See Table 22 below configuration for the receiver Enum 4 H to use Example CHANCONFIG 8GPS1GEO 1M Table 22 Config Values ASCII Description 14GPS4GEO_ 1 14 GPS L1 L2 channels and 4 GEO L1 channels without MEDLL 18GPS_1 18 GPS L1 L2 channels without MEDLL 8GPSIGEO IM 8 GPS L1 L2 channels and 1 GEO L1 channel with MEDLL on L1 Euro 3 and Enclosures User Manual Rev 3 67 Chapter 5 5 2 8 68 CLOCKADJUST Commands All oscillators have some inher
98. e Deen T 78 52 AN0 PEL BW IM RN 80 5 2 C PPEIHRESEOLDD T dizit dene Ee EE 82 5 2 18 PUESEBEANKINQ i ett etie ied E till leida t dates ted palati tat ife ie 83 5 219 RESET 5 toit a Ue s iir M do 85 5 220 SETAPPROXTIME a dme ee iim Ee Ee 86 52 21 95ETSATEEEITE ee Re eem 87 52 22 THRESHOLD is 5i ite le ent di qtio bite i deut 88 HR e e EE 89 5 2 24 U0NEOGALE DEE 90 6 Data Logs 91 6 1 Functional Listing Of LOGS TEE 91 o6 2 L0g SUMMARY zz onte no un ecelesie tu 92 6 3 Log Reference end setis Eden er IRR I MPa ici 92 6 3 1 AGCSTATS Automatic Gain Control Status eem 93 6 3 2 ALLMEDLLESTIMATES MEDLL Signal Estimates 0 cccccceeeceeeeeeeeeeeeeeeeteteeseanees 95 6 3 3 ALLSQMDATA Signal Quality Monitoring Data sme 97 6 3 4 ALLSQMI Accumulation Signal Quality Monitoring Data sss 99 6 3 5 ALLSQMIINFO I Correlator Locations emen 101 6 3 6 ALLSQMQ Q Signal Quality Monitoring Data 103 Euro 3 and Enclosures User Manual Rev 3 Table of Contents 6 3 7 ALLSQMQINFO Q Correlator Locations ono nnnnncnnnnnnnnnnns 6 3 8 ALMANAC Decoded Almanac eene 6 3 9 CLOCKMODEL Current Clock Model Status c c eseccecceceeeeeeeeeeeeeeecenaeeeeeeeeeeees 6 3 10 PSRPOS Pseudorange Position cece ects tenets eee e tennessee eteeeeeetaeeeeeetiaeeeeeeeea 6 3 11 RANGE Satellite Range Information 0 cece ecneeeeeeeeneeee eee eteeeeeeeaeeeeeeenaeeeeee 6 3 12 RAWEPHEM R
99. e of this issue and keep in mind that there may be a compatibility issue when purchasing and using different makes of GPS receivers Euro 3 and Enclosures User Manual Rev 3 15 Chapter 1 Introduction 1 1 1 2 1 3 16 The Euro 3 is a high performance receiver The standard Euro 3 includes fourteen channels for tracking L1 L2 GPS signals with NovAtel s patented Narrow Correlator technology and four channels for tracking of L1 GEOs The MEDLL version provides eight L1 L2 GPS channels and one L1 GEO channel This chapter provides information about the features and functionality of the Euro 3 and how it operates in the context of a Satellite Based Augmentation System SBAS Overview of the Euro 3 The Euro 3 is capable of receiving and tracking the L1 C A Code L1 and L2 carrier phase and L2 P Code or encrypted Y Code of up to 14 GPS satellites and four GEO satellites With a 32 bit processor the Euro 3 based receivers offer multipath resistant processing at 1 Hz Excellent acquisition and re acquisition times allow the receivers to operate in environments where frequent interruption of signals can be expected There is flexibility in areas such as configuration and specification of output data and control signals Multiple software models are available allowing you to better fit the receiver to the application while maintaining the option for a compatible upgrade path The EuroPak enclosures offer a complete solution a protect
100. ectromagnetic shielding so that the final product itself conforms to RF emissions specifications protection from ESD see Appendix B Electrostatic Discharge Control ESD Practices starting on Page 161 The GPSCard can be held in place by screws Please see Figure 21 Euro 3 Board Dimensions on Page 145 for mechanical drawings 2 2 1 3 Preparing the Data Signal amp Power Harness The wiring harness provides the following interconnect functions access to the serial communications ports access to input and output timing strobes power input s access to control signals For all GPSCards the power status and data inputs and outputs are accessed from a single connector Therefore the harness must be designed to mate with this connector As shown in Figure 5 on Page 27 the Euro 3 uses a 160 pin five row male connector with 0 1 spacing for the data power and status signals The pin out for this connector is specified after Figure 22 on Page 148 The RF connector is an SMB male jack 26 Euro 3 and Enclosures User Manual Rev 3 Installation Reference 1 2 3 4 Chapter 2 Figure 5 Euro 3 Connector and Indicator Locations Description Power signal and data connector P1200 male 160 pin DIN 41612 right angle that connects to user supplied interface LED status indicator External oscillator input SMB straight male jack RF signal input and LNA power output SMB straight male jack 2 2 2 Mounting the GPS
101. ent drift By default the receiver attempts to steer the receiver s clock to accurately match GPS time If for some reason this is not desired this behavior can be disabled using the CLOCKADJUST command The TIME log can then be used to monitor clock drift see Page 129 lt 1 2 The CLOCKADJUST command should only be used by advanced users of GPS If the CLOCKADJUST command is ENABLED and the receiver is configured to use an external reference frequency set in the EXTERNALCLOCK command see Page 73 for an external clock TCXO OCXO RUBIDIUM CESIUM or USER then the clock steering process will take over the VARF output pins altered while the receiver is tracking When disabled the range measurement bias errors will continue to accumulate with clock drift Pseudorange carrier phase and Doppler measurements may jump if the CLOCKADJUST mode is When disabled the time reported on all logs may be offset from GPS time The 1PPS output may also be offset The amount of this offset may be determined from the TIME log see Page 129 Abbreviated ASCII Syntax CLOCKADJUST switch Message ID 15 Field ASCII Binary ZE Binary Binary Binary Field Type Value Value Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name H 0 See Section 4 3 on Page 45 DISABLE 0 Disallow adjustment of internal clock 2 switch Enum 4 H ENABLE 1 Allow adjustment of
102. entage Double 8 H 36 10 bin4 A D bin 4 decimal percentage Double 8 H 44 11 bin5 A D bin 5 decimal percentage Double 8 H 52 12 bin6 A D bin 6 decimal percentage Double 8 H 60 13 noise floor Calculated noise floor Double 8 H 68 14 Double 8 H 76 15 ae Double 8 H 84 16 Next RF deck offset H 4 RF 88 Bytes variable 32 bit CRC ASCII and Binary only Hex 4 etc Euro 3 and Enclosures User Manual Rev 3 93 Chapter 6 94 Data Logs Table 40 AGC Status Word Description 0 Jam Detected Jamming Not Present Jamming Present Coarse Calibration 0 i poe Cambrai Fine Calibration 1 3 5 RF Type 1 L1 2 12 3 Reserved 0 Bits 7 6 5 Uu f Bits 7 5 4 ADC Range indicates which 3 bits of gt Bits 7 4 3 6 8 the 8 bit ADC output are currently 3 Bi 7 3 2 being used by the receiver Bits 3 4 Bits 7 2 1 5 Bits 7 1 0 1 AGC 9 11 Method of Noise Floor Calculation 2 Post Correlation 3 Reserved 12 31 Reserved Recommended Input LOG AGCSTATSA ONTIME 10 Example Output AGCSTATSA COM1 0 46 0 FINESTEERING 265 320937 829 00840000 0000 33331 2 44A 2698 398 8000 0 0658 0 1322 0 2236 0 2533 0 1974 0 1277 1033586 375000 0 997492 0 000000 412 281 281 8000 0 0501 0 1191 0 2345 0 2967 0 2247 0 1371 880681 9 37500 0 999503 0 000000 2959E75E Euro 3 and Enclosures User Manual Rev 3 Dat
103. er Values A 52 Message Type Byte Format sioan eroina ii enan aei ei erai a ee i a Aea 52 GPS Time Status poese A dba 53 Commands By FUNCION TTT 55 Command Summary EE 56 Frequency Values for AGCMODE Commande 58 AGG Mode Values ica ES 58 Antispoofing Flag Values cinco dd id 61 Channel State Values cccecccccecceecccceeeeeeececeeeceeseeeenenscedacenenacecenecsscedeenecseaceeeuensacedeetenseaeeenenseaes 64 Channel System Values ooconnccccnnonnccccnnnnaneccnnnnnnnecnc nn anne cnn nn Ea nante E T cnn 65 L2 Code Type Values dieere eee more ede apta E EEd eege 66 CONTIG Vales PR 67 cna I 70 Handshaking ValUues six ege 21 Ie ptt eoe et ee ecce tte eee RC re ERR Ree SONUS 70 Echo Values uri e Lg ep b Eee eedem dde 70 Break Values x inen A t e ii 70 DLL Bandwidth Values A da ia aves suede a neta unde 71 Glock Typo 2 5 men SR HERI RII ud ufu rer ela da esla te 74 Pre Defined Values for Oscillators sssseseene enm eene nenne 74 FIX Type Valles atn ze edat te eee tee peg ede tet E 75 Log Trigger Valles nee dac ee eunt aee tide is 79 LogHold EE 79 Code Type Values aia 81 PLL Bandwidth Valles viii tido 81 Frequency Switch EE 83 Pulse Blanking Threshold sse eee nennen rennen nennen nennen nnns 83 Desired Health Values milionon ienie e denen kannste nd annone sth a eia 87 Logs By FUNCION oi 91
104. essage header discussed in Table 52 on Page 125 will report the AGC as GOOD as long as the control metric used in the feedback loop is within 7 5 of the set point Table 16 Frequency Values for AGCMODE Command ASCII Description L1 GPS and GEO LI channels only L2 GPS L2 channels only Table 17 AGC Mode Values Description Specifies that the default pulse width and load ANTO values should be used Specifies that the values specified in the MANUAL pulsewidth and loadvalue fields should be used 58 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 Syntax Message ID 229 AGCMODE frequency mode pulsewidth loadvalue Valid Values ius Binary d Description ASCII Binary Offset This field contains the Abbreviated ASCII command name See Section 1 header H 0 4 3 on Page 45 2 frequency See Table 16 on Page 58 Specifies which signal type to Enum 4 H apply the command to Specifies whether to use the 3 mode See Table 17 on Page 58 default or custom values for Enum 4 H 4 the pulse width and load value Pulse width A value is only 4 pulsewidth 35 to 262144 required when the mode field is Float 4 H 8 set to MANUAL Modulus load value A value is 5 loadvalue 35 to 262144 only required when the mode Float 4 H 12 field is set to MANUAL Example AGCMODE L1 MANUAL 40 50 Euro 3 and Enclosures User Manual Rev 3 59 Chapte
105. etween the antenna and the receiver NovAtel offers a variety of single and dual frequency GPS antenna models as indicated in the table below All include band pass filtering and an LNA The GPS antenna you choose will depend on your particular application Each of these models offer exceptional phase center stability as well as a significant measure of immunity against multipath interference Each one has an environmentally sealed radome Table 1 NovAtel GPS Antenna Models Models Frequencies Supported 701 L1 only 702 532 533 L1 and L2 2 1 2 Choosing a Coaxial Cable An appropriate coaxial cable is one that is matched to the impedance of the antenna and receiver being used 50 ohms and whose line loss does not exceed 10 0 dB If the line loss limit is exceeded excessive signal degradation will occur and the receiver may not meet its performance specifications NovAtel offers a variety of coaxial cables to meet your GPS antenna interconnection requirements including 5 15 or 30 m antenna cables with TNC male connectors on both ends NovAtel part numbers C006 C016 and C032 respectively Your local NovAtel dealer can advise you about your specific configuration Should your application require 23 Euro 3 and Enclosures User Manual Rev 3 Chapter 2 Installation the use of cable longer than 30 m you will find the application note RF Equipment Selection and Installation at our Web site www novatel com or you may obt
106. f wire to ensure that the voltage at the connector is within the GPSCard s requirements 2 1 3 1 EuroPak 3 and EuroPak 3T Enclosures 2 2 24 The EuroPak 3 and EuroPak 3T are supplied with a 12 V power cable with a built in slow blow fuse for use with a standard 12 VDC power outlet If a different supply is desired the input range required is 9 to 18 VDC for the EuroPak 3 and 11 to 18 VDC for the EuroPak 3T The type of connector required to mate with the receiver s power connector is a 4 pin LEMO socket connector labelled PWR The supply should be capable of 10 W for the EuroPak 3 and 15W for the EuroPak 3T See Appendix D Replacement Parts on Page 164 for LEMO connector part numbers Installation Overview Once you have selected the appropriate equipment complete the following steps to set up and begin using your NovAtel GPS receiver 1 Ifyour receiver has been provided as a GPSCard without an enclosure install the card in an enclosure with a wiring harness as described in Section 2 2 1 on Page 25 Mount the GPS antenna to a secure stable structure as described in Section 2 2 2 on Page 27 3 Connect the GPS antenna to the receiver using an antenna RF cable using the information given in Section 2 2 3 on Page 27 4 Connect the receiver to a PC or other data communications equipment by following the information given in Section 2 2 4 on Page 28 5 Apply power to the receiver as described in Section 2 2 5 on Page 28
