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SUPERSTAR II Firmware Reference Manual

1. BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 0 4 UTC time hours hours Time not corrected by UTC parameters 5 5 1 True N A Uchar 4 0 False 6 7 Reserved N A 6 UTC time minutes minutes Uchar 5 7 14 UTC time seconds s Double 6 15 UTC date day day Uchar 14 16 UTC date month month Uchar 15 17 18 UTC date year year Ushort 16 19 26 E to n 2 radians Double 18 27 34 Gees t n radians Double 26 35 38 Altitude m Float 34 39 42 Ground speed m s Float 38 43 46 Urea P EE Float 42 47 50 North velocity m s Float 46 51 54 East velocity m s Float 50 55 58 Vertical velocity m s Float 54 59 62 HFOM m Float 58 63 66 VFOM m Float 62 Bree Gen 0 1 units Me SEER Si Continued on Page 82 1 SUPERSTAR II based receivers are capable of a navigation rate of 1 Hz If you have a model with 5 Hz PVT you can alternatively select 5 Hz 0 2 or 2 Hz 0 5 See a list of models on Page 133 SUPERSTAR II Firmware Reference Manual Rev 5 81 Chapter 3 Output Logs 69 70 VDOP Resolution 0 1 units N A Ushort 68 71 NAV Mode 0 Initialization required 1 Initialized 2 NAV 3 D 3 Altitude hold NAV 2 D 4 Differential 3 D 5 Differential 2 D 6 Dead reckoning With Base Station Mode only 8 Base station Solution confidence level 0 Normal NAV solution from lt 5 SV
2. Chapter 3 Output Logs SV deselect bitmap Byte 11 bit 0 SV1 11 14 0 31 i N A Uchar 4 10 Byte 14 bit 7 SV32 Channel deselection bitmap Byte 15 bit 0 Chi 15 16 0 11 i N A Uchar 2 14 Byte 16 bit 7 Ch12 17 Reserved N A Uchar 16 SBAS SV disable 18 21 bit 0 SV120 and so on NA SES vk 22 Minimum idle time Uchar 21 23 Idle time Uchar 22 24 25 Mask angle 0 01 Short 23 Discretes 0 DISC_IP1 1 DISC_IP2 0 5 2 DISC_IP3 N A 26 3 DISC_101 Uchar 25 4 DISC_IO2 position valid output only pin 5 DISC_IO3 6 7 Reserved N A 27 33 Reserved N A Uchar 7 26 NAV mode 0 Initialization required 1 Initialized 2 NAV 3 D 3 Altitude hold 2 D SS 4 Differential 3 D Me Uchar SS 5 Differential 2 D 6 Dead reckoning 7 Reserved 8 Base station 35 40 Reserved N A Uchar 6 34 41 42 Differential word count N A Ushort 40 43 44 Parity error count N A Ushort 42 Checksum see Section 1 6 Checksum 45 46 Calculation Rules starting on Page 19 WA Ushort 44 Example Output 66666666 28040131 CE286366 BEG4SBE64 66666006 66660066 66600666 66F36166 766366C3 AS884302 3666204F CFF00HA 66666568 6117E879 696060A18 05000028 Example Header Translated to Decimal 01 49 206 40 98 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 14 Satellite Health Summary ID 50 Structure Message ID 50 Rate seconds 30 This log indicates the health of each GPS satellite
3. SUPERSTAR II Firmware Reference Manual Rev 5 107 Chapter 3 Example Output 665492E3 FEG80066 GEDE6961 4BB42812 FFFE623B F9FC6861 69666666 69666666 BD9SBDCDE 656D6166 68606666 86006666 66666666 GHGGGGHEE 676168F7 126A2CFD Example Header Translated to Decimal 01 75 180 40 3 3 20 Almanac Data ID 76 Structure Message ID 76 Rate seconds 1 Output 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 For more information on Almanac data refer to the GPS SPS Signal Specification Reference 1 on Page 12 The SUPERSTAR II family of receivers automatically saves almanac information in their non volatile memory NVM therefore creating an almanac boot file is not necessary BYTE BIT 1 4 DESCRIPTION UNITS Header see Section 1 2 2 Message Block Structure starting on Page 13 TYPE OFFSET 0 5 SV 1 31 6 7 SV type 0 Reserved 2 Reserved N A Uchar 6 9 Almanac reference time TOA s Ulong 10 13 14 21 Clock aging parameter af Range 2 0 2 020 to 2 010 1 0 2 0 2 s Resolution 2 020 Clock aging parameter af1 Range 2 0 2 08 to 2 010 1 0 2 038 s s Resolution 2 098 Ulong Double 22 29 Mean anomaly of reference time MO Range 2 0 3 2 0 3 n to 2 0 3 1 0 2 073 x radi
4. Example Input Transmitted 6 Bytes ID 22 Continuous 01 Op 69 00 00 01 or Transmitted 6 Bytes ID 22 One Shot 01 16 E9 00 00 01 2 5 6 Request Measurement Block Data ID 23 This command requests measurement block data for all tracked SVs See also Message ID 23 output on Page 87 Sending this message in One Shot mode turns it off and does not return any data To start or to turn this message back on send it in Continuous mode BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Message rate see notebox below 0 1 Hz 0 1 1 2 Hz N A 5 2 5 Hz Uchar 3 Reserved 2 7 Reserved set to 0 N A Checksum see Section 1 6 Checksum 6 7 Calculation Rules starting on Page 19 N A Ushort lt This command is not available unless your receiver has Carrier Phase Output CP capability See also Appendix A SUPERSTAR II Card Models starting on Page 133 The rate you choose must match that of your receiver For example if your receiver is capable of 1 Hz choose 1 Hz in byte 5 above If your receive is capable of 5 Hz then you can choose 1 2 or 5 Hz Example Input Transmitted 7 Bytes ID 23 Continuous 01 97 68 01 0001 01 SUPERSTAR II Firmware Reference Manual Rev 5 27 Chapter 2 2 5 7 Set Receiver Configuration ID 30 28 Input Commands Use this command to change the configuration of your receiver The chara
5. Example Input Transmitted 79 Bytes IDH 9 01 AE BO 4904 1D E1 77 6C 02 64 00 82 00 00 00 00 00 00 00 0000 00 00 CO FB 12 00 CD AB BA DC 1C FB 12 00 CC 2B E1 77 66 1F 49 00 6C 02 64 00 82 00 00 00 00 00 00 00 00 00 00 00 44 FB 1200 84 2B E1 77 78 0E 5B 00 82 00 00 00 00 4C 13 SUPERSTAR II Firmware Reference Manual Rev 5 41 Chapter 2 2 5 28 Set Operating Mode ID 80 Input Commands This command allows you to set the receiver s operating mode See also Message ID 47 Base Status on Page 94 BYTE BIT DESCRIPTION UNITS TYPE Header see Section 1 2 2 Message Block Structure starting on Page 13 1 4 MSB of Message ID byte 0 command is executed normally 1 receiver position is cleared command parameters are ignored Password UGPS XXxX in ASCII format U character first where the command field XXX is 000 Fix position see bytes 13 36 below ROO Force to rover mode position not saved oe Get survey position B Set base position and base information 5 12 S Force to survey mode NA Uchar 8 If B or S above then YY where YY bytes 11 12 Station ID and Station Health Bits 0 9 Station ID Bits 10 12 Station health as per RTCM 104 Bits 13 15 Reserved Interpretation depends on XXX in bytes 5 10 above m z 000 and BYY Altitude ellipsoid 13 20 SYY Desired survey time surs Double ROO and GSP N A Interpretation depends on XXX in bytes 5 10 above 21 28 000 and BYY Latitude
6. Figure 7 End of Programming Session 132 SUPERSTAR II Firmware Reference Manual Rev 5 defi TA SUPERSTAR II Card Models Consult Table 19 below for details on the SUPERSTAR IL based models available and their capabilities See also Section 3 3 10 Hardware Software Identification ID 45 Message ID 45 on Page 93 Table 19 SUPERSTAR II Software Models 5Hz Unlimited Start Config Sie Carrier Ge Bese Timing Du i ee Up AL Way Phase Phase 5HZ Station ap No Velocity 19200 points 5CP BASE SBAS H Gr STD 200 vi v 1CPT 201 v v vi v 1CPT 19 202 v v vi v v SCP 19 213 v v v v v SHZ 204 v v v BASE 205 v v vi v 1CPH 206 v v v STDN 207 v 1CPN 208 v v 1CPN 19 209 v v v SCPN 19 214 v vi v v SHZN 211 v v BASEN 212 v v v SUPERSTAR II Firmware Reference Manual Rev 5 133 Dele 2k IA Precise Timing This appendix familiarizes you with the features of Precise Timing which is available on the SUPERSTAR IT board stand alone in a FlexPak enclosure or ina SMART ANTENNA This timing engine enables the output of a precise 1PPS signal aligned to UTC time along with related timing data Verify that your receiver model has Precise Timing T see Section A SUPERSTAR II Card Models on Page 133 for more details on models and their capabilities This appendix details the performance specifications functional descriptions and I O messages to use the timing