107. first example configures the EuroPak 3 to output the PSRPOS log in ASCII format to COMI at 7 second intervals offset by 2 5 seconds output at 2 5 seconds then 9 5 seconds and so on The second example log outputs only on COM3 Table 31 Log Trigger Values ASCII Binary Description Output when the message is updated ONNEW 0 not necessarily changed ONCHANGED 1 Output when the message is changed ONTIME 2 Output on a time interval ONNEXT 3 Output only the next message ONCE 4 Output only the current message Table 32 Log Hold Values Description Allow log to be removed by the NOHOED K UNLOGALL command Prevent log from being removed by HOLD l the UNLOGALL command Euro 3 and Enclosures User Manual Rev 3 79 Chapter 5 Commands 5 2 16 PLLBW lt 1 This command can fundamentally change the way that the receiver operates Do not alter the default settings unless you are confident that you understand the consequences 2 The log orders for C A and P Y signals are 3rd order This command sets the following for one or all channels LIPLL low pass filter bandwidth L2PLL low pass filter bandwidth A time filtered square of the L1 carrier phase tracking loop error signal is used to track the performance of this tracking loop This value is used as the variance of L1 carrier phase measurements The threshold specified by this command is compared with the loop variance to determine when the
108. formance Specifications ooooooococonccnnoncccnnnoccnconoonnnncnnnnnncnnnnnnnnnnnnnnnnnnnn nennen nennen emere nnns 144 EuroPak 3 3T Serial Port Pin Out Descriptions 152 EuroPak 3 I O Port Pin Out Descriptions ooooccicincccccoccccnncnccccnnnnnnnnnoncnnncnnnnnnnnnnnnnnnn nn nn nnncnnnnnnnns 153 L1L2GEO Model Default Channel Assignments sss emm 160 L1L2GEO Plus MEDLL Model Default Channel Assignments sss 160 Static Accumulating Materials esses nennen ener 162 Euro 3 and Enclosures User Manual Rev 3 The following notices apply to the EuroPak 3 and EuroPak 3T FCC NOTICE This equipment has been tested and found to comply with the radiated and conducted emission limits for a Class B digital device for both CISPR 22 and Part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following meas
109. ge trigger period loffset hold Valid Values A Description Format Binary ASCII Binary Offset This field contains the Abbreviated ASCII command name See Section 1 header H 0 4 5 on Page 45 Serial port at which 2 port See Table 11 on Page 52 to output the log Enum 4 H data Any valid message name with a suffix to specify the output Any valid 1 message format as explained in message ID Log to output UShort 2 Hes Section 4 3 1 on Page 45 message This field is only present in Binary S type format See Table 12 on Page 52 Message type gt og Char Vo 5 Reserved field required for Binary format only Set to 0 when entering Char 1 H 7 the command in Binary Trigger or 6 trigger See Table 31 on Page 79 condition to Enum 4 H 8 generate log on Log period for 7 period Any positive double value ONTIME trigger in Double 8 H 12 seconds Any positive double value smaller 8 Se than the value specified in the period SE for See Double 8 H 20 field rigger in seconds Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 Valid Values l Description Format Binary Binary ASCII Binary Bytes Offset Flag for whether or not the log is removed by the 9 hold See Table 32 on Page 79 UNLOGALL Enum 4 H 28 command Valid for ONTIME trigger only Examples LOG COM1 PSRPOSA ONTIME 7 2 5 HOLD LOG COM3 PRSPOSA ONCE The
110. hat can be requested from the receiver It is to your advantage to become thoroughly familiar with Chapters 4 through 6 of this manual to ensure maximum utilization of the receiver s capabilities Euro 3 and Enclosures User Manual Rev 3 39 Chapter 4 Using Commands and Logs 4 1 4 1 Chapter 5 and Chapter 6 provide the details of the commands and logs used to communicate with the receiver The sections below give information about using these messages including the formats they can take and the responses they may provide Entering Commands The receiver is capable of responding to many different input commands The commands offer a wide range of flexibility and can be used to control the following The overall status of the receiver Input and output functions Configuration of a specific channel of the receiver The following rules apply when entering commands and logs 1 You must enter commands in Abbreviated ASCII format The name of the command and its parameters are entered 2 The commands are not case sensitive For example FIX POSITION or fix position 3 Atthe end of a command or command string press ENTER 1 Command Settings on Power Up When the receiver 1s first powered up or after an FRESET command all commands revert to the factory default settings lt The FRESET command causes all previously stored information saved to non volatile memory to be erased This command is detailed
111. he board is using the on board VCTCXO Installation consists of connecting a cable from the external oscillator to the Euro 3 s external oscillator input connector For the EuroPak 3 and EuroPak 3T the BNC external oscillator port labeled OSC is used for input and output signals respectively See Figure 3 on Page 18 For the Euro 3 an SMB straight male jack connector is used as shown in Figure 5 on Page 27 The receiver does not have to be powered down during this procedure If you are handling the Euro 3 directly anti static practices must be observed Once an external oscillator has been connected the EXTERNALCLOCK command see Page 73 must be issued to define the clock model for example cesium rubidium or ovenized crystal and to set the input clock frequency 2 3 4 External Antenna LNA Power Euro 3 GPSCard Only 30 For the Euro 3 it is possible to supply power to the LNA of an active antenna either from the antenna port of the GPSCard itself or from an external source The internal antenna power supply of the GPSCards can produce 5 VDC at up to 150 mA This meets the needs of NovAtel s dual frequency GPS antennas so in most cases an additional LNA power supply is not required If a different antenna is used whose LNA requires voltage capacity beyond what the receiver can produce then the external LNA power option must be utilized This simply requires setting a voltage supply between 8 and 30 VDC 150 mA maximum an
112. ified by the COARSE or COARSESTEERING time status flag depending on the state of the CLOCKADJUST switch Once a position is known and range biases are being calculated the internal clock model begins modelling the position range biases and the receiver clock offset Modelling continues until the model is a good estimation of the actual receiver clock behavior At this time the receiver time is adjusted again this time to an accuracy of 1 microsecond This state is qualified by the FINE time status flag The final logical time status flag depends on whether CLOCK ADJUST is enabled or not see Page 68 If CLOCKADJUST is disabled the time status flag never improves on FINE The time is only adjusted again to within 1 microsecond if the range bias gets larger than 250 milliseconds If CLOCKADJUST is enabled the time status flag 1s set to FINESTEERING and the receiver time is continuously updated steered to minimize the receiver range bias If for some reason position is lost and the range bias cannot be calculated the time status is degraded to Euro 3 and Enclosures User Manual Rev 3 53 Chapter 4 Using Commands and Logs FREEWHEELING 4 4 2 5 32 Bit CRC 54 The ASCH and Binary message formats all contain a 32 bit Cyclic Redundancy Check CRC for data verification This allows you to ensure that the data received or transmitted is valid with a high level of certainty This CRC can be generated using the following C algorithm
113. iginal board into the shielding bag or clamshell and seal it with a label 4 Do not put repair tags inside the shielding bag or clamshell 5 Disconnect the wrist strap 162 Euro 3 and Enclosures User Manual Rev 3 No dea Standards References GPS SPS SIGNAL SPECIFICATION REFERENCE For copies of the Interface Control Document ICD GPS 200 contact ARINC Research Corporation Address Telephone Fax Web site 2551 Riva Road Amnapolis MD USA 21401 7465 410 266 4000 410 266 4049 GEODETIC SURVEY OF CANADA Geodetic Survey of Canada Address Telephone Fax Web site 615 Boothe Street Ottawa ON Canada K1A 0E9 613 995 4410 613 995 3215 www geod emr ca U S NATIONAL GEODETIC SURVEY NGS Information Services Address Telephone Fax Web site 1315 East West Highway Station 9244 Silver Springs MD USA 20910 3282 301 713 2692 301 713 4172 WWW ngs noaa gov lt Contact information may be subject to change however they are accurate at the time of publication 163 Euro 3 and Enclosures User Manual Rev 3 idee An Replacement Parts The following are a list of the replacement parts available for your NovAtel GPS receiver Should you require assistance or need to order additional components please contact your local NovAtel dealer or Customer Support representative D 1 EuroPak Part Description NovAtel Part DO strobe cable Figure 26 on Page 157 6072306
114. in Section 5 2 14 on Page 77 4 1 1 1 Factory Defaults The factory defaults for the Euro 3 LIL2GEO and MEDLL models are ANTENNAPOWER ON CHANCONFIG 14GPS4GEO 1 this becomes 8GPS1GEO 1M for the MEDLL model CLOCKADJUST ENABLE COM COMI 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON COM COM3 9600 N 8 1 N OFF ON DLLBW CA 0 2 DLLBW PY 0 2 EXTERNALCLOCK DISABLE this becomes OCXO 10MHz for the EuroPak 3T PLLBW CA 15 PLLBW PY 0 2 ECUTOFF 0 FIX NONE PULSEBLANKING L2 15 Euro 3 and Enclosures User Manual Rev 3 40 Using Commands and Logs Chapter 4 THRESHOLD 36 20 36 CA GPS THRESHOLD 33 28 36 CA WAAS The defaults are the same for other models except for GRC ANTENNAPOWER OFF GRCT ANTENNAPOWER OFF EXTERNALCLOCK OCXO 10MHZ CLOCKADJUST DISABLE LIL2GEOT and MEDLLT CHANCONFIG 14GPS4GEO 1 this becomes 8GPS1GEO 1M for the MEDLLT model EXTERNALCLOCK OCXO 10MHZ LOCKADJUST DISABLE PLLBW CA 3 Q 4 1 2 Determining the Current Command Settings To determine the current command settings of a receiver request a RXCOMMANDS log which is described in Section 6 3 15 on Page 120 This will provide a listing of all commands and their parameter settings This log provides the most complete information about receiver configuration For some commands including COM and LOG multiple parameter set
115. inary Valid Values Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name See Section H 0 4 3 on Page 45 Serial port at which logging is to disabled If a value is not Enum 4 H provided COMI is assumed 2 oH See Table 11 on P Page 52 3 Reserved always 0 Enum 4 H 4 Example UNLOGALL 90 Euro 3 and Enclosures User Manual Rev 3 Chapter 6 Data Logs 6 1 Functional Listing of Logs Table 38 lists the logs by function and provides the type of each log The valid types are discussed in Section 4 2 1 on Page 44 Table 38 Logs By Function Log Description Type GENERAL RECEIVER CONTROL AND STATUS AGCSTATS Automatic gain control status Synch ALLSQMDATA Signal quality monitoring data Synch ALLSQMIINFO I correlator locations Polled ALLSQMQINFO Q correlator locations Polled RXCOMMANDS Receiver configuration information Polled RXSECSTATUS Self test status Synch SYSTEMLEVELS System hardware levels Synch VERSION Receiver hardware and software version numbers Polled POSITION PARAMETERS AND SOLUTION FILTERING CONTROL PSRPOS Position data Synch CLOCKMODEL Range bias information Synch TIME Receiver time information Synch RANGE Satellite range information Synch SATELLITE TRACKING AND CHANNEL CONTROL ALLMEDLLESTIMATES MEDLL signal estimate information Asynch ALLSQMDATA Signal quality monito
116. ing power While in this mode all sections of the receivers for example encoders correlators and so on are disabled except for the clock generators and microprocessor interface During this mode SW is transferred from Flash to RAM the 32 bit CRC is verified on the SW load and the Initiated Built In Test IBIT is exercised to determine whether the receiver is usable This mode ends when the functional blocks of the receiver have been enabled initialized and the IBIT has been successfully executed The receiver is in operational mode following power up mode and before a fault is discovered by the Continuous Built In Test CBIT The fault mode is entered when the CBIT detects an error condition The receiver is in maintenance mode when it is loading software Maintenance mode can only be entered via the Power up mode Once you are connected commands can be entered as explained in Section 3 3 Euro 3 and Enclosures User Manual Rev 3 38 Operation Chapter 3 3 3 Communicating with the Receiver Communicating with the receiver is accomplished by issuing commands either by an operator or a script at the COM1 prompt displayed by the PC The commands and logs used by the receiver as well as the fields within them follow specific formats which are specified in Chapter 4 The valid commands which are used to control the operation and data logging of the receiver are specified in Chapter 5 Chapter 6 provides details on the data logs t
117. internal clock Euro 3 and Enclosures User Manual Rev 3 151 Appendix A Top View Front View Technical Specifications Isometric View ab Side View a All dimension are in millimetres please use the Unit Conversion section of the GPS Reference Manual for conversion to imperial measurements b Page 159 provides the dimension information for the mounting bracket A 2 1 Port Pin Outs Table 60 EuroPak 3 3T Serial Port Pin Out Descriptions SECH COM SE e 1 N C N C GND 2 RXD1 RXD2 RXD3 3 TXD1 TXD2 TXD3 4 N C N C N C 5 GND GND GND 6 USB D N C N C 7 RTS1 RTS2 RTS3 8 CTS1 CTS2 CTS3 9 USB D N C N C 152 Euro 3 and Enclosures User Manual Rev 3 Technical Specifications Appendix A Table 61 EuroPak 3 I O Port Pin Out Descriptions Connector Pin No Signal Name Signal Descriptions 1 VARF Variable frequency out 2 PPS Pulse per second 3 MSR Mark 1 output 4 EVENT1 Mark 1 input 5 PV Valid position available 6 Reserved 7 _RESETOUT Reset TTL signal output to an external system Active low 8 ERROR Indicates a fatal error when high 9 GND Digital ground lt For strobe signal descriptions please see Section 2 3 1 Strobes