7. lt If you move the antenna the self survey process must be re initiated SUPERSTAR II Firmware Reference Manual Rev 5 135 Appendix B Precise Timing B 5 Residual Monitor The receiver implements a residual algorithm In order to interpret correctly the status of the time solution two separate status indicators must be taken into account the residual solution status RSS and the Time Estimator status TES These are provided in Message ID 113 Section 3 3 22 Timing Status ID 113 on Page 111 The Time Estimator status may take one of the values in Table 20 Table 20 Time Estimator Status Conditions Time Estimator Status TES Condition Successful Time Estimator Status is set to OK Warning Time Estimator Status is set to WARNING or Time Estimator Status is set to FAULT DETECTED Not ready Default value at power up The residual provides either one of the status indicators in Table 21 to you at a given time Table 21 Residual Solution Status Conditions Residual Solution Status RSS Acceptable One residual rejected More than one residual rejected Insufficient observations Here is an example of how you can interpret the current setting of both status indicators If TES is set to Successful and RSS is set to One residual detected it indicates that a faulty satellite has been detected but is still below an acceptable limit This may occur when there is a slow drift buildin
8. H Or Lat Long Resolution Reserved COM2 Port Baud Rate Differential Coast Time DGPS Mode E D W B t 7 1 6 Datum Number Mask Angle 1 8 Tropospheric Ionospheric Model Use E D MSL Model Use E D Reserved 9 Number of Elements Each of the parameters except the number of elements may be NULL the associated receiver parameters are left unchanged The last four fields are reserved future use and are therefore also NULL Example 1 Stored in NVM DGPS mode E enable D disable W SBAS only B DGPS only 2 This parameter controls the number of digits from the fraction part of the UTC Time data in all NMEA messages The default value is 2 and the range is 0 to 9 3 This parameter controls the number of digits from the fraction part of the latitude and longitude data in all NMEA messages The default value is 4 and the range is 0 to 5 4 Reserved field null 5 Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 in KBaud units 6 0 255 seconds 7 This parameter is used to specify the datum that is used to express the position See Table 7 on Page 48 8 Value between 0 0 to 90 0 9 This number indicates how many parameters are listed in the messages 15 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 SPMCAG 008 15 E E 10 5 0 E 45 9 6 37 lt CR gt lt LF gt DGPS and MSL modes Does not affect current Tropospheric Ionosph
9. BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 SV 1 0 1 0 Healthy N A 1 Unhealthy 5 Uchar 4 SV 4 6 7 0 Healthy N A 1 Unhealthy SV 5 0 1 0 Healthy N A 1 Unhealthy 6 Uchar 5 SV 8 6 7 0 Healthy N A 1 Unhealthy SV 9 0 1 0 Healthy N A 1 Unhealthy 7 Uchar 6 SV 12 6 7 0 Healthy N A 1 Unhealthy SV 13 0 1 0 Healthy N A 1 Unhealthful 8 Uchar 7 SV 16 6 7 0 Healthy N A 1 Unhealthy SV 17 0 1 0 Healthy N A 1 Unhealthy 9 Uchar 8 SV 20 6 7 0 Healthy N A 1 Unhealthy SV 21 0 1 0 Healthy N A 1 Unhealthy 10 Uchar 9 SV 24 6 7 0 Healthy N A 1 Unhealthy Continued on Page 100 SUPERSTAR II Firmware Reference Manual Rev 5 99 Chapter 3 Output Logs 0 1 SV 25 0 Healthy 1 Unhealthy N A SV 28 0 Healthy 1 Unhealthy N A Uchar 0 1 SV 29 0 Healthy 1 Unhealthy N A 6 7 SV 32 0 Healthy 1 Unhealthy N A Uchar 13 14 Checksum see Section 1 6 Checksum N A Calculation Rules starting on Page 19 Ushort 44 Example Output Example Header Translated to Decimal 01 50 205 08 100 0132CD08 2880E008 BS2CAGES FC040131 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 15 Self Test Results ID 51 Structure Message ID 51 Rate seconds
10. Example Input Transmitted 15 Bytes ID 87 Auto 01 57 A8 09 01 00 00 00 00 00 00 00 00 04 01 Transmitted 15 Bytes IDH8 None 01 57 48 09 00 00 00 00 00 00 00 00 00 09 01 2 5 34 Select Define Datum to Use ID 88 46 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Use this command to select the datum used to report the position or to define a user defined datum Chapter 2 When byte 5 is set to 0 byte 6 must be 0 or in the range from 3 to 63 dx dy dz are preset for these datums However when byte 5 is set to 1 or 2 byte 6 must be 1 or 2 user defined and you must enter dx dy dz See Table 7 on Page 48 Db The navigation data user coordinates Message ID 20 see Section 3 3 3 Navigation Data User Coordinates ID 20 starting on Page RI contains the datum currently in use BYTE DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Function s EC e k 2 Select and define a user defined datum 6 Se from 0 to 63 see Table 7 on N A Uchar 7 8 dx m Short 9 10 dy m Short 11 12 dz m Short 13 20 A semi major m Double 21 28 Inversed flattening 1 f N A Double 29 34 Reserved N A Uchar 6 35 36 SE ia lata Example Input Transmitted 36 Bytes IDH88 00000000 CO FE 12 00 CD AB BA DC 1C FB AE 09 SUPERSTAR II Firmware Reference Manual Rev 5 Select define a datum 01 58 A7 1E 04 1D E1 77 30 03 08 00 82 0
11. ececeeceeceeeeeeeeeeeeeeeeeeeseeeeesaaeeseeeeeenaeeesaes 93 3 3 11 Base Station Status Data ID Ai 94 3 3 12 Differential Message Status ID 48 ooo ecccececeeeceeeeeeeaeeceeeeeeeeeaeeseeeeesaaaeseceeeestaeesennes 95 3 3 13 Receiver Status ID 49 ees ceccccecceneeeeeeeeecaaeeeeeeeeeceaeeeseeeeecaaeeeseaaeeseaaeesseaeeeseeeeeenasersaes 97 3 3 14 Satellite Health Summary ID 50 0 2 cece cece ceeeeee cece eeeeneeeeeaeeeeeaeeeeaeeeseaaeeseeeeeeeaaeesnes 99 3 3 15 Self Test Results ID 51 A 101 3 3 16 RTCM Data Message Received ID 65 ou eeececeecceceeeneeceeeeeeeeaeeeeeeeeeeaaeeeeeeeeesaeeeeeeeees 104 a SBAS Data TIR 105 3 3 18 SBAS Status Message ID 68 0 eececceccceceeneeeeeeeeeeeaeeeeeeeeeeeaeeeseaeeesaaeeseeeeeeseaeeeeeaaeeee 106 3 3 19 lonospheric and UTC Time Data ID 75 o oo eeeeeeceeceeeeneeeeeeeeeeeaeeeeeeeeecaaeeeeaeeeeseaeeeseneeetaas 107 4 SUPERSTAR II Firmware Reference Manual Rev 5 Table of Contents 3 3 20 Almanac Data IDE 76 cece ect ne detec ee Annee en beh renee deeded eee bees EA EEES 108 3 3 21 Almanac Reception Status ID 78 cccccccccsceeeeneeceeeeeeeaeeeeeeeeeeeeaeeseeeeesaaeeeeneeessaeeeeaes 110 33 22 Timing Status IDE TIS EE 111 3 3 23 Link Overload Error Message ID 125 0 0 ecceceeeeceeeeeeeeeeeeeeeeeeeeeaeeseaeeeeeeaeseeeeeeseaeeeeenes 113 3 3 24 Acknowledge Log ID 126 ee eceeeeeeeeeeee cette eeeee cette eeaaeeeeeeseaeeeeeeeeaeeeeeeeteeeaeeeeteeeeaaees 114 34 NMEA te tele e RE CC te niieh cat