118. is currently tracking that satellite when the channel is set to AUTO tracking the channel will immediately idle and return to automatic mode To cancel the effects of ASSIGN you must issue the following The ASSIGN command with the state set to AUTO These will return SV channel control to the automatic search engine immediately lt 1 Assigning a PRN to an SV channel does not remove the PRN from the search space of the automatic searcher only the SV channel is removed that is the searcher may search and lock onto this PRN on another channel The automatic searcher only searches for PRNs 0 to 37 for GPS channels and PRNs 120 to 138 for GEO channels 2 Assigning an SV channel will set the Channel Assignment bit to 1 for forced assignment in the Channel Tracking Status field of the RANGE log The RANGE log is specified in Section 6 3 11 on Page 113 3 The doppler field applies to L1 channels only 4 Thereceiver will internally convert to L2 for L2 C A tracking if the L2 code type has been switched on for that PRN using the ASSIGNL2CODETYPE command see Page 66 Euro 3 and Enclosures User Manual Rev 3 63 64 Chapter 5 Commands Syntax Message ID 27 ASSIGN channel state prn doppler window Binary Offset Valid Values Description Format This field contains the Abbreviated ASCII command name See header Section 4 3 on Page 45 SV channel number to apply the command to 0 is the first SV channel and 1
119. ity by advancing through the following steps 1 Unzip the ZIP file NovAtel 3000 zip on the CD provided to a local directory for example C NovAtel_ 3000 on the PC file system 2 Power up the EuroPak The PC detects the new USB device connected to it and prompts Found New Hardware OEMA Schwarz The Found New Hardware Wizard starts Install the USB driver NovAtel GPS Receiver by advancing through the following steps 3 Select No not this time Found New Hardware Wizard Welcome to the Found New Hardware Wizard Windows will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with pour permission Read our privacy policy Can Windows connect to Windows Update to search for software O Yes this time only O Yes now and every time connect a device Click Next to continue Euro 3 and Enclosures User Manual Rev 3 31 Chapter 2 Installation 4 Click on the Next button Found New Hardware Wizard This wizard helps you install software for 4NGPSUSB_DESCRIPTION1 If your hardware came with an installation CD SS or floppy disk insert it now What do you want the wizard to do O Install the software automatically Recommended Click Next to continue 5 Select Install from a list or specific location Advanced 6 Click on the Next button Found New Hardware Wizard Please choose your sea
120. ive enclosure that provides an interface to the GPSCard s power data and status signals Overview of the Clock Card EuroPak 3T only The EuroPak 3T enclosure also includes a 10 MHz clock card It is a passive clock card in that it has no central processing unit CPU The clock card comes with an ovenized crystal oscillator OCXO This allows oscillator output from the OSC port See also Section 2 3 3 External Oscillator on Page 30 SBAS Overview A Satellite Based Augmentation System SBAS is a safety critical system designed to augment the Department of Defense Global Positioning System GPS Standard Positioning Service SPS SBAS enhances GPS service by providing aranging function to the SBAS satellites which improves signal availability and reliability e GPS signal corrections which improve accuracy integrity monitoring which improves safety The primary mission of the SBAS system is to provide a means for air navigation for all phases of flight in the National Airspace System NAS from departure through en route and approach The principal functions of SBAS include 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 1 on Page 17 the SBAS system consists of a series of Reference Stations and Ma
121. l first need to download the appropriate files from NovAtel s FTP site at ftp novatel ca or via e mail at support Unovatel ca If downloading is not possible the files can be mailed to you on diskette The files are available in compressed password protected file format The compressed form of the files may have different names than the names discussed above the Aviation Group will advise you as to the exact names of the files you need As well the Aviation Group will provide you with a file de compression password Decompressing the Files After copying the compressed files to an appropriate directory on your computer each file must be decompressed The syntax for decompression is as follows Syntax filename password where filename is the name of the compressed file but not including the EXE extension and password is the password required to allow decompression A window based dialog is provided for password entry The self extracting archive then generates the following files WinLoad exe WinLoad utility program HowTo txt Instructions on how to use the WinLoad utility WhatsNew txt information about the changes made in the firmware since the last revision XXXX hex Firmware version update file where XXXX program version level for example 2000 hex Euro 3 and Enclosures User Manual Rev 3 Firmware Updates Chapter 7 7 4 Running the Utility WinLoad is a windows based program used to download firmware to GPSCards
122. l to not track any satellites ACTIVE Set the SV channel active AUTO Tell the receiver to automatically assign PRN codes to channels Euro 3 and Enclosures User Manual Rev 3 Commands 5 2 5 ASSIGNALL Dx The ASSIGNALL command should only be used by advanced users of GPS Chapter 5 This command allows you to override the automatic satellite channel assignment and reacquisition processes for all channels with manual instructions This command works the same way as ASSIGN except that it affects all SV channels See also Tables 62 and 63 on Page 160 Syntax ASSIGNALL system state prn doppler window Valid Values 1 header Description This field contains the Abbreviated ASCII command name See Section 4 3 on Page 45 Message ID 28 Binary Offset See Table 20 on 2 system Page 65 Optional system that SV channel is tracking If a value is not given the default of GPS is used Enum See Table 19 on 3 state Page 64 Optional desired SV channel state If a value is not given the default of ACTIVE is used Enum H 4 0 to 37 120 138 Optional satellite PRN code from 0 37 for GPS channels and 120 138 for GEO channels A value is required only when the state field is set to ACTIVE Long H 8 5 doppler 100 000 to 100 000 Optional current Doppler offset of the satellite specified in the prn field in Hz NOTE Satellite motion receiver antenna motion a
123. logs You are cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the idle time field and the buffer overrun bits of the Receiver Status field which are both found in any log header When a log is generated 1t is sent to the serial port specified by the port parameter in the entered LOG command 4 2 1 Log Types The receiver is capable of generating many different logs These logs are divided into the following three types e Synchronous The data contained in synchronous logs is generated on a regular schedule e Asynchronous The data in asynchronous logs is generated at irregular intervals If these logs were collected on a regular schedule there would be a delay in capturing the new data The result is that changes to the data are not captured the moment they are available e Polled The data in polled logs is generated only when requested Typically the data in these logs such as configuration settings does not change 4 2 2 Log Triggers Each log can be configured for output when a certain condition or trigger is met The possible triggers are ONNEW Output a new log whenever the message is updated not necessarily changed ONCHANGED Output a new log whenever the message has changed ONTIME Output a new log at a specified interval in seconds ONNEXT Output
124. lt In Status Tests Chapter 8 RXSECSTATUSA COM1 0 77 5 FINESTEERING 465 265287 000 00000008 0000 33331 1 GPSCARD PM GRC SVM05030043 2 201A5 00000008 00000000 00400000 4 Receiver Status Word Figure 16 Location of Receiver Status Word Each bit in the status word indicates the status of a specific condition or function of the receiver If the status word is 00000000 the receiver is operating normally The numbering of the bits is shown in Figure 17 below 0000000 8 r l 0000 0000 0000 0000 0000 0000 l 1 0000 1000 Bit 15 Bit 0 Figure 17 Reading the Bits in the Receiver Status Word The format of the log is described in Chapter 4 of this manual If the receiver status word indicates a problem please also see Section 8 2 Receiver Status Word on Page 140 8 4 2 Error Word The error field contains a 32 bit word Each bit in the word is used to indicate an error condition Error conditions may result in damage to the hardware or erroneous data so the receiver is put into an error state If any bit in the error word is set the receiver will set the error strobe line flash the error code on the status LED idle all channels turn off the antenna and disable the RF hardware The only way to get out of the error state is to reset the receiver The error word is the second last field in the RXSECSTATUS log as shown in the example below RXSECSTATUSA COM1 0 77 5 FINESTEERING 465 265287 000 00000008
125. mands Table 23 Parity Values ASCII Description No parity E Even parity O Odd parity Table 24 Handshaking Values ASCII Description No handshaking XON XOFF software XON handshaking CTS CTS RTS hardware handshaking Table 25 Echo Values ASCII Description No echo ON Transmit any input characters as they are received Table 26 Break Values ASCII Description OFF Disable break detection ON Enable break detection 70 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 10 DLLBW This is the noise equivalent bandwidth command for the DLL filter bandwidth Upon issuing the command the locktime for all tracking satellites is reset to zero Dx 1 The DLLBW command should only be used by advanced users It may not be suitable for every GPS application When using DLLBW in a differential mode the same setting should be used at both the monitor and remote station 2 The greater the DLL bandwidth the noisier the measurement is Syntax Message ID 517 DLLBW codetype bw Binary Binary Bytes Offset Valid Values Description Format This field contains the Abbreviated ASCII command name See l header Section 4 3 on Page 45 H 0 The code type field specifies to 2 codetype pos d Ton which signal type to apply the Enum 4 H se parameters 3 bw See Table 27 below Noise equivalent bandwidth of Float 4 H44 DLL filter in Hz
126. n 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 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
127. n of the receiver performance Bit 31 of the receiver status word corresponds to the auxiliary status word See the RXSECSTATUS log on Page 123 for a more detailed descriptions of this log Status LED The diagnostic LED provided on Euro 3 receivers blinks green on and off at approximately 1 Hz to indicate normal operation Error bits and status bits in an error state will cause the LED to flash a code in a binary sequence The binary sequence will be a 6 flash 0 5 second on and 0 25 second off per flash sequence followed by a 1 second delay The sequence will repeat indefinitely If there is more than one error or status present the lowest number will be output The first flash in the 6 flash sequence indicates if the code that follows is an error bit or a status bit Error bits will flash red and status bits will flash yellow The next 5 flashes will be the binary number of the code most significant bit first A red flash indicates a one and a yellow flash indicates a zero For example for an error bit 6 the binary number is 00110 so the output sequence would be 0 0 5 0 75 1 25150 2 0 2 25 2 7530 35 375 4 25 5 25 followed by a 1 second delay The sequence repeats indefinitely until the receiver is reset Euro 3 and Enclosures User Manual Rev 3 Built In Status Tests Chapter 8 In the example below the first flash in the sequence is red which means that a bit is set in the receiver error word The next five flashes give
128. nd Enclosures User Manual Rev 3 37 Chapter 3 Operation 3 1 3 2 Before operating the receiver for the first time ensure that you have followed the installation instructions in Chapter 2 From here on it will be assumed that testing and operation of the receiver will be performed while using a personal computer PC which allows the greatest ease and versatility Pre Start Check List Before turning on power to the receiver ensure that all of the following conditions have been met e The antenna is properly installed powered through coaxial cable and connected The PC is properly connected using a serial cable and its communications protocol has been configured to match that of the receiver Supply power to the receiver only after all of the above checks have been made Note that the warm up process may take several minutes depending on ambient temperature Boot up The receiver s firmware resides in non volatile memory After supplying power to the unit wait a few moments for the self boot to complete after which the receiver will be ready for command input The initial start up indicator lets you know that the receiver s main serial port is ready to communicate e Your PC will display the following prompt indicating you are connected through the COM port COM1 The receiver has 4 modes of operation including power up mode e Power Up Operational Fault Maintenance The receiver is in power up mode after apply