12. In most cases the receiver is given commands for which it responds with one or several blocks of data Typically the following sequence of events occur once the link is initiated The PC sends one or more command blocks to the receiver while keeping track of all commands that need to be acknowledged by the receiver The receiver searches out each command sent by the PC and then compares its own checksum calculation with the value that was sent by the PC If the values match the receiver includes that particular ID in the acknowledge log If the checksums are different the receiver does not include the ID Once all commands received during the last scheduled time interval are decoded a new acknowledge log is built with all valid ID s received The acknowledge log is sent in the next available time slot For each individual log the PC waits for its corresponding acknowledge log or produces a time out error if not acknowledged within 300 ms The PC can send additional commands at any time All command blocks are treated independently therefore the PC does not wait for the acknowledge log before another command can be sent except for file transfer commands In this case the PC waits for the acknowledge log before continuing a file upload Error Recovery and Timing Error detection and recovery are incorporated in this protocol Some of the common error conditions are listed below 1 5 1 Block ID Complement Error If the block ID in the head
13. Message ID 67 SBAS Data Message ID 68 SBAS Status In order to use these messages first ensure that your receiver is capable of receiving SBAS corrections StarView allows you to deselect GPS and SBAS system satellites Select Tool Settings Deselect SVs from the main menu To track one SBAS satellite in particular do the following 1 Select the SBAS SVs radio button 2 Click on the Deselect ALL button 3 Uncheck the satellite that you wish This ensures that the receiver searches for a satellites that is known to be operating and thus a quick acquisition reacquisition of the active SBAS satellite 4 By default if you select SBAS SVs alone the unit is only searching for satellite PRNs 120 122 and 134 5 Select Status SBAS Status from the Window menu to see the number of valid SBAS messages that are being decoded for a specific SV number since the last power up When the Valid Messages count is not incrementing it means that either the receiver is not tracking any SBAS satellites or it is unable to demodulate the SBAS bit stream See also Message ID s 67 and 68 starting on Page 35 for more details on individual SBAS messages that use SBAS corrections SUPERSTAR II Firmware Reference Manual Rev 5 Del Waypoint Navigation E 1 The purpose of this appendix is to familiarize you with the Waypoint Navigation feature on your SUPERSTAR II receiver whether stand alone in a FlexPak enclosure or in a SMART Antenna Way
14. SPMCAG 900 3 D H 5F lt CR gt lt LF gt Navigation Mode GPS Fix Quality 3 D fix Obtained from at least 5 SVs 1 GPS Fix Quality Indicator 116 L Low H High 2 Navigation modes 3DD 3 D 2DD 2 D D R INI NCD Navigation solution is obtained from less than 5 satellite measurements Navigation solution is obtained from at least 5 satellite measurements 3 D fix with differential aiding 3 D fix 2 D fix constant altitude with differential aiding 2 D fix constant altitude Dead Reckoning Initialized last good fix or external initialization No Computed Data Fix data is not valid and should be ignored The receiver does not have a valid time and or a valid position from last good fix or external initialization SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 4 2 PMCAG 902 Self Test Results Chapter 3 Result of a receiver self test This log is automatically output in response to an initiated BIT self test request see NMEA command 003 on Page 62 This log can also be requested through NMEA command 004 to retrieve the current status of the engine without initiating a self test sequence see Page 63 HEADER CONTENTS OF DATA FIELDS SPMCAG 902 X XXX XXX a aaaa xXx xx hh lt CR gt lt LF gt SW revision letter SW variation number SW part number root number Faults identifier Number of active faults Engine self test result Faults identifie
15. binary 1011 0010 where the msb 1 for continuous 01 B2 4D 00 00 01 Take the case of Message ID 23 where setting the higher bit is used to identify if the message is to be logged in continuous mode or if the message is to be stopped For example Message ID 23 with ID 17H binary 0001 0111 where the msb 0 to stop output 01 17 E8 00 01 01 or ID 97H binary 1001 0111 where the msb 1 for continuous output 01 97 68 01 00 01 01 lt For most messages MSB 0 is for one shot or to cancel continuous MSB 1 is for continuous unless specified otherwise See byte 2 above and Section 1 2 1 Bit Ordering 14 Complimentary ID 1 s complement of the ID field This can be calculated as Complimentary ID 255 Block ID or Cmpl ID Block ID XOR 255 This field in conjunction with the SOH helps to synchronize the message blocks since the SOH character can appear within the data the Complimentary ID field validates the header contents and thus confirms the start of the block Message Data Length One byte containing the length of the data part of the message in bytes excluding header and checksum Checksum This fields contains the checksum value for the message blocks which includes the header and data The checksum calculation is discussed in Checksum Calculation Rules on Page 19 SUPERSTAR II Firmware Reference Manual Rev 5 Messages Chapter 1 1 2 3 Message Block Types 1 2 3 1 PC to GPS Receive
16. 152119 00 A 5101 3000 N 11441 5834 W 0 0 0 0 211004 25 UTC 15 21 19 00 Status A Latitude 51 01 3000 North Longitude 114 41 5834 West Speed 0 0 knots Heading 0 0 from North Date 21 10 2004 1 The track made good measured clockwise from North at the current position Range 0 360 2 Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes 3 Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit decimal fraction minutes 4 Status A Data Valid V NAV Receiver Warning 5 Date 2 digit day 2 digit month and 2 digit year ddmmyy SUPERSTAR II Firmware Reference Manual Rev 5 127 128 Chapter 3 3 4 12 GPVTG Track Made Good and Ground Speed HEADER Output Logs Actual track made good and speed relative to the ground See the Glossary of Terms appendix in this manual CONTENTS OF DATA FIELDS SGPVTG XXxX xX T XxXxK X N Xxx x K hh lt CR gt lt LF gt a Speed km h Speed knots Track degrees true This log is sent at twice the requested update rate if the 2 Hz PVT mode is active Example GPVTG 234 6 T 075 3 N 139 5 K 21 lt CR gt lt LF gt Track 234 6 from North Speed 75 3 knots Speed 139 5 km h SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 4 13 GPZDA Time and Date UTC time and date HEADER CONTENTS OF DATA FIELDS SGPZDA hhmmss ss Xx XxX X
17. 25 Reserved N A Uchar 8 16 Checksum see Section 1 6 Checksum 26 21 Calculation Rules starting on Page 19 N A Ushort 25 Example Output 0OOO1AE2 OCH12BD4 15834778 532D3636 300A0288 86066606 H0O2DAAOO 66662864 Example Header Translated to Decimal 01 43 212 21 92 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 10 Hardware Software Identification ID 45 Structure Message ID 45 Rate one shot This log provides software identification information BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 18 Operational software part number N A Uchar 14 4 Model part number for example 169 613955 XXX 19 32 where XXX is the Configuration Block Number N A Uchar 14 18 see also Appendix A SUPERSTAR II Card Models starting on Page 133 33 36 Model checksum N A Uchar 4 32 37 50 Boot S W part number N A Uchar 14 36 51 73 Reserved N A Uchar 22 50 74 86 Product serial number PSN N A Uchar 13 73 87 90 Reserved N A Uchar 4 86 91 94 Boot checksum Hex Short 90 95 98 Operational checksum Hex Short 94 System type 0 2 0 2 Reserved 99 3 SUPERSTAR II N A Uchar 98 3 7 Reserved tt Seene ee deen un reg Example Output 1A2E612D D25F3136 392D3631 34323837 20363632 3136392D 36313339 35352D34 36367061 54953136 392D3631 33393134 20363037 010000