129. nd receiver clock frequency error must be included in the calculation of Doppler frequency Long H 12 6 window 0 to 10 000 Error or uncertainty in the Doppler estimate given in the doppler field in Hz NOTE This is a value For example enter 500 for 500 Hz ULong H 16 Example ASSIGNALL GPS ACTIVE 29 0 2000 Table 20 Channel System Values ASCII Description GPS GPS SV channels only ALL All channels WAAS GEO SV channels only Euro 3 and Enclosures User Manual Rev 3 65 Chapter 5 Commands 5 2 6 ASSIGNL2CODETYPE 66 Dx The ASSIGNL2CODETYPE command should only be used by advanced users of GPS This command forces the receiver to search for and track only the specified code type for the specified PRN The default code type for all PRNs is P Y If the code type is C A the tracking of the L2 C A signal is independent of the corresponding L1 C A signal Syntax Message ID 572 ASSIGNL2CODETYPE prn 2codetype l s Binary Binary Valid Values Description Format Bytes Offset This field contains the Abbreviated ASCH command name See l header Section 4 3 on Page 45 H 2 pr 0 to 37 ro e o d H The L2 code type the receiver 3 I2codetype See Table 21 below will track for the specified Enum l4 H 4 PRN Example ASSIGNL2CODETYPE 18 CA Table 21 L2 Code Type Values ASCII Description PY L2 P Y cod
130. nectors e One Universal Serial Bus USB port shares COMI DB 9P connector e Auxiliary status and synchronization signals GPS antenna and input power ports ndicators to provide power and communication status The EuroPak 3 also offers this feature e An external oscillator port input only The EuroPak 3T also offers this feature An external oscillator port output only The following accessories are included with the EuroPak 3 and EuroPak 3T e 112V power cable e 11Ocable s null modem serial cable e 1 straight through serial cable A CD containing NovAtel s GPS PC utilities and product documentation For technical specifications on the EuroPak 3 and EuroPak 3T please see Appendix A Technical Specifications starting on Page 144 Figure 2 EuroPak 3 and EuroPak 3T Enclosures Figure 3 EuroPak 3 and EuroPak 3T Rear Panel 18 Euro 3 and Enclosures User Manual Rev 3 Introduction Chapter 1 1 5 Euro 3 Features The Euro 3 has been designed with the following features e 32 channel all in view parallel tracking e cross correlation detection channel e bit synchronization check channel constant post correlation noise floor measurement channel Fastreacquisition Fully field upgradeable firmware Low power consumption 1 Hz raw data and position output rates At a minimum the following models are available for each receiver LIL2GEO GRCT MEDLL LIL2GEOT GRC MEDLLT Those models with
131. nsigned integer in the range 0 to 4294967295 Double 8 64 bits with 1 for the sign 11 for the exponent and 52 for the mantissa Its range 1s 1 7E308 with at least 15 digits of precision This is IEEE 754 Float 4 32 bits with 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 A 4 byte enumerated type beginning at zero an unsigned long In Binary the Enum 4 enumerated value is output In ASCI or Abbreviated ASCII the enumeration label is spelled out Two separate formats that depend on whether the output is requested in Binary or GPSec 4 an ASCII format For Binary the output is in milliseconds and is a long type For ASCII the output is in seconds and is a float type A packed fixed length n array of bytes in Binary but in ASCII or Abbreviated ASCII is converted into 2 character hexadecimal pairs Hex n A variable length array of bytes that is null terminated in the Binary case The String a maximum byte length for the field is shown in the row in the log or command table 50 Euro 3 and Enclosures User Manual Rev 3 Using Commande and Logs Chapter 4 Table 10 shows the arrangement of bytes within each field type when used by IBM PC computers All data sent to or from the receiver however is read least significant bit LSB first opposite to what is shown in Table 10 Data is then stored in the receiver LSB fi
132. nual Rev 3 Appendix B Electrostatic Discharge Control ESD Practices B 3 Prime Static Accumulators Table 64 provides some background information about static accumulating materials Table 64 Static Accumulating Materials Work Surfaces formica waxed or highly resistive e finished wood synthetic mats e writing materials note pads and so on wax finished Floors i vinyl Clothes common cleanroom smocks e personal garments all textiles e non conductive shoes Chairs finished wood vinyl e fiberglass Packing and common polyethylene bags wraps envelopes and bubble pack handling e pack foam common plastic trays and tote boxes Assembly Spray cleaners cleaning and common solder sucker repair areas common soldering irons common solvent brushes synthetic bristles cleaning drying and temperature chambers B 4 Handling Printed Circuit Boards ESD damage to unprotected sensitive devices may occur at any time ESD events can occur far below the threshold of human sensitivity Follow this sequence when it becomes necessary to install or remove a circuit board 1 After you are connected to the grounded wrist strap remove the circuit board from the frame and place it on a static controlled surface grounded floor or table mat 2 Remove the replacement circuit board from the static shielding bag or clamshell and insert it into the equipment 3 Place the or
133. o accommodate a ES PC serial RS232 communication port I I m UR O Jl ps E pee eee r II I 10 Wiring Table Connector Pin Number 2 3 8 7 4 5 1 amp 6 7 8 1 amp 6 5 4 To DB9S 10 To DB9S 11 3 2 Reference Description DB9S Female 10 11 DB9S Female Figure 24 EuroPak 3 and EuroPak 3T Null Modem Cable 155 Euro 3 and Enclosures User Manual Rev 3 Appendix A Technical Specifications A 2 2 3 Straight Through Serial Cable NovAtel part number 60723066 This cable can be used to connect the EuroPak 3 and EuroPak 3T to a modem or radio transmitter to propagate differential corrections The cable is equipped with a female DB9 connector at the receiver end The male DB9 connector at the other end is provided to plug into your user supplied equipment please refer to your modem or radio transmitter user guide for more information about its connectors The cable is approximately 2 m in length See Figure 25 D I os E
134. ol 55 91 idle 141 range measurements 113 raw data 118 119 tracking status 130 checksum see cyclic redundancy check circuit board 162 clock adjustment 68 aging parameter 60 106 bias 68 dither 73 108 drift 68 error 68 108 Euro 3 and Enclosures User Manual Rev 3 Index 166 internal 53 model 108 109 parameters 73 receiver 129 status 91 108 steer 68 CLOCKADJUST command 68 CLOCKMODEL log 108 coarse acquisition code see C A code coaxial 21 23 30 code type 66 COM command 67 69 commands antenna power 30 entering 40 format 45 functional list 55 communication 26 55 155 cable 158 configuration additional equipment 23 antenna 23 channel 67 filter bandwidth 80 logging 78 overview 16 phase lock loop 80 receiver 120 reset 77 85 serial ports 69 status 140 connectors 27 146 151 154 constellation 109 control channel 55 91 conventions document 15 corrected mean motion 60 106 corrections 75 95 correlator technology 115 CPU 44 78 CRC see cyclic redundancy check cross correlation 21 Customer Service 14 cut off angle setting 72 cyclic redundancy check CRC 46 48 54 D data 69 118 119 DC 21 151 defaults 40 147 differential 19 132 digital pulse blanking 21 dimensions 152 distance 112 dither 108 DLLBW command 71 Doppler assign 63 instantaneous 113 jump 68 offset 64 65 satellite visibility 126 tracking status
135. on Page 29 Euro 3 and Enclosures User Manual Rev 3 153 Appendix A Technical Specifications A 2 2 Cables A 2 2 1 12V Power Adapter Cable NovAtel part number 01017023 The power cable supplied with the EuroPak 3 and EuroPak 3T see Figure 23 provides a convenient means for supplying 12 VDC while operating in the field Input is provided through the standard 12V power outlet The output from the power cable utilizes a 4 pin LEMO connector LEMO part number FGG 0B 304 CLAD52Z and plugs directly into the PWR input located on the back panel of the EuroPak 3 and EuroPak 3T For alternate power sources please see Section 2 1 3 on Page 24 9 d Ze oo 2 3 1 5 2 6 3 EZ 1 4 8 i Y 12 ape wn cmm E is Reference Description Reference Description 1 Black 5 Ground 2 Red 6 7 to 18 VDC 3 Orange 7 7 to 18 VDC 4 Brown 8 Ground 9 Connector key marking 12 Universal tip 10 12V plug 13 6 Amp slow blow fuse 11 Spring Figure 23 EuroPak 3 and EuroPak 3T Power Cable 154 Euro 3 and Enclosures User Manual Rev 3 Appendix A Technical Specifications Null Modem Cable NovAtel part number 60323062 A 2 2 2 This cable supplied with the EuroPak 3 and EuroPak 3T see Figure 24 provides an easy means of communications with a PC The cable is equipped with a 9 pin connector at the receiver end which can be plugged into the COMI COM2 or AUX port At the PC end a 9 pin connector is provided t
136. on WGS84 which is illustrated in Figure 7 on Page 76 Euro 3 and Enclosures User Manual Rev 3 75 Chapter 5 76 Commands Definitions AE Origin 2 Earth s center of mass Z Axis Parallel to the direction of the Conventional Terrestrial Pole CTP for polar motion as defined by the Bureau International de l Heure BIH on the basis of the coordinates adopted for the BIH stations X Axis Intersection of the WGS 84 Reference Meridian Plane and the plane of the CTP s Equator the Reference Meridian being parallel to the Zero Meridian defined by the BIH on the basis of the coordinates adopted for the BIH stations Y Axis Completes a right handed earth centered earth fixed ECEF orthogonal coordinate system measured in the plane of the CTP Equator 90 East of the X Axis BIH Defined CTP 1984 0 WGS 84 A 4 0 Earth s Center of Mass BIH Defined Zero Meridian 1984 0 P uid aoc X WGS 84 Y WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 Figure 7 The WGS84 ECEF Coordinate System Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 14 FRESET This command clears data which is stored in the receiver s non volatile memory and restores the receiver to factory default settings The receiver is forced to hardware reset Syntax Message ID 20 FRESET Field PROP Binary Binary Field Name Valid Values Descri
137. ond 13 N Any valid double Corrected mean motion radians Double H 80 value second 14 A EECH Semi major axis metres Double H 88 value 15 inclangle Any valid double Angle of inclination relative to Double H 96 value 0 3 n radians Continued on Page 61 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 Field EN Binary Field Name Valid Values Description Format Offset 16 SV Any valid ulong Satellite configuration ULong H 104 config value health Any valid ulong 17 prn Saline SV health from subframe 4 or5 ULong H 108 18 E Any valid ulong SV health from almanac ULong H 112 alm value 19 antispoof uH ZER Flag for antispoofing Enum H 116 20 Next PRN data set offset H 4 previous msgs x 112 Table 18 Antispoofing Flag Values ASCII Description FALSE Antispoofing is disabled TRUE Antispoofing is enabled Euro 3 and Enclosures User Manual Rev 3 61 Chapter 5 Commands 5 2 3 ANTENNAPOWER 62 This command enables or disables the supply of electrical power from the internal see Section 2 3 4 on Page 30 for information about supplying power to the antenna power source of the receiver to the low noise amplifier LNA of an active antenna There are several bits in the Receiver Status see Table 52 Receiver Status on Page 125 that pertain to the antenna These bits indicate whether the antenna is powered internally or externally and whether
138. oose to supply customized settings Euro 3 and Enclosures User Manual Rev 3 73 Chapter 5 Commands Abbreviated ASCII Syntax Message ID 230 EXTERNALCLOCK clocktype freq hO h1 h2 Field ASCII Binary Binary Binary Binary eld Type Value Value Description Format Bytes Offset 1 header This field contains the Abbreviated ASCII command name See H 0 Section 4 3 on Page 45 2 clocktype See Table 28 on Clock type Enum 4 H Page 74 3 freq 5MHz 0 Optional frequency Ifa value is not Enum 4 H 4 specified the default is 5 MHz 10MHz 1 4 ho 1 0 e 31 to 1 0 e 18 Optional timing standards These Double 8 H 8 fields are only valid when the USER 5 hl 1 0 e 31 to 1 0 e 18 clocktype is selected Double 8 H 16 6 h2 1 0 e 31 to 1 0 e 18 Double 8 H 24 ASCII Example EXTERNALCLOCK DISABLI E or EXTERNALCLOCK USER 10MHZ 1 0167E 23 6 87621E 25 8 1762E 26 or EXTERNALCLOCK TCXO SMHZ Table 28 Clock Type ASCII Binary Description DISABLE 0 Turns the external clock input off reverts back to the on board VCTCXO TCXO 1 Sets the pre defined values for a VCTCXO OCXO 2 Sets the pre defined values for an OCXO RUBIDIUM 3 Sets the pre defined values for a rubidium oscillator CESIUM 4 Sets the pre defined values for a cesium oscillator USER 5 Defines custom process noise elements Table 29 P
139. oose will be the best match for pour hardware 16 Select Search for the best driver in these locations 17 Check the Include this location in the search check box and click on the Browse button to browse for the location of the NovAtel USB driver and click on the Next button 18 The Found New Hardware Wizard displays a progress window Found New Hardware Wizard Please wait while the wizard installs the software Y Nov tel USB Virtual Serial Port 36 Euro 3 and Enclosures User Manual Rev 3 Installation Chapter 2 19 Click on the Continue Anyway button ifthe message below appears Hardware Installation A The software you are installing for this hardware NovAtel USB Virtual Serial Port has not passed Windows Logo testing to verify its compatibility with Windows lt P Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway 20 Click on the Finish button to complete the installation Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for E Nov tel USB Virtual Serial Port Click Finish to close the wizard Euro 3 a
140. oreword Scope This manual contains sufficient information about the installation and operation of the Euro 3 GPSCard to allow you to effectively integrate and fully operate it There is also information about the EuroPak 3 and EuroPak 3T enclosures After the addition of accessories user supplied data communications equipment and a power supply the receivers are ready to go The Euro 3 based receivers utilize a comprehensive user interface command structure which requires communications through its communications COM ports This manual also lists and describes the various receiver commands and logs It is beyond the scope of this manual to provide details on service or repair Please contact your local NovAtel dealer for any customer service related inquiries see Customer Support on Page 14 For glossary and acronym definitions used within this manual please refer to the Knowledge and Learning page in the Support section of our Web site at www novatel com Prerequisites The Euro 3 card is an OEM product that requires the addition of an enclosure and peripheral equipment before becoming a fully functional GPS receiver The installation chapters of this document provide information concerning the installation requirements and considerations for the Euro 3 and its enclosures Conventions The conventions used throughout this document are H The letter H in the Binary Bytes or Binary Offset columns represents the header length fo
141. osures User Manual Rev 3 Index coarse fine 53 year 134 CPU 44 78 fine 53 GPS 108 129 improve acquisition 75 logs 91 of ephemeris 117 setting approximate 86 status 47 53 steering 53 68 strobes 26 validity 53 TIME log 129 tracking assignment 63 65 channel 113 130 commands 55 continuous 113 130 cut off angle 72 health 87 logs 91 loops 113 status 130 TRACKSTAT log 130 triggers 44 78 types 44 50 U U S National Geodetic Survey 163 UNLOGALL command 90 USB connector 158 V VCTCXO see oscillators velocity 112 VERSION log 132 133 visibility satellite 126 voltage 146 147 W warnings 9 10 22 24 warranty 9 13 22 26 31 waveforms anomalous 97 week reference 117 weighting pseudorange filter 130 WGS84 75 wide area reference station 16 word 117 Y Y code 16 66 Euro 3 and Enclosures User Manual Rev 3 169 NovAtel Recyclable E Printed in Canada on recycled paper OM 20000089 Rev 3 2010 08 30
142. ot allowed If the receiver detects an error parsing an input message it will return an error response message Please see Table 5 on Page 43 for a list of response messages from the receiver Euro 3 and Enclosures User Manual Rev 3 Using Commands and Logs Chapter 4 The ASCH message header is formatted as follows Table 7 ASCII Message Header Structure Field Field Field Description Ignored on Input Name Type Sync character The ASCI message is always preceded by a N l syne Char single symbol Char The ASCII name of the message The names of logs are N 2 message given in Table 39 on Page 92 The name of the port from which the log was generated 3 port Char see Table 1 on Page 32 id 4 Reserved ULong Reserved for internal use N 5 idle time Float The minimum percentage of time that the processor is idle Y 6 imestus Enum The quality of the GPS time as described in Section 4 4 2 4 Y on Page 33 7 week ULong GPS week number Y 8 Seconds GPSec Seconds from the beginning ofthe GPS week accurate to the Y millisecond level recever An eight digit hexadecimal number representing the status of 9 bb ULong various hardware and software components ofthe receiver Y This number is described in Table 52 on Page 125 10 ULong 3 Y Reserved Reserved for internal use 11 ULong Y 12 Char The character indicates the end of the header N Example A
143. polled log like VERSION gives the approximate GPS time when its data was generated 4424 GPS Time Status All reported receiver times are subject to a qualifying time status This status gives you an indication of how well a time is known see Table 13 Table 13 GPS Time Status GPS Time Status GPS Time Status Description Decimal ASCII 20 UNKNOWN Time validity is unknown 60 APPROXIMATE Time is set approximately 100 COARSE This time is valid to coarse precision 120 COARSESTEERING Time is coarse set and is being steered 130 FREEWHEELING Position is lost and the range bias cannot be calculated 160 FINE Time has fine precision I80 FINESTEERING Timeisfine setandisbeingsteered Time from satellite This is only used in logs 200 SATTIME containing satellite data such as ephemeris and almanac There are several distinct states that the receiver will go through UNKNOWN e COARSE COARSESTEERING e FREEWHEELING FINE FINESTEERING On start up and before any satellites are being tracked the receiver can not possibly know the current time As such the receiver time starts counting at GPS week 0 and second 0 0 The time status flag is set to UNKNOWN If time is input to the receiver using the SETAPPROXTIME command see Page 66 the time status 1s APPROXIMATE After the first ephemeris is decoded the receiver time is set to a resolution of 10 milliseconds This state is qual
144. ption Format Bytes Offset This field contains the Abbreviated ASCII command name See Section 1 header H 0 4 3 on Page 45 2 Reserved field required for Binary format only Set to 0 when entering Pi as ha H the command in Binary Example FRESET Euro 3 and Enclosures User Manual Rev 3 77 Chapter 5 Commands 5 2 15 LOG 78 Many different types of data can be logged using several different methods of triggering the log events See Chapter 6 Data Logs starting on Page 91 for further information and a complete list of data log structures The hold parameter which is only valid when the ONTIME trigger is being used will prevent a log from being removed when the UNLOGALL command is issued To remove a log which was invoked using the hold parameter requires the specific use ofthe UNLOG command The period and offset parameters are only valid when the ONTIME trigger is being used as well For example to log data at 1 second after every minute you would set the period to 60 and the offset to 1 lt Maximum flexibility for logging data is provided to you by these logs You are cautioned however to recognize that each log requested requires additional CPU time and memory buffer space Too many logs may result in lost data and degraded CPU performance Receiver overload can be monitored using the Buffer Over run bits of the Receiver Status word in any log header Syntax Message ID 1 LOG port messa
145. ptions on Page 152 for further information about data communications characteristics The receiver supports USB communication by connecting COM1 on the receiver to a USB port on the data communications equipment using the USB cable provided Figure 6 USB Cable Connection You must now install NovAtel s USB driver and Virtual Serial Port Utility See Section 2 3 6 starting on Page 31 for details on the USB driver and utility installations 2 2 5 Applying Power to the Receiver Connect the power supply set to the voltage given in Section 2 1 3 on Page 24 to the wiring harness created previously For a EuroPak 3 and EuroPak 3T enclosure connect the power supply to the PWR port 28 Euro 3 and Enclosures User Manual Rev 3 Installation Chapter 2 2 3 Additional Features and Information This section contains information about the additional features of the Euro 3 based receivers which may affect the overall design of your receiver system 2 3 1 Strobes A set of inputs and outputs that provide status and synchronization signals are provided on the Euro 3 These signals are referred to as strobes As shown in Table 3 below not all strobe signals are provided on all receivers However for those products for which strobes are available you may want to design your installation to include support for these signals The Euro 3 has 9 TTL compatible I O strobe lines See Figure 21 Euro 3 Board Dimensions on Page 145 The EuroPak 3 an
146. r 4 Using Commands and Logs 4 3 2 ASCII The structures of all ASCI messages follow the general conventions as noted here 46 1 Basic format HEADER PARAMS PARAM 1 PARAM 2 PARAM_N XXXXXXXX CR LF The lead code identifier for each record is This identifier is followed by the header parameters as described in Table 7 on Page 47 Each log is of variable length depending on the amount of data and field formats All data fields are delimited by a comma with two exceptions The first exception is the last header field which is followed by a to denote the start of the data message The other exception is the last data field which is followed by a to indicate end of message data Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the carriage return and line feed characters for example 1234ABCD CR LF This value is a 32 bit cyclic redundancy check CRC ofall bytes in the message excluding the identifier and the asterisk preceding the checksum digits See Section 4 4 2 5 on Page 54 for the algorithm used to generate the CRC An ASCII string is one field and is surrounded by double quotation marks for example ASCII string If separators are surrounded by quotation marks then the string is still one field and the separator will be ignored for example xxx xxx is one field Double quotation marks within a string are n
147. r 5 5 2 2 ALMANAC This command provides a means of injecting almanac data into the receiver The injected almanac is overwritten when a new almanac is received from the satellite constellation 60 Syntax ALMANAC msg PRN week seconds ecc g healthprn healthalm antispoof PRN week seconds ecc g antispoof Commands Message ID 73 o o Moar af NA inclangle svconfig oy Mo arg n NA inclangle svconfig healthprn healthalm E Ee Binary Binary Valid Values Description Format Offset This field contains the Abbreviated ASCII command name See 1 header 2 0 Section 4 3 on Page 45 Any valid long The number of satellite PRN S msg value almanac data sets to follow Long H 3 PRN 0 to 37 120 to 138 Satellite PRN number for current ULong H 8 message dimensionless 4 sed 0 to 1023 Almanac reference week GPS ULong H 12 week number Almanac reference time seconds 5 seconds 0 to 604799 into the week Double H 16 6 ecc eer double Eccentricity dimensionless Double H 24 7 2 Any valid double Rate of right ascension radians Double H 32 value second 8 Ou E double Right ascension radians Double H 40 9 o SE double Argument of perigee radians Double H 48 10 Mo Any valid double Mean anomaly of reference time Double H 56 value radians 11 afo SE double Clock aging parameter seconds Double H 64 12 an Any valid double Clock aging parameter seconds Double H 72 value sec
148. r that command or log The binary header is described in Section 4 3 3 starting on Page 48 Ox A number following 0x is a hexadecimal number Parameters surrounded by and are optional in a command or are required for only some instances of the command depending on the values of other parameters lt gt Text displayed between lt and gt indicates the entry of a keystroke in the case of the command or an automatic entry in the case of carriage return lt CR gt and line feed lt LF gt in data output The term Euro 3 will be used in this manual to refer to the card alone The term receiver will infer that the text is applicable to a Euro 3 either stand alone or in an enclosure unless otherwise stated In tables where no values are given such fields should be assumed to be reserved for future use Compliance with GPS Week Rollover The GPS week rollover issue refers to the way GPS receivers store information regarding the current GPS week According to the official GPS system specifications document CD GPS 200 paragraph 20 3 3 3 1 1 10 bits shall represent the number of the current GPS week This means the GPS week is represented by an integer number between 0 and 1023 As GPS time started on Sunday January 6 1980 at 0 00 hours week 1023 ended on Saturday August 21 1999 at 23 59 59 Per the GPS system specifications document NovAtel firmware resets the receiver s GPS week number back to zero Users should be awar