18. 5 22 Set Timing Parameters ID 69 on Page 36 for more details B 3 1 1PPS Alignment Modes The receiver can operate in three different 1PPS alignment modes e Constant Alignment Keeps the 1PPS signal aligned on the UTC second boundary e One Shot Alignment This mode is used only when the receiver is using an externally controlled oscillator The receiver slews the 1PPS output to align it with UTC time once at power up Afterwards the receiver assumes a perfect 10 MHz input reference frequency and outputs the 1PPS signal accordingly You can request the receiver to redo its one shot alignment using command Message ID 103 See Section B 6 Use of One Shot Alignment Mode on Page 136 for more information on this mode e Standard Alignment Free Running This is the default mode for receivers without the Precise Timing model B 4 Receiver Self Surveying You can request the receiver to initiate a self survey using Message ID 80 on Page 42 In this case the current position is averaged out and a Figure Of Merit FOM reflecting the accuracy of the averaged position is computed This process continues until the desired surveying period has been reached For more information on the FOM see the Glossary in this manual When the survey process is complete the associated data is stored in Non Volatile Memory NVM The receiver then automatically switches to static mode using the last surveyed position which becomes the active known position
19. 60 TFOM 1 clock bias ns Long 56 61 Reserved N A Uchar 60 62 63 Intrinsic delay ns Ushort 61 Checksum see Section 1 6 Checksum Calculation 64 65 Rules starting on Page 19 N A Ushort 63 Example Output 0A030200 1 126171 SESBH666 66666666 66661627 OAOOHACZ2 61666D63 DSCBS3A4 C8O8COSC 765F2A6F 92DOBF F GAD46711 616666FE FFFF7F44 46660666 66026466 G666646C G67F31161 G6F95566 17BA2462 Example Header Translated to Decimal 01 113 142 59 112 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 23 Link Overload Error Message ID 125 Sent by the receiver only when at least one log caused an overload of the data link This log is sent at a maximum rate of once per second This log encodes a bit map of all the Message ID s 1 to 127 therefore indicating which ID s caused the link overload The request of the message that caused the overload is cancelled to prevent any further overload Structure Message ID 125 Rate seconds 1 BYTE BIT DESCRIPTION UNITS TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Message ID s bitmap marked 1 not 0 5 20 0 ID 1 N A Uchar 16 4 126 ID 127 Checksum see Section 1 6 Checksum eres Calculation Rules starting on Page 19 NA Ushort 20 Example Output 02 0A006054 92E3FEG6 GEGGHGAC 69617082 16666666 66666666 66666866 66666666 66186161 68F7126A F872661C 763D956
20. Binary Protocol Command Reference 2 5 1 Reset Receiver ID 2 This command performs a hardware reset if the password field bytes 5 12 is valid BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 5 12 Password l N A Uchar 8 UGPS 000 In ASCII format U character first 13 14 Checksum see Section 1 6 Checksum N A Calculation Rules starting on Page 19 Ushort Example Input Transmitted 14 Bytes IDH2 Reset 01 02 FD 08 55 47 50 53 2D 30 30 30 04 03 2 5 2 Request Current Channel Assignment Data ID 6 This command may be used to request current channel assignment data See also Message ID s 6 and 7 output starting on Page 77 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes IDHE Continuous 01 86 79 00 00 01 or Transmitted 6 Bytes IDH6 One Shot 01 06 F9 00 00 01 SUPERSTAR II Firmware Reference Manual Rev 5 25 Chapter 2 Input Commands 2 5 3 Request Navigation Data User Coordinates ID 20 This command requests navigation data with position and velocity in user coordinates of latitude longitude and height See also Message ID 20 output on Page 81 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message B
21. Data Messages The NMEA log structures follow format standards as adopted by the National Marine Electronics Association The reference document used is Standard For Interfacing Marine Electronic Devices NMEA 0183 Version 2 00 For further information refer to the Standards References section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html The following table contains excerpts from Table 6 of the NMEA Standard which defines the variables for the NMEA messages The actual format for each parameter is indicated after its description F 2 1 The checksum is an 8 bit exclusive OR of all characters in the sequence including delimiters between but Field Type Symbol Special Format Fields Definition Status A Single character field A Yes Data Valid Warning Flag Clear V No Data Invalid Warning Flag Set Latitude Longitude yyyyy yy Fixed Variable length field degrees minutes decimal 2 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minutes Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Fixed Variable length field degrees minutes decimal 3 fixed digits of degrees 2 fixed digits of minutes and a variable number of digits for decimal fraction of minut
22. Request differential message status DR 49 Request receiver status DR 50 Request satellite health summary DR 51 Initiate self test DR 63 Initiate Link PM 64 Set channel deselection CM 65 Request RTCM data message received CM 67 Request SBAS data DR 68 Request SBAS status message DR 69 Set timing parameters CM 75 Request ionospheric and UTC time data DR 76 Request almanac data DR 77 Update almanac CM 78 Almanac data upload CM 79 Specific almanac data upload CM 80 Set position operating mode CM 81 Set mask angle CM 83 Set DGPS configuration CM 84 Set tropospheric ionospheric model use CM 86 Set mean sea level model use CM 87 Set fixed height mode CM 88 Select define datum to use CM 90 Set satellite deselection CM 91 Set differential message configuration CM 95 Request to track a particular satellite CM 99 Erase NVM CM Continued on Page 25 24 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 ID Definition Message Type 103 Set date and time CM 105 Set default binary message list CM 110 Configure COM1 port mode CM 113 Request timing Information DR a CM Command Message PM Protocol Message and DR Data Request 2 4 Factory Defaults When the receiver is first powered up or after an Erase NVM command Message ID 99 on Page 55 commands revert to their factory default settings Also there are settings that depend on the receiver model for example the baud rate at start up 2 5
23. Software in connection with computer based services business or publicly display visual output of the Software 4 transmit the Software over a network by telephone or electronically using any means or 5 reverse engineer decompile or disassemble the Software You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use 4 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 forthwith by notice in writing terminate this Agreement together with the rights
24. Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes IDH 01 4D B2 00 00 01 2 5 26 Almanac Data Upload ID 78 This command provides an almanac for the receiver if the password field bytes 5 12 is valid The data field of the command is composed of a list of available SV s 4 byte bit map as well as the almanac data and week common to all SVs This command is sent ahead of the specific almanac data upload command Message ID 79 defined on Page 40 See also the Message ID 78 log on Page 110 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Password UGPS 000 in ASCII format U ue character first N A Uchar 8 13 bit map bit 0 SV 1 bit 7 SV 8 N A Uchar 14 bit map bit 0 SV 9 bit 7 SV 16 N A Uchar 15 bit map bit 0 SV 17 bit 7 SV 24 N A Uchar 16 bit map bit 0 SV 25 bit 7 SV 32 N A Uchar Almanac week common to all SVs 17 18 Range 0 to 65535 weeks Ushort Time of oi common to all SVs 19 Range 0 to 14 S Uchar Resolution 6021 12 4096 Checksum see Section 1 6 Checksum 20 21 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 21 Bytes IDH 8 01 4E B1 OF 04 1D E1 77 6C 02 54 00 82 00 00 00 00 00 00 D8 03 SUPERSTAR II Firmware Reference Manual Re
25. data 27 broadcast corrections 149 built in test BIT 33 101 117 C C No 54 cable delay value 111 calculation checksum 19 car 29 carrier frequency 77 79 phase 87 88 140 channel assignment 79 control 23 75 deselection 98 satellite tracking 54 checksum 18 19 150 clock 101 149 aging parameter 40 108 bias 83 111 112 134 136 data 27 drift 83 111 134 136 139 144 status 22 74 coast time 66 120 code phase 87 88 140 COM1 58 60 communication 13 complementary ID 14 configuration COM1 58 60 output 64 port 92 Configure COM1 Mode ID 110 58 control receiver 21 73 74 coordinate system 82 correlator 103 course 127 Current Channel Data ID 6 25 77 Current Channel Data ID 7 79 Customer Service 10 cycles 88 D data erase 55 transfer 13 18 date 16 56 127 129 SUPERSTAR II Firmware Reference Manual Rev 5 Index 152 Date and Time ID 103 56 58 datum 47 50 66 82 default 25 delay 112 deselection 52 98 DGPS 92 DGPS Configuration ID 43 30 92 differential base station 94 coast time 92 configuration 30 44 53 92 corrections 149 data 122 stations 22 74 status 32 95 Differential Status ID 48 32 95 dilution of precision DOP 81 83 122 124 discrete inputs 98 Doppler 54 138 double difference technique 143 dynamics 134 E earth centred earth fixed ECEF 26 83 85 eccentricity 41 109 EEPROM 101 e
26. indicator 0 fix not available or invalid 1 GPS fix 2 Differential GPS fix Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit decimal fraction minutes Time in seconds since last SC104 Type 1 or 9 update empty field when DGPS is not used Geoidal separation the difference between the WGS 84 earth ellipsoid and mean sea level geoid Geoidal height is added to the altitude if you selected to add geoidal separation in either NMEA Message 008 see Page 66 or Binary Message ID 86 see Page 46 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 4 8 GPGLL Geographic Position Latitude Longitude Latitude and longitude of present position time of position and status HEADER CONTENTS OF DATA FIELDS SGPGLL l111 1111 a yyyyy yyyy a hhmmss ss A hh lt CR gt lt LF gt li Status UTC of position E W East or West Longitude N S North or South Latitude Example SGPGLL 5619 2837 N 17235 8964 E 012338 61 A 0C lt CR gt lt LF gt Latitude 56 19 2837 North Longitude 172 35 8964 East UTC 01 23 38 61 Status Valid Data 1 Status A Data Valid V Data Invalid 2 Longitude with respect to WGS 84 3 digit degrees 2 digit minutes 4 digit decimal fraction minutes 3 Latitude with respect to WGS 84 2 digit degrees 2 digit minutes 4 digit d
27. number of satellites in view N A 5 Uchar 4 4 7 Reserved N A SV 0 31 for GPS If this value is 0 and Byte 9 bits 1 7 are non 0 4 zero see Byte 9 below for the SBAS SV N A If Byte 9 bits 1 7 are zero add 1 to the SV to get the PRN SV status 6 0 In view Uchar 5 5 6 1 Tracking N A 2 Measurement ready 3 Used by navigation Differential corrections available 7 0 Off N A 1 On 7 Elevation degree Char 6 Range 90 to 90 8 0 7 Azimuth Char 7 Range 0 to 360 0 The azimuth value is from bits 0 to 7 of byte 8 degree and bit 0 of byte 9 9 Non zero SBAS SV 83 51 Char 8 1 7 Add this value to 87 to get the true SBAS SV N A For example 33 represents SBAS SV 120 Byte 6 bits 0 4 above will be zero in this case 19 GC 0 to 90 dB Uchar 9 11 15 Satellite visibility data of the 2 SV asperSV1 asperSV1 10 16 20 Satellite visibility data of the 3 SV asperSV1 asperSV1 15 21 25 Satellite visibility data of the 4h sy as per SV1 asperSV1 20 26 30 Satellite visibility data of the 5 SV as per SV1 asperSV1 25 31 35 Satellite visibility data of the 6 SV as per SV1 asperSV1 30 36 40 Satellite visibility data of the 7 SV as per SV1 asperSV1 35 41 45 Satellite visibility data of the 8 SV asperSV1 asperSV1 40 46 50 Satellite visibility data of the 9 SV asperSV1 asperSV1 45 Continued on Pa
28. of a header and possibly data The data portion of the block is of variable length depending on the message The header has a fixed length of 4 bytes consisting of a start of header character SOH block ID block ID complement and message data length Each block has a truncated 16 bit word containing the checksum associated with the complete content of the block It is appended at the end of the data portion of the block The message block structure has the following form byte 1 SOH byte 2 ID byte 3 Complementary ID byte 4 Message Data Length 0 255 byte 5 n n 4 Data Bytes byte n 1 n 2 Checksum SUPERSTAR II Firmware Reference Manual Rev 5 13 Chapter 1 where Messages SOH Start of header character 01H or decimal 1 ID Byte containing the block ID numeric value The block ID number field is used uniquely to identify the format of the data portion of the block Since only 7 bits are needed for the ID the higher bit is used to identify if the message is sent in one shot the message is output only once or continuous the message is output continuously at its message rate normally once per second mode This prevents an unnecessary increase in overhead by eliminating any extra bytes in the protocol There are exceptions to this use of the higher bit as seen in example 2 below For example Message ID 50 with ID 32H binary 0011 0010 where the msb 0 for one shot 01 32 CD 00 00 01 or ID B2H
29. radians Double SYY R00 and GSP N A Interpretation depends on XXX in bytes 5 10 above radians 29 36 000 and BYY Longitude oF Double SYY Desired CEP i ROO and GSP N A Checksum see Section 1 6 Checksum Calculation 37 38 Rules starting on Page 19 N A Ushort Example You can fix the position by setting the following values Bytes 5 12 13 20 21 28 29 36 Entry UGPS BYY Station ID Station Health Altitude Latitude Longitude When the receiver decodes this command the latitude longitude and altitude are saved in its NVM and static mode is initiated immediately lt Self Surveying Mode You can end the surveying process by using the GSP command as indicated in the command specification above bytes 5 12 When the receiver decodes this command it uses the current averaged position and saves it to NVM without a station ID and Health Status It then switches to static mode 42 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 Example Input Receiver position is not cleared Transmitted 38 Bytes ID 80 01 50 AF 20 QA 1D E1 77 4E 02 04 00 82 00 00 00 00 00 00 00 00 00 00 00 CO FE 12 00 CD AB BA DC 1C FB 1200 dE 09 or Receiver position is cleared Transmitted 38 Bytes IDH80 01 DO 2F 20 F0 1E E1 77 F6 03 2C 00 82 00 00 00 00 00 00 00 00 00 00 00 90 FB 12 00 CD AB BA DC EC FA 12 00 DO OB 2 5 29 Set Mask Angle ID 81 This command allows you to set the mask angle This