149. rch and installation options a Y Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed C Search removable media floppy CD ROM C NovAtel 3000 NovAtel Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware 7 Select Search for the best driver in these locations 8 Check the Include this location in the search check box and click on the Browse button to 32 Euro 3 and Enclosures User Manual Rev 3 Installation Chapter 2 browse for the location of the NovAtel USB driver 9 Click on the Next button The Found New Hardware Wizard displays a progress window Found New Hardware Wizard Please wait while the wizard installs the software Sch Nov tel GPS Receiver 10 Click on the Continue Anyway button ifthe message below appears Hardware Installation A The software you are installing for this hardware NovAtel GPS Receiver has not passed Windows Logo testing to verify its compatibility with Windows lt P Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the fut
150. re Defined Values for Oscillators Clock Type ho ha h 2 VCTCXO 1 0 e 21 1 0 e 20 1 0 e 20 OCXO 2 51 e 26 2 51 e 23 2 51 0 22 Rubidium 1 0 e 23 1 0 e 22 1 3 e 26 Cesium 2 0 e 20 7 0 e 23 4 0 e 29 74 Euro 3 and Enclosures User Manual Rev 3 Commands Chapter 5 5 2 13 FIX This command fixes position parameters for the EuroPak 3 For various applications fixing this value can assist in improving acquisition times and accuracy of position or corrections Syntax Message ID 44 FIX type llat long height ET Binary Valid Values Description Offset This field contains the Abbreviated ASCH command name See 1 header H 0 Section 4 3 on Page 45 2 type See Table 30 below Fix type Enum 4 H Latitude parameter for a fixed 4 position in degrees Only g lat 20 10 20 entered when the fix type is set Double SE to POSITION Longitude parameter for a fixed position in degrees Only 4 long 20019 360 entered when the fix type is set Double 8 imm to POSITION Ellipsoidal height parameter for a fixed position in 5 height 1000 to 20000000 metres Only entered when the Double 8 H 20 fix type is set to POSITION Example FIX POSITION 51 116381983333 114 03829231944 1048 215 Table 30 Fix Type Values Description NONE Unfix or none Clears any previous FIX commands Configures the receiver with its position fixed POSITION The receiver performs all computations based
151. re models Euro 3 and Enclosures User Manual Rev 3 159 Appendix A 160 SV Channel Signal Channel Table 62 L1L2GEO Model Default Channel Assignments SV Technical Specifications FEC Sky Search 0 0 1 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 1 2 3 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 2 4 5 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 3 6 7 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 4 8 9 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 5 10 11 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 6 12 13 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 7 14 15 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 8 16 17 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 9 18 19 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 10 20 21 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 11 22 23 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 12 24 25 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 13 26 27 GPS L1 C A L2 P Y Narrow GPS GPS 50 No Auto 14 28 WAAS L1 C A Standard WAAS WAAS 500 Yes Idle 15 29 WAAS L1 C A Standard WAAS WAAS 500 Yes Idle 16 30 WAAS L1 C A Standard WAAS WAAS 500 Yes Idle 17 31 WAAS L1 C A Standard WAAS WAAS 500 Yes Idle SV Channel Table 63 L1L2GEO Plus MEDLL Model Default Channel Assignments Signal Channel SV Sky Search
152. red by you for that command type If you have not yet entered a command string for that command type the default configuration values from start up are provided Log Type Polled Message ID 579 Field Field Name Data Description Format Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 H 9 2 command Indicates which command the embedded Int 4 H type message represents see Table 49 on Page 122 Embedded message of the most recent command string you entered If a command string has not Uchar g e msg been entered yet the default values from start up variable able CERA will be provided 4 32 bit CRC ASCH and Binary only Hex 4 variable Recommended Input LOG RXCOMMANDSA ONC GI Example Output RXCOMMANDSA COM1 21 53 5 FINESTEERING 265 320946 651 00840000 0000 33331 4 COM COM1 115200 N 8 1 N OFF ON 0FF819F3 RXCOMMANDSA COM1 20 53 5 FINESTEERING 265 320946 655 00840000 0000 33331 20 CHANCONFIG 14GPS4GEO_1 BC5D84BD RXCOMMANDSA COM1 19 53 5 FINESTEERING 265 320946 659 00840000 0000 33331 15 DLLBW CA 0 2000 EB5EFA7E RXCOMMANDSA COM1 18 53 5 FINESTEERING 265 320946 659 00840000 0000 33331 15 DLLBW PY 0 2000 2681F25A RXCOMMANDSA COM1 17 53 5 FINESTEERING 265 320946 663 00840000 0000 33331 16 PLLBW CA 15 0000 54FC70C0 RXCOMM
153. red channel of the receiver The message contents will be constant for a specific software version Log Type Polled Message ID 656 Field Field Description Format Binary Binary Name Bytes Offset 1 header Se See Section d on Parea TTT en H 2 svobs Number of tracked satellite data sets to follow ULong 4 H 3 sigchan Signal channel for the tracked satellite ULong 4 H 4 4 Ulong 4 H 8 Reserved 5 Ulong 4 H 12 6 locations Number of correlator locations to follow Long 4 H 16 7 Alxval Correlator spacing in C A code chips from punctual Float 4 H 20 variable Next channel data set offset H 4 svobs 16 4 x locations variable 32 bit CRC ASCII and Binary only Hex 4 variable Recommended Input LOG ALLSQMIINFOA ONNEW Example Output ALLSQMIINFOA COM1 0 78 0 FINESTEERING 465 265335 337 00000008 0000 33331 14 0 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 2 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 4 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 6 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 8 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1023000 10 28 0 8 0 0767250 0 0511500 0 0255750 0 0000000 0 0255750 0 0511500 0 0767250 0 1
154. rement UShort 2 H 4 4 Reserved UShort 2 H 6 5 psr Pseudorange measurement m Double 8 H 8 6 psr std Pseudorange measurement standard deviation m Float 4 H 16 7 udi Carrier phase in cycles accumulated Doppler Double 8 1420 range 8 adr std Estimated carrier phase standard deviation cycles Float 4 H 28 9 dopp Instantaneous carrier Doppler frequency Hz Float 4 H 32 10 C N Carrier to noise density ratio e 4 1436 0 C NQ 10 log1o S NQ dB Hz oat 11 locktime Number of seconds of continuous tracking no cycle Float 4 H 40 slipping 12 SE Tracking status See Table 46 on Page 115 ULong 4 H 44 13 Next data set offset H 4 previous obs x 44 H 4 variable 32 bit CRC ASCII and Binary only Hex 4 obs x 44 Euro 3 and Enclosures User Manual Rev 3 113 Chapter 6 Recommended Input LOG RANGEA ONTIME 30 Example Output 114 HRANGEA COMI 0000 33331 18 25 0 21365981 Data Logs 0 47 5 FINESTEERING 265 320945 000 00840000 414 0 247 112278988 432 0 027 1857 448 51 6 171 720 08105C24 25 0 21365991 461 0 051 87490144 701 0 002 1447 362 45 1 144 960 01305C2B 30 0 24599287 755 0 511 129270124 807 0 028 2893 781 45 2 169 090 08105C64 30 0 24599301 065 0 116 100729991 869 0 012 2254 897 38 1 159 960 01305C6B 13 0 24255239 520 0 461 127462146 591 0 027 3273 212 46 1 169 530 08105C84 13 0 24255251
155. rements 68 reject codes 130 RANGE log 113 RAWGPSSUBFRAMECRR log 118 RAWGPSSUBFRAMEWP log 118 RAWWAASFRAMEWP log 119 receiver configuration 120 status 44 140 replacement parts 164 reset 40 77 141 142 147 hardware 77 85 RESET command 80 85 residual 130 response messages 41 42 RF see radio frequency right ascension 60 106 rollover GPS week 15 RXCOMMANDS log 120 RXSECSTATUS log 123 S Satellite Based Augmentation System see SBAS satellites acquisition 63 almanac 106 anomalous waveforms 97 antenna location 27 clock dither 73 commands 55 elevation cut off 72 errors 132 health 87 PRN 126 130 raw data 117 118 tracking 91 113 130 visibility 126 SATVIS log 126 SBAS 16 119 scaling almanac 106 scope 15 serial cable 156 158 port 28 69 SETSATELLITE command 87 setting approximate time 86 automatic gain control 58 blanking threshold 59 elevation cut off angle 72 satellite health tracking 87 signal acquisition 88 quality monitoring SQM 21 97 specifications 144 standards 163 start up 40 86 static 161 162 status channel tracking 113 130 commands 55 receiver 44 47 91 self test 91 steer clock 68 time 53 stop bits 69 strobe signals 26 subframe data 117 118 support 13 synchronous logs 44 SYSTEMLEVELS log 128 T tests built in 140 142 threshold signal 88 time anomaly 60 106 clock adjustments 68 Euro 3 and Encl
156. rently tracked satellites When using this log please keep in mind the constraints noted along with the description It is important to ensure that the receiver clock model is valid This can be monitored by the bits in the Receiver Status field of the log header Large jumps in pseudorange as well as accumulated Doppler range ADR will occur as the clock is being adjusted If the ADR measurement is being used in precise phase processing it is important not to use the ADR if the parity known flag in the ch tr status field 1s not set as there may exist a half 1 2 cycle ambiguity on the measurement The tracking error estimate of the pseudorange and carrier phase ADR is the thermal noise of the receiver tracking loops only It does not account for possible multipath errors or atmospheric delays If both the L1 and L2 signals are being tracked for a given PRN two entries with the same PRN will appear in the range logs As shown in Table 46 on Page 115 these entries can be differentiated by bits 21 22 of the ch tr status field which denote whether the observation is for L1 or L2 This is to aid in parsing data Log Type Synch Message ID 43 Field Field Description Format Binary Binary Name Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 H 0 2 obs Number of data sets to follow Long 4 H 3 PRN GPS satellite PRN number of range measu
157. response to match the ENUM response ID above for example 0x4F04B OK 4 1 4 Response Messages The receiver is capable of outputting several responses for various conditions Most of these responses are error messages to indicate when something is not correct Table 5 on Page 43 outlines the various response strings and message IDs 42 Euro 3 and Enclosures User Manual Rev 3 Using Commands and Logs Chapter 4 Table 5 Response Messages String ID Meaning OK 1 Command was received correctly The request has exceeded a limit for example the EEN g maximum number of logs are being generated DATA PACKET DOESN T VERIFY 4 Data packet is not verified COMMAND FAILED ON RECEIVER 5 SS did not succeed in accomplishing requested INVALID MESSAGE ID 6 The input message ID is not valid INVALID MESSAGE FIELD X 7 Field x of the input message is not correct MESSAGE MISSING FIELD 9 A field is missing from the input message ARRAY SIZE FOR FIELD XEXCEEDS MAX 10 Field x contains more array elements than allowed PARAMETER Y IS OUT OF RANGE 11 eras of the input message is outside the acceptable TRIGGER X NOT VALID FOR THIS LOG 14 Input trigger x is not valid for this type of log NO VALID AUTH CODE FOR THAT MODEL 19 The model attached to the authcode is not valid CHANNEL IS INVALID 20 The selected log cannot be output at the specified rate REQUESTED RATE IS INVALID 21 The requested rate is
158. rformance or non performance by NovAtel under or re lated 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 Euro 3 and Enclosures User Manual Rev 3 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 Euro 3 GPSCard Receivers One 1 Year EuroPak 3 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 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 OPERAT
159. ring data Synch ALLSQMI I accumulation signal quality monitoring data Asynch ALLSQMQ Q signal quality monitoring data Asynch ALMANAC Current decoded almanac data Asynch RANGE Satellite range information Synch RAWEPHEM Raw ephemeris Asynch RAWGPSSUBFRAMEWP Raw subframe data Asynch RAWWAASFRAMEWP Raw SBAS frame data Asynch SATVIS Satellite azimuth and elevation angle data Synch TRACKSTAT Channel tracking information Synch 91 Euro 3 and Enclosures User Manual Rev 3 Chapter 6 6 2 Log Summary The available logs are listed alphabetically in Table 39 Table 39 Log Summary Data Logs Log Name Message ID Description AGCSTATS 630 Automatic gain control status ALLMEDLLESTIMATES 611 MEDLL signal estimate information ALLSQMDATA 617 Satellite quality monitoring data ALLSQMI 632 I accumulation signal quality monitoring data ALLSQMIINFO 656 I correlator locations ALLSQMQ 633 Q signal quality monitoring data ALLSQMQINFO 657 Q correlator locations ALMANAC 73 Current decoded almanac data CLOCKMODEL 16 Current clock model matrices PSRPOS 47 Position data RANGE 43 Satellite range information RAWEPHEM 41 Raw ephemeris RAWGPSSUBFRAMEWP 570 Raw subframe data with parity information RAWWAASFRAMEWP 571 Raw SBAS frame data with parity information RXCOMMANDS 579 Receiver configuration information RXSECSTATUS 638 Self test status SATVIS 48 Satellite azimuth and elevation angle data SYSTEMLEVEL
160. rst For example in char type data the LSB is bit O and the most significant bit MSB is bit 7 Table 10 Byte Arrangements 7 0 char address n 15 7 0 short n 1 address n 31 23 15 7 0 e Ill wes compliment n 3 n 2 n 1 address n 63 62 52 51 0 double n 7 n 6 n 5 n 4 n 3 n 2 n 1 address n 31 30 23 22 0 float n 3 n 2 n 1 address n Euro 3 and Enclosures User Manual Rev 3 51 Chapter 4 Using Commands and Logs 4 4 2 Commonly Used Fields Some of the more commonly used fields are discussed in this section 4 4 2 1 Serial Port Identifiers The values used to indicate serial ports are given below Table 11 Serial Port Identifier Values ASCII Binary COMI 32 COM2 64 COM3 96 USBI 224 4 4 2 2 Message Type Indicator The Message Type Indicator is a byte given in numerous binary format messages and all binary headers It follows the format in Table 12 below Table 12 Message Type Byte Format Bit Description 0 4 Reserved Message format where 00 Binary 5 6 01 ASCII 10 Abbreviated ASCH NMEA 11 Reserved Response indicator where 0 original message 7 1 response message See Section 4 2 on Page 44 for more information about logging data 44 23 Message Time Stamps All NovAtel format messages generated by the receiver have a GPS time stamp in their header GPS time is referenced to UTC with zero point defined as midnight on the night of January 6 1980 at 0 00
161. rted amplified GPS signal which it digitizes and processes to obtain a GPS solution position velocity and time The digital section consists of an analog to digital converter a 32 bit micro processor memory control and configuration logic signal processing circuitry serial peripheral devices and supporting circuitry The digital section performs the translations and calculations necessary to convert the IF analog signals into usable position and status information It also handles all I O functions including the auxiliary strobe signals which are described in detail in Section 2 3 1 on Page 29 For input and output levels please see Appendix A Technical Specifications starting on Page 144 for the Euro 3 1 6 3 GPS Antenna The purpose of the GPS antenna is to receive the GPS GEO signals in space to band limit the signal and to amplify the signal for transmission to the card An active GPS antenna with an LNA is required for the receiver to function properly NovAtel s active antennas are recommended Power for the antenna LNA is supplied by the receiver 1 6 4 Principal Power Supply A single external power supply capable of delivering 10 W is necessary to operate the receiver See Page 146 for details A WARNING Ifthe voltage supplied is below the minimum specification the receiver will suspend operation If the voltage supplied is above the maximum specification the receiver may be permanently damaged voiding your warranty
162. run OlLOIAITNDINIRI WlLNl eso No overrun Overrun N2 o No overrun Overrun 124 Euro 3 and Enclosures User Manual Rev 3 Data Logs Nibble Bit Mask Table 52 Receiver Status Description Chapter 6 0x00000001 Error flag see Table 50 Receiver No error Error Error on Page 124 NO 1 0x00000002 Temperature status Within specifications Warning 2 0x00000004 Voltage supply status OK Warning 3 0x00000008 Antenna power status Powered Not powered 4 0x00000010 LNA status OK Failure x 5 0x00000020 Antenna open flag OK Open 6 0x00000040 Antenna shorted flag OK Shorted 7 0x00000080 CPU overload flag No overload Overload 8 0x00000100 COMI buffer overrun flag No overrun Overrun N2 9 0x00000200 COM2 buffer overrun flag No overrun Overrun 10 0x00000400 COM3 buffer overrun flag No overrun Overrun 11 0x00000800 Reserved 12 0x00001000 13 0x00002000 N3 14 0x00004000 15 0x00008000 16 0x00010000 17 0x00020000 e 18 0x00040000 Almanac flag Valid Invalid 19 0x00080000 Position solution flag Valid Invalid 20 0x00100000 Position fixed flag see FIX on Page 75 Not fixed Fixed Ns 21 0x00200000 Clock steering status Enabled Disabled 22 0x00400000 Clock model flag Valid Invalid 23 0x00800000 External oscillator flag PLL not locked PLL locked
163. s CE NOTICE The enclosures carry the CE mark A WARNING This is a Class B product In a domestic environment this product may cause radio interference in which case the user may be required to take adequate measures Hereby NovAtel Inc declares that this EuroPak 3 and EuroPak 3T are in compliance with the essential requirements and other relevant provisions of Directive 1999 5 EC Electromagnetic Compatibility EMC The EuroPak 3 and EuroPak 3T have passed the following regulatory tests FCC Part 15 EN 55022 EN 61000 6 1 EN 61000 6 2 EN 61000 4 2 EN 61000 4 3 EN 61000 4 4 EN 61000 4 6 EN 61000 4 8 EN 50204 IEC EN 60950 Radiated Emissions Class B Radiated Emissions Class B CISPR 22 Generic Immunity Residential Commercial and Light Industrial EuroPak 3T only Generic Immunity Industrial EuroPak 3 only Electrostatic Discharge Immunity Radiated RF EM Field Immunity Test Electrical Fast Transient Burst Test Conducted Immunity Magnetic Field Immunity Radiated Immunity Keyed Carrier 900 MHz Phone Band Safety of Information Technology Equipment Euro 3 and Enclosures User Manual Rev 3 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 no
164. s can exist For example the LOG command can be entered with one set of parameters to enable logging of the PSRPOS log It can then be entered again with a second set of parameters to configure the receiver to capture the RANGE log When the LOG command is entered the second time the new parameter set does not overwrite the first it exists in addition to the first set 4 1 3 Response Formats The format of the response is dependent on the format of the input command If the command is input as Abbreviated ASCII the output will be Abbreviated ASCII Abbreviated ASCII A leading lt followed by the response string like the example below Euro 3 and Enclosures User Manual Rev 3 41 Chapter 4 Using Commands and Logs lt OK ASCII Full header with the message name being identical except ending in an R for response The body of the message consists of a 40 character string for the response string Example PSRPOSA COM1 0 43 0 FINESTEERING 265 320943 000 00840000 0000 33331 SOL_COMPUTED SINGLE 51 11638529847 114 03825624352 1045 2359 0 0000 WGS84 1 5908 1 4096 2 3924 0 000 0 000 10 8 0 0 0 0 0 0 84ea7b68 Binary Similar to an ASCII response except that it follows the binary protocols Binary header with message type set to response value for example 0x82 see Field 6 in Table 8 Binary Message Header Structure on Page 49 ENUM response ID see Table 5 Response Messages on Page 43 String containing the ASCII
165. s described in 4 A x Table 52 on Page 125 15 UShort 2 24 Y Reserved Reserved for internal use 16 UShort 2 26 Y a This ENUM is not 4 bytes long but as indicated in the table is only 1 byte b These time fields are ignored if Field 11 Time Status is invalid In this case the current receiver time is used The recommended values for the three time fields are 0 0 0 Euro 3 and Enclosures User Manual Rev 3 49 Chapter 4 Using Commands and Logs 4 4 Fields The commands and logs for the receiver use a variety of field types to convey data The following sections provide information about the types of fields used and some of the more commonly used fields 4 4 1 Field Types The following table describes the field types used in the commands and logs Table 9 Field Types Binary Size Description Bytes An 8 bit signed integer in the range 128 to 127 This integer value may be the Char 1 ASCII code corresponding to the specified character In ASCH or Abbreviated ASCII this comes out as an actual character UChar 1 An 8 bit unsigned integer Values are in the range from 0 to 255 In ASCII or Abbreviated ASCII this comes out as a number Short 2 A 16 bit signed integer in the range 32768 to 32767 UShort 2 A 16 bit unsigned integer in the range 0 to 65535 Long 4 A 32 bit signed integer in the range 2147483648 to 2147483647 ULong 4 A 32 bit u
166. s have a single indicator which is shown in Figure 5 on Page 27 for the Euro 3 The LED blinks green on and off at approximately 1 Hz to indicate normal operation If the indicator is red then the receiver is not working properly The operation of this indicator is further described in Section 8 5 on Page 142 Euro 3 and Enclosures User Manual Rev 3 29 Chapter 2 Installation The EuroPak 3 and EuroPak 3T provide the status indicators shown in Table 4 Table 4 EuroPak 3 and EuroPak 3T Status Indicators Indicator Indicator Color Status Green Data is being transmitted from COM1 COM1 Red Data is being received on COM1 Green Data is being transmitted from COM2 COM2 Red Data is being received on COM2 Green Data is being transmitted from COM3 AUX Red Data is being received on COM3 PWR Red The receiver is powered 2 3 3 External Oscillator For certain applications requiring greater precision than what is possible using the Euro 3 s on board 20 MHz voltage controlled temperature compensated crystal oscillator VCTCXO you may wish to connect the Euro 3 to an external high stability oscillator The external oscillator can be either 5 MHz or 10 MHz See the External Oscillator Input section on Page 146 for the full specifications of this signal If you do not use the EXTERNALCLOCK command to specify a clock type see Page 73 its default is DISABLE This means the external clock input is off and t
167. s will search for current and updated software by looking on your computer on the hardware installation CD or on the Windows Update Web site with your permission Read our privacy policy Can Windows connect to Windows Update to search for software O Yes this time only O Yes now and every time connect a device Click Next to continue 14 Select No not this time and click on the Next button Found New Hardware Wizard This wizard helps you install software for Nov tel USB Virtual Serial Port If your hardware came with an installation CD lt 6 or floppy disk insert it now What do you want the wizard to do O Install the software automatically Recommended tor spe Click Next to continue 15 Select Install from a list or specific location Advanced and click on the Next button Euro 3 and Enclosures User Manual Rev 3 35 Chapter 2 Installation Found New Hardware Wizard Please choose your search and installation options SS Y Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed C Search removable media floppy CD ROM M lo E CANovAtel 3000WNov tel E Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you ch
168. sands of volts Various electrical and electronic components are vulnerable to electrostatic discharge ESD These include discrete components hybrid devices integrated circuits ICs and printed circuit boards PCBs assembled with these devices B 2 Handling ESD Sensitive Devices 161 ESD sensitive devices must only be handled in static controlled locations Some recommendations for such handling practices follow Handling areas must be equipped with a grounded table floor mats and wrist strap A relative humidity level must be maintained between 20 and 80 non condensing No ESD sensitive board or component should be removed from its protective package except in a static controlled location A static controlled environment and correct static control procedures are required at both repair stations and maintenance areas ESD sensitive devices must be handled only after personnel have grounded themselves via wrist straps and mats Boards or components should never come in contact with clothing because normal grounding cannot dissipate static charges on fabrics A circuit board must be placed into an anti static plastic clamshell before being removed from the work location and must remain in the clamshell until it arrives at a static controlled repair test center Circuit boards must not be changed or moved needlessly Handles may be provided on circuit boards for use in their removal and replacement care should be taken to a
169. ssue Of Data Ephemeris due to INVALIDIODE 10 mismatch between differential stations Low power meaning that the satellite is rejected POM EO NES E due to low carrier noise ratio OBSL2 13 L2 measurements are not being used by the filter No compatible ionospheric correction is available NOIONO CORE i for this particular satellite Bad integrity indicating a large variation between BAD INTEGRITY 17 the measured range to the satellite and the theoretical range computed from the ephemeris N A 99 No observation a reject code is not applicable Euro 3 and Enclosures User Manual Rev 3 Data Logs 6 3 21 VERSION Version Information Chapter 6 This log contains the version information for all components of a system When using a standard receiver there will only be one component in the log Log Type Polled Message ID 37 Field Field Description Format Binary Binary Name Bytes Offset This field contains the message header in ASCII or Binary l header format See Section 4 3 on Page 45 H S 2 comp Number of components cards etc Long 4 H type Component type See Table 56 on Page 134 Enum 4 H 4 4 model Model Char 16 16 H 8 5 psn Product serial number Char 16 16 H 24 6 hw Hardware version See Table 57 on Page 134 Char 16 16 H 40 version 7 SW Firmware software version See Table 57 on Page Char 16 16 H 56 version 134 8 boot Boot code version See Table 57 on Page 134 Char 16