30. significant 2 bits of the carrier phase 26 N A Uchar 25 Cycle_Slip Counter Increments by 1 every time a cycle slip is detected during a 10 ms period Range natural roll over Range for BASE model units loss of carrier continuity and number of GPS data parity errors Measurement block 2 27 As per Measurement Block 1 Measurement block N bytes 16 26 above Next SV offset 15 SVs x 11 Checksum see Section 1 6 Checksum 28 29 Calculation Rules starting on Page 19 N A Ushort variable Example Output 43622B60 192844601 666600068 D2666117 E86E6966 696E6166 66462163 4165D66A A1627424 E1AE2861 S9D4BA56 2A749487 D3B66116 B97CF97E 73668B9B BAG114BB C42C6473 AGB2BD16 811DB925 A5717304 BGEFD461 17AB3E5B DD7234B3 6D23611C SFFAB9CS 721GEAFG 95616F9D EA29B172 36334909 01049FAE 8E6C7274 FF615B61 TAZE612D D25F3136 39203631 34323837 Example Header Translated to Decimal 01 23 232 110 88 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 7 Receiver Configuration ID 30 Structure Message ID 30 Rate seconds 1 Use this log to view the receiver configuration parameters See also Page 28 to set the configuration BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Predefined configuration 0 User configuration 1 Man 2 Tractor 3 Marine 0 3 4 Car NA 5 6 Plane Uchar 4 Rocket 7 14
31. unlike a Type message Type 9 does not require a complete satellite set This allows for much faster differential correction data updates to the rover stations thus improving performance and reducing latency Type 9 messages should give better performance with slow or noisy data links lt The base station transmitting the Type 9 corrections must be operating with a high stability clock to prevent degradation of navigation accuracy due to the unmodeled clock drift that can occur between Type 9 messages For this reason only receivers with an external oscillator can generate Type 9 messages SUPERSTAR II receivers can accept Type 9 messages NovAtel recommends a high stability clock such as the PIEZO Model 2900082 whose 2 sample Allan variance meets the following stability requirements 3 24 x 10 74 s s between 0 5 2 0 seconds and 1 69 x 10 22 T s s between 2 0 100 0 seconds An external clock such as an OCXO requires approximately 10 minutes to warm up and become fully stabilized after power is applied do not broadcast RTCM Type 9 corrections during this warm up period Type 9 messages contain the following information for a group of three satellites in view at the base station Scale factor User Differential Range Error Satellite ID Pseudorange correction Range rate correction e Issue of Data IOD SUPERSTAR II Firmware Reference Manual Rev 5 149 Appendix F Message Formats F 2 NMEA Format
32. you can create a shortcut to the update exe program on your desktop 4 3 Registration Key Send this number to NovAtel Inc to receive your registration key 76162DDA Please enter your registration key Figure 3 Update Registration Window in DOS Contact NovAtel Inc with the number that appears on your screen to obtain your registration key see Figure 3 above Contact information can be found on Page 10 Follow the steps below to enter the registration key 1 Copy and paste the registration key from a text file or the Customer Service e mail Right click on the left corner of the DOS window and select Edit Paste see Figure 4 on Page 131 The registration key can also be entered manually 2 Press lt Enter gt lt The registration key contains your computer information Only the computer that originally generated the ID number that you sent to NovAtel is able to run the update exe program If you have multiple updates or upgrades you must do them all from this one computer 130 SUPERSTAR II Firmware Reference Manual Rev 5 Firmware Updates Chapter 4 Move your registration key D1iKKiL AKKTL XYYM Size Minimize Maximize Close Figure 4 Paste the Registration Key into the DOS Window 4 4 Registration Key Accepted A message confirms the Update software utility activation once the key has been entered see Figure 5 below Press any key for example lt Enter gt to exit Please enter your regi
33. 0 00 00 00 00 00 00 47 Chapter 2 Input Commands Table 7 DATUM Description ELLIPSE Table 8 on Page 51 DX COUNTRIES 0 WGS 1984 WGS 84 0 0 0 Global definition 1 User Defined 1 2 User Defined 2 3 Adindan Clarke_1880 161 14 205 Sudan 4 Arc 1950 Clarke_1880 SCENE 5 Arc 1950 Clarke_1880 169 19 278 Zaire 6 Arc 1960 Clarke_1880 160 6 302 Kenya Tanzania 7 Australian Geodetic 1984 Australian_National 134 48 149 Australia Tasmania 8 Bogota Observatory International 307 304 318 Colombia 9 Campo Inchauspe International 148 136 90 Argentina 10 Cape Clarke_1880 136 108 292 South Africa 11 Carthage Clarke_1880 263 6 431 Tunisia 12 Chatham Island Astro 1971 International 175 38 113 New Zealand Chatham Island 13 Chua Astro International 134 229 29 Paraguay 14 Corrego Alegre International 206 172 6 Brazil Austria Belgium Denmark Finland France West Germany Gibraltar Greece 15 European 1950 International 87 98 121 Italy Luxembourg Netherlands Norway Portugal Spain Sweden Switzerland 16 European 1950 International 104 101 140 Cyprus 17 European 1950 International 130 117 151 Egypt England Channel Islands 18 European 1950 International 86 96 120 Ireland Scotland Shetland Islands 19 European 1950 International 117 132 164 Tran 20 European 1950 International 97 88 135 Italy Sicily Austria Finla
34. 00 66660066 66600666 66666066 66666006 66660066 66600066 66666066 66666066 66600666 BS25FB7A SACDIA7D G62F6F61 CE316606 616136CF 18666666 66666666 66666666 66666666 Example Header Translated to Decimal 01 45 210 95 SUPERSTAR II Firmware Reference Manual Rev 5 93 Chapter 3 3 3 11 Base Station Status Data ID 47 Structure Message ID 47 Rate seconds 1 Output Logs This log contains the position of the base station as received through RTCM messages if your receiver is a BASE model and is operating in differential mode It also has a time tag the status of the base station and the RTCM messages in use and their rates This information is set at the base station using Message ID 80 Set Operating Mode and Message ID 91 Differential Message Status See Page 42 and Page 53 respectively for details on these commands BYTE BIT DESCRIPTION UNITS TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Base Status 0 Not in base 0 1 1 Position not initialized N A 2 Base initialized 3 Reserved Baud Rate 0 300 5 1 600 Uchar 4 2 1200 SZ 3 2400 MA 4 4800 5 9600 6 19200 5 7 Reserved N A 6 13 Time remaining in survey hours Double 5 14 17 Base station position CEP meters Float 13 18 25 Base station position latitude radians Double 17 26 33 Base station position longitude radians Double 25 34 41 Base station position heigh
35. 1 This log outputs the results of an initiated built in test BIT request BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Bit copy of the initiated BIT request message 0 Reserved 5 1 Initiated BIT result N A Uchar 4 2 Power up BIT result RAM 0 0 Fail 1 Pass Flash 1 0 Fail 1 Pass EEPROM 2 0 Fail 1 Pass 6 UART N A Uchar 5 3 0 Fail 1 Pass Real time clock 4 0 Fail 1 Pass Correlator and RF 5 0 Fail 1 Pass 6 7 Reserved 7 9 Reserved N A Uchar 3 6 Boot software checksum 0 0 Pass 1 Fail Operation software checksum 1 0 Pass 1 Fail Flash error code If different from 000 the 10 24 receiver cannot be reset SS KSE 3 0 Pass 1 Fail 5 6 Flash ID Flash size OK and software supported 7 0 Flash OK 1 Flash bad Continued on Page 102 SUPERSTAR II Firmware Reference Manual Rev 5 101 Chapter 3 Output Logs EEPROM status link error 0 0 Pass 1 Fail 11 Memory location error N A Uchar 10 1 0 Pass 1 Fail 2 7 Reserved COM1 port UART serial link 0 0 Pass 1 Not ready or busy TX flag 1 0 Full 1 Not full Internal loop tests data 2 0 Received 1 Not received 12 Framing or parity N A Uchar 11 3 0 Pass 1 Fail RX flag 4 0 Full 1 Not full Overrun test 5 0 Pass 1 Fail 6 7 Reser
36. 1 76 89 Channel 6 assignment data 75 Checksum see Section 1 6 Checksum 90 91 Calculation Rules starting on Page 19 N A Ushort 89 SUPERSTAR II Firmware Reference Manual Rev 5 77 Chapter 3 Example Output 666660606 177F2662 24626666 007 44F 26 D3554266 426666006 6666661A 66666066 668D 6E31 66666066 426666606 6666661A 6616016 C96C612B Example header translated to decimal 01 06 249 85 78 66166261 42000000 66660616 001A 0994 6F 262462 2662 66CB D4158347 66F95561 661A18FC 101D2462 256266E3 BGAB421F 2E1E4266 78532038 Output Logs SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 2 Current Channel Assignment Data 7 12 ID 7 Structure Message ID 7 Rate seconds 1 This log shows you the current satellites assigned to channels 7 through 12 BYTE BIT DESCRIPTION UNIT TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 Reserved N A Uchar 4 0 4 SV 0 31 N A SV type 6 5 0 GPS SV SV bit 0 4 1 N A Uchar 5 1 SBAS SV SV bit 0 4 120 6 7 Reserved N A 7 10 Carrier frequency resolution cycles Ulong 6 11 14 SNR dB Hz Float 10 15 18 Reserved N A Uchar 4 14 Tracking state 0 not ready 0 1 1 bits ready N A 2 measurement ready 3 failed Allocation state 0 idle 2 3 1 locating NA 19 2 tracking Uchar 18 Channel mode 4 1 automatic N
37. 1 42 Checksum see Section 1 6 Checksum N A Calculation Rules starting on Page 19 Ushort 40 Example Output 66666666 66600666 66662F6C 61330024 0623F 6066 66863166 866606666 66666666 66666066 66600666 86606666 66666666 66666666 16626166 F9556117 8A266266 Example Header Translated to Decimal 01 51 204 36 SUPERSTAR II Firmware Reference Manual Rev 5 103 Chapter 3 Output Logs 3 3 16 RTCM Data Message Received ID 65 Message ID 65 Rate seconds 1 Structure This message shows the saved RTCM data processed by the receiver The RTCM Frame in this log is the same RTCM frame that the rover received see Reference 2 on Page 2 for the interface rules BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 5 Control fixed at 0x00 N A Uchar 4 6 n RTCM frame data N A String Variable variable Checksum see Section 1 6 Checksum n 1 n 2 Calculation Rules starting on Page 19 NA Ushort Variable Example Output 66666066 6E6C6141 BESAGES9 7E D5F43 HAZEGISA 68677F 77 4SF6ESF6 7E57677F 6D767F47 65434246 76494154 41437841 HOSASEGF 4748646A 4668724F 4067427E 6F7E4642 6F166114 EB47161A 66606666 Example Header Translated to Decimal 01 65 190 58 104 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 17 SBAS Data ID 67 Structure Message ID 67 Rate seconds 1 B
38. 12 N A Uchar Checksum see Section 1 6 Checksum 15 16 Calculation Rules starting on Page 19 NA Ushort Example Input Transmitted 16 Bytes IDH64 Set 01 40 BF 0404 1D E1 77 64 02 51 00 82 0008 03 2 5 19 Request RTCM Data Message Received ID 65 Use this command to request that the saved RTCM data processed by the receiver be output See also Section 3 3 16 RTCM Data Message Received ID 65 starting on Page 104 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes IDH 65 Continuous 01 C1 3E 00 00 01 or Transmitted 6 Bytes ID 65 One Shot 01 41 BE 000001 34 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 5 20 Request SBAS Data ID 67 Use this command to request SBAS data See also Message ID 67 output on Page 105 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 67 Continuous 01 C3 3C 00 00 01 or Transmitted 6 Bytes IDH 67 One Shot 01 43 BC 00 00 01 2 5 21 Request SBAS Status Message ID 68 Use this command to request SBAS status
39. 19 N A Ushort Example Input Transmitted 6 Bytes IDH48 Continuous 01 BO 4F 000001 or Transmitted 6 Bytes ID 48 One Shot 01 30 CF 00 00 01 2 5 14 Request Receiver Status ID 49 Use this command to obtain information on the status of your receiver See also Message ID 49 on Page 97 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 NA Ushort Example Input Transmitted 6 Bytes ID 49 Continuous 01 B1 AE 000001 or Transmitted 6 Bytes ID 49 One Shot 01 31 CE 00 00 01 2 5 15 Request Satellite Health Summary ID 50 Use this command to obtain satellite health information See also Message ID 50 output on Page 99 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 50 Continuous 01 B2 4D 000001 32 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 or Transmitted 6 Bytes IDH 50 One Shot 01 32 CD 000001 2 5 16 Initiate Self Test ID 51 This command allows you to initiate or output the results of a built in status test See also Message ID 51 output on Page 101 BYTE BIT DESCRIPTION UN
40. 2 3 Commands by Function Table 4 lists the commands by function while Table 5 on Page 24 lists commands in the order of their Message IDs Please see Section 2 5 Binary Protocol Command Reference on Page 25 for a more detailed description of individual commands which are listed in order of their Message IDs Table 4 Commands By Function Table GENERAL RECEIVER CONTROL AND STATUS Message ID Definition 000 NMEA Configure COM1 port 001 NMEA Receiver initialization data 003 NMEA Initiate BIT self test 005 NMEA Set output configuration 007 NMEA Erase non volatile memory NVM 012 NMEA Receiver configuration 30 Receiver configuration 45 Request hardware software identification 49 Request receiver hardware levels 51 Initiate self test 63 Initiate link 110 Configure the COM1 port 113 Request timing information POSITION PARAMETERS AND SOLUTION FILTERING Message ID Definition 004 NMEA Request log 008 NMEA Set receiver parameters 8 Request current channel assignment data 20 Request navigation data user coordinates 21 Request navigation data ECEF coordinates Continued on Page 22 SUPERSTAR II Firmware Reference Manual Rev 5 21 Chapter 2 Input Commands POSITION PARAMETERS AND SOLUTION FILTERING Message ID Definition 22 Request ephemeris data 23 Request measurement block data 43 Request DGPS configuratio
41. 27 87 141 memory 108 message command 15 formats 148 ID 14 identifiers 64 length 14 structure 13 types 15 17 Military Grid Reference System MGRS 119 147 mode 2 D and 3 D 82 84 98 116 124 binary or NMEA 65 broadcast 27 COM1 58 60 DGPS 66 navigation 82 84 98 116 normal or special 15 21 73 one shot or continuous 14 36 operating 42 124 system 97 timing 36 model 22 74 mean sea level 16 tropospheric ionospheric 16 N NAV mode 82 84 98 116 navigation accuracy 149 data 26 mode 116 satellites used 124 solution 147 standards 148 status 147 waypoint 23 75 Navigation Data ECEF ID 21 26 83 153 Index 154 Navigation Data User ID 20 26 81 NAVSTAR 86 NMEA checksum 150 commands 59 70 format 150 logs 74 115 128 non volatile memory NVM 55 65 97 108 notice 16 number SV 87 98 O operation 112 124 134 135 ordering bit 13 oscillator 136 137 149 output configuration 64 overload 113 P parameter clock aging 40 108 measurement 87 receiver 66 parity 108 148 part number 93 perigee 40 108 phase 88 140 plane 29 planning route 147 port 92 149 position base station 94 coordinates 26 81 83 data 127 datum 47 fix 122 geographic 123 in time solution 111 logs 21 74 MGRS format 119 waypoint 68 power 97 prerequisites 11 processing 22 74 protocol 147 pseudorange 111 142 148 149