170. ster Stations a Ground Uplink Subsystem and Geostationary Satellites GEOs The Reference Stations which are Euro 3 and Enclosures User Manual Rev 3 Introduction Chapter 1 strategically located to provide adequate coverage pick up GPS satellite data and route it to the Master Stations The Master Stations then process the data to determine the signal integrity signal corrections and residual errors for each monitored satellite This information is sent to the Ground Uplink Subsystem for transmission to the GEOs which then re transmits the data on the GPS L1 frequency Figure 1 The SBAS Concept Reference Description Geo satellite GPS satellite constellation L1 and L2 C1 and C2 GPS user Integrity data differential corrections and ranging control Reference station Master station Integrity data differential corrections time control and status Ground uplink subsystem 200 JO Om PS oO o Euro 3 and Enclosures User Manual Rev 3 17 Chapter 1 Introduction 1 4 EuroPak 3 and EuroPak 3T Enclosures The EuroPak 3 and EuroPak 3T provide a hardware interface between your equipment and the NovAtel Euro 3 GPSCard Each is a rugged enclosure that provides protection against adverse environments It has DB 9 connectors to access data and status signals The EuroPak 3 and EuroPak 3T offer the following features A mounting enclosure with a PCB interconnect back plane Three serial ports provided on three DB 9P con
171. the next message to be generated only a single log will be generated ONCE Output the current existing message only a single log will be generated For each log type described in Section 4 2 1 Log Types only certain triggers are valid For example the ALLSOMIINFO log is a polled log because it does not change Therefore it would not make sense to log this kind of data using the ONCHANGED or ONNEW triggers The following table outlines the valid triggers for each log type 44 Euro 3 and Enclosures User Manual Rev 3 Using Commands and Logs Chapter 4 Table 6 Log Triggers for Each Log Type Type Recommended Triggers Invalid Triggers Synchronous ONTIME SE GED Asynchronous ONCHANGED Polled ONCE aN GED 4 3 Log Formats The receiver handles all incoming and outgoing NovAtel logs using two different formats ASCII Binary This allows for some versatility in the way the receiver can be used 4 3 1 Specifying Log Formats Logs can be requested in two formats ASCII or Binary described in Section 4 3 starting below To request a log in ASCI format add A to the end of the log as shown below LOG ALMANACA To request a log in Binary format B is added to the end of the log name LOG RANGEB ONTIME 30 When issuing Binary logs the output message type is set in the Message Type field in the command header as described in Table 8 on Page 49 Euro 3 and Enclosures User Manual Rev 3 45 Chapte
172. tial 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 regular 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 Web site http www novatel com or write to NOVATEL INC CUSTOMER SUPPORT DEPT 1120 68 AVENUE NE CALGARY ALBERTA CANADA T2E 885 9 Disclaimer of Warranty and Limitation of Liability a THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRANTIES EXPRESS OR IMPLIED INCLUDING ANY WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE NovAtel DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES IN NO EVENT WILL NovAtel s LIABILITY OF ANY KIND INCLUDE ANY SPECIAL INCIDENTAL OR CONSEQUENTIAL DAMAGES INCLUDING LOST PROFITS EVEN IF NovAtel HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE b NovAtel will not be liable for any loss or damage caused by delay in furnishing the software or any other perfor mance under this Agreement c NovAtel s entire liability and your exclusive remedies for our liability of any kind including liability for negligence for the software covered by this Agreement and all other pe
173. uch as 90 compared to a system using Narrow Correlator tracking technology alone 1 5 2 1 Optional MEDLL Technology MEDLL technology takes advantage of NovAtel s parallel channel Narrow Correlator sampling techniques MEDLL uses a proprietary coupled correlator sampling technique combined with maximum likelihood estimation techniques to break down the received signals into direct path and reflected path components MEDLL determines the amplitude delay and phase angle of both the direct and multipath signals and analyses the signal with the least delay to determine the direct path All other signals with greater delay are considered to be multipath components and are removed GZ MEDLL is running as a monitoring system only and does not close the delay lock loop DLL Euro 3 and Enclosures User Manual Rev 3 19 Chapter 1 Introduction 1 5 3 Cross Correlation Detection Channel NovAtel s patent pending SafeTrak technology is also featured in Euro 3 based products The receiver tracks a satellite by replicating the satellite s PRN code and aligning it with the received PRN code Cross correlation happens when the receiver is tracking a certain PRN code with an incorrectly replicated PRN code This is due to the receiver tracking a minor rather than the required major correlation peak The Euro 3 performs a cross correlation check on channels tracking at low C No values The cross correlation channel aligns its code phase with that of the tra
174. um 2 0 VDC and maximum 5 5 VDC Euro 3 and Enclosures User Manual Rev 3 147 Appendix A 148 Technical Specifications Keying tab ESA D m cc mile m oc m c mW 8z m z m OC m sz m vc EA BE5SOocuomomooImoO0 909wo0nrom NENA O BENBNENBBEHBNHNHNEHNHNHNHNEHNEHEEHEEEEERHHEEHEEENEEN CO PPB RBBB BERR RRR Ree eee eee eee eee tC ENEE N ERRE Figure 22 Pin View of 160 Pin Connector on the Euro 3 Signal Descriptions Row A Pin GND Power ground 1 4 5 18VIN Voltage in 4 5 to 18 VDC 2 MST Master Slave card select 3 GND Digital ground 4 GPIO_USERO Reserved internal 10 KQ pull down resistor 5 GPIO_USER1 Reserved internal 10 kQ pull down resistor 6 GND Digital ground 7 RTS1 DTR1 COM request to send for RS 422 data terminal ready output for RS 232 8 TXD1 TXD1 COM1 transmitted data for RS 422 transmitted data for RS 232 9 RXD1 RXD1 COM1 received data for RS 422 received data for RS 232 10 RXD1 DCD1 COM received data for RS 422 data carrier detected input for RS 232 11 RTS3 DTR3 COMS request to send for RS 422 data terminal ready output for RS 232 12 TXD3 TXD3 COM3 transmitted data for RS 422 transmitted data for RS 232 13 RXD3 RXD3 COM3 received data for RS 422 received data for RS 232 14 GND Digital ground 15 RTS2 DTR2 COM request to send for RS 42
175. ure Microsoft strongly recommends that you stop this installation now and contact the hardware vendor for software that has passed Windows Logo testing Continue Anyway STOP Installation i The installation process continues Euro 3 and Enclosures User Manual Rev 3 33 Chapter 2 Installation 11 Click on the Continue Anyway button ifthe message below appears Software Installation A The software you are installing has not passed Windows Logo testing to verify its compatibility with Windows xP Tell me why this testing is important Continuing your installation of this software may impair or destabilize the correct operation of your system either immediately or in the future Microsoft strongly recommends that you stop this installation now and contact the software vendor for software that has passed Windows Logo testing Continue Anyway 12 Click on the Finish button Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for Sch Nov tel GPS Receiver Click Finish to close the wizard When the system detects the NovAtel USB Virtual Serial Port the Found New Hardware Wizard starts 13 Install the driver for the NovAtel USB Virtual Serial Port by advancing through the following steps 34 Euro 3 and Enclosures User Manual Rev 3 Installation Chapter 2 Found New Hardware Wizard Welcome to the Found New Hardware Wizard Window
176. ures Re orient or relocate the receiving antenna ncrease the separation between the equipment and the receiver Connect the equipment to an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help IMPORTANT In order to maintain compliance with the limits of a Class B digital device it is required to use properly shielded interface cables such as Belden 9539 or equivalent when using the serial data ports and double shielded cables such as Belden 9945 or equivalent when using the UO strobe port A WARNING Changes or modifications to this equipment not expressly approved by NovAtel Inc could result in violation of Part 15 of the FCC rules ELECTROSTATIC DISCHARGE A WARNING Remember Always wear a properly grounded anti static wrist strap when handling the GPSCard Always hold the GPSCard by its corners or the RF shield and avoid direct contact with any of the components Do not let the GPSCard come in contact with clothing at any time because the grounding strap cannot dissipate static charges from fabrics Failure to follow accepted ESD handling practices could cause damage to the GPSCard Warranty may be voided if equipment is damaged by ESD Please see Section 2 2 1 1 on Page 25 and the Electrostatic Discharge Control for more information about ESD precautions Euro 3 and Enclosures User Manual Rev 3 9 10 Notice
177. value ALMANAC 73 Inject almanac data into the receiver See Section 5 2 2 on Page 60 ANTENNAPOWER 98 Control power to low noise amplifier antennapower flag of an active antenna ASSIGN 27 Assign individual satellite channel to assign channel state prn a PRN Doppler window ASSIGNALL 28 Assign all satellite channels to a PRN 38Signall system state prn Doppler window ASSIGNL2CODETYPE 572 Set the receiver to track a specific L2 ienl2codet I2cod code type assigniZcodetype prn iZcoaetype CHANCONFIG 501 Set receiver channel tracking chanconfig config configuration CLOCKADJUST 15 Enable clock adjustments clockadjust switch COM 4 Serial port configuration control com port bps parity databits stopbits handshake echo break DLLBW 517 Configure receiver s DLL filter bw dllbw codetype bw ECUTOFF 50 Set satellite elevation cutoffs ecutoff angle EXTERNALCLOCK 230 Set external clock parameters Po E clocktype freq h0 h1 FIX 44 Constrain to fixed height position or fix type parami param2 param3 velocity FRESET 20 Clear data stored in non volatile freset memory Followed by a receiver reset LOG 1 Request logs from receiver log port message trigger period offset hold PLLBW 518 ONDENI receiver s phase lock loop p31pw codetype bw w PLLTHRESHOLD 659 Control PY code signal thresholds Pllthreshold lock acqui codetype PULSEBLANKING 519 Enable disable L2 digital pulse pulseblanking frequency blanking threshold RESET 18
178. void contact with the connectors and components On site repair of ESD sensitive equipment should not be undertaken except to restore service in an emergency where spare boards are not available Under these circumstances repair station techniques must be observed Under normal circumstances a faulty or suspect circuit board must be sent to a repair center having complete facilities or to the manufacturer for exchange or repair Where protective measures have not been installed a suitable alternative would be the use of a Portable Field Service Grounding Kit for example 3M Kit 8501 or 8507 This consists of a portable mat and wrist strap which must be attached to a suitable ground A circuit board in a static shielding bag or clamshell may be shipped or stored in a cardboard carton but the carton must not enter a static controlled area such as a grounded or dissipative bench top or repair zone Do not place anything else inside the bag for example repair tags Treat all PCBs and components as ESD sensitive Assume that you will damage the PCB or component if you are not ESD conscious Do not use torn or punctured static shielding bags A wire tag protruding through the bag could act as a lightning rod funneling the entire charge into the components inside the bag Do not allow chargeable plastics such as binders within 0 6 m of unshielded PCBs Do not allow a PCB to come within 0 3 m of a computer monitor Euro 3 and Enclosures User Ma
179. ype Asynch Message ID 611 Field Field Name Data Description Format pin y Siet 1 header format See Section ZE TT art H 0 2 obs Number of observation data sets to follow ULong 4 H F3 Tpm Satellite PRN being tacked Ulong 4 ma 4 sigchan Receiver signal channel ULong 4 H 8 5 teststat Test statistic for this estimate process Float 4 H 12 6 estimates Number of estimate data sets to follow ULong 4 H 16 7 delay Delay of signal estimate m Float 4 H 20 8 amplitude doo of signal estimate relative to main Float 4 H 24 9 phase Phase of signal estimate 1 to 1 in cycles Float 4 H 28 10 Next estimate data set offset variable normally H 4 previous obs x 16 previous estimates x 12 variable Next observation data set offset variable variable 32 bit CRC ASCII and Binary only Hex 4 variable Euro 3 and Enclosures User Manual Rev 3 95 Chapter 6 96 Data Logs Recommended Input LOG ALLMEDLLESTIMATESA ONNEW Example Output ALLMEDLLESTIMATESA COM1 0 60 0 COARSE 215 487883 250 00e40008 0000 33331 8 23 12 1 394975305 2 0 250410855 1 000000000 0 000762939 0 000000000 0 000000000 0 000000000 14 10 1 500047922 2 0 214637876 1 000000000 0 000061035 0 000000000 0 000000000 0 000000000 20 8 1 383500814 2 0 107318938 1 000000000 0 000274658 0 000000000 0 000000000 0 000000000 1 4 1 390916824 2 0 214637876 1 000000000 0 000579834 0 000000000 0 000000000 0 0000

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