42. 30 4 4 Registration Key Accepted A 131 4 5 Starting Software and Options Update cccccceccceceeeeeceeeeeeeaeeeeeeeeeeeaeeeeeeeeesaeeeseneeeseaeeeseeeeeaas 131 4 5 4 Programming Uerde i a ae 132 Appendices A SUPERSTAR II Card Models 133 B Precise Timing 134 C Measurements 138 D SBAS Positioning 145 E Waypoint Navigation 147 F Message Formats 148 SUPERSTAR II Firmware Reference Manual Rev 5 Figures OONOOaARWND Example of Part of the MGRS Gd 69 ECEF Coordinate System eisau da deadar dad rast raso eaei nieddi na hna akaa iaat dda bdi sad ddao depandan adiada onikan 85 Update Registration Window in DOS 130 Paste the Registration Key into the DOS Window 0 cccccceceeeeeeceeeeeeeeeeeeaeeeeeaaeeseeeeeeeaaeeeeaees 131 Configuration Aerepted anii a ie adaa aeaa de eae 131 Update Utility ACtiVation EE 131 End of Programming Gesslon 132 Modulated GPS Data Doppler Present 138 Demodulated GPS Data Doppler Present 139 L1 GPS Firmware Reference Manual Rev 5 Tables OONDOARWND Related Publications EE 12 Messag MOSS EE 16 Field Ty PGS evita Eege aha pen dre ie teeta ee ed ed ata eek Queene Me 20 Commands By Function Table 0 ccccccceceeeeeeeeeeceeeeeeeeeecaaeeeeaaeeceaeeeeseaeeeeeaeeeeeeaeseceeeesiaaeeseeneees 21 SUPERSTAR II Binary Commands Summary ccccccceeeeceeeeeeeeeeeeeeeeeaeeeeeeeeeseeaeeeeeeeeeeeaeeeseeeeee 24 Pr set COnfiguratlons sidns raada cance cee fasts aiaa i
43. 45 8 0 20 255 300 300 33 lt CR gt lt LF gt Example I shows the default inputs in StarView Example 2 SPMCAG 012 5 A F A 100 20 0 20 255 300 300 29 lt CR gt lt LF gt In Example 2 the Antenna Type is Active and the Predefined Configuration is Plane Example 3 SPMCAG 012 1 P F A 10 3 0 20 255 300 300 3D lt CR gt lt LF gt In Example 3 the Predefined Configuration is set to Man SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 3 Output Logs 3 1 Logs The receiver sends commands in Binary format as described in Chapter 1 or in NMEA format In Binary format the MSB of the Message ID may be used to set the receiver to Normal mode MSB 0 or to Special mode MSB 1 See also the D description on Page 14 and Command Message on Page 15 Binary format messages include a checksum for error checking 3 1 1 Message Latencies Message latency is the delay after a PPS mark and is an indication of when to expect a specific message to be output It refers to the time difference between the 1PPS and the time of transmission of the first byte of the message Message latencies for SSII are given in Table 13 Table 13 Message Vs Latency MDH Definition idtshey wey Devlation ms 20 Navigation data user coordinates 552 3 8 1 21 Navigation data ECEF coordinates 551 9 2 2 23 Measurement block data 155 1 3 5 33 Satellite visibility data and status 751 6 2 2 1 113 Ti
44. 595681D Example Header Translated to Decimal 01 76 179 79 SUPERSTAR II Firmware Reference Manual Rev 5 109 Chapter 3 Output Logs 3 3 21 Almanac Reception Status ID 78 Structure Message ID 78 Rate seconds 1 This log informs the PC of the status of the almanac upload This log is sent once after a new almanac data transfer which includes one Message ID 78 and multiple Message ID 79s see Page 40 to confirm successful almanac upload There are no data bytes BIT DESCRIPTION UNITS TYPE OFFSET Header see Section 1 2 2 Message Block Structure starting on Page 13 1 4 The MSB of the ID field encodes the status as follows 0 0 Unsuccessful 1 Successful Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 NA Ushort 4 Example Output 26725C9B 409E0128 3EG14EB1 66666161 Example Header Translated to Decimal 01 78 177 00 110 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 22 Timing Status ID 113 Structure Message ID 113 Rate seconds 1 This log allows you to view precise timing information if your receiver is a model with Precise Timing T capability See also Appendix A SUPERSTAR II Card Models starting on Page 133 The clock bias and drift parameters are computed using the pseudorange measurements and the predicted true range using the known user position A Time Figure Of Merit TFOM for the clock errors is d
45. 5DB 69E86226 ACGGFFFB FC99DD62 6936369F 461A21FF 67EE6167 C6676A19 A1G6D66B1 26ACSBFF EfA233AE 77FFF127 D4C99F24 F9125659 DOFFAS 78 62662716 226131CE 286366BE Example header translated to decimal 01 22 233 73 86 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 3 6 Measurement Block Data ID 23 Structure Message ID 23 Rate seconds 1 0 2 or 0 5 Chapter 3 This log contains raw data carrier phase and code phase data If measurement blocks exist the total length of the log is 15 11 N Measurement Block 2 Otherwise the total length of the log is 6 bytes the header plus the checksum only lt 1 Please also read the Measurements appendix starting on Page 138 of this manual for more details on raw code phase measurements and raw carrier phase measurements 2 This log is only available on GPS receiver models that have Carrier Phase Output CP capability See also Appendix A SUPERSTAR II Card Models starting on Page 133 BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 Time slew value 175ns Uchar 4 Time Status 0 Unknown 0 2 1 Not Set 6 2 Coarse 25 x 10 s Variance N A Uchar 5 3 Fine 1 x 1014 s Variance 3 7 Reserved 7 Number of measurement blocks N A Uchar 6 Predicted GPS time This is the time when the measurement 8 15 samples have been taken at the receiver not S Double 7
46. 6 O144BBO7 2008 0109 DHDDHDDS 010114EB 47143766 20250000 66434660 Example Header Translated to Decimal 01 68 187 07 106 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 19 lonospheric and UTC Time Data ID 75 Structure Message ID 75 Rate seconds 1 This log outputs Ionospheric Model parameters and UTC Time parameters BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 a0 Alpha parameter constant term Char 4 6 a1 Alpha parameter 1st order term Char 5 7 a2 Alpha parameter 2nd order term Char 6 8 a3 Alpha parameter 3rd order term Char 7 9 a0 Beta parameter constant term Char 8 10 a1 Beta parameter ist order term Char 9 11 a2 Beta parameter 2nd order term Char 10 12 a3 Beta parameter 3rd order term Char 11 13 Is ae irae ie data valid Uchar 12 1 Valid 14 a0 2nd alpha parameter constant term Ulong 13 15 a1 2nd alpha parameter 1st order term Ulong 14 16 DTLS delta time due to leap seconds Char 15 17 TOT reference time of UTC parameters Uchar 16 18 WNT UTC reference week number Uchar 17 19 WNLSF Future week number Uchar 18 20 DN Day number Uchar 19 21 DTLSF Future delta time due to leap seconds Char 20 22 Is Ce See valid Gene 2 1 Valid 23 38 Reserved Uchar 16 22 39 40 Checksum see Section 1 6 Checksum N A Ushort 38 Calculation Rules starting on Page 19
47. 631 ODAOOOOO 866606666 66794566 662E6261 55AA1066 66660666 66606666 Example Header Translated to Decimal 01 48 207 24 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 3 13 Receiver Status ID 49 Structure Message ID 49 Rate seconds 1 This log provides information on the configuration of your GPS receiver BYTE BIT DESCRIPTION UNITS 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 TYPE Chapter 3 OFFSET 0 System mode 0 Self test 1 Initialization 0 3 2 Acquisition SS 3 Navigation 4 Fault 4 5 Reset source N A 5 Satellite tracking mode 0 All SVs in view based on 6 current almanac position N A and time 1 Sky search NVM controller state 7 0 Idle no process in progress N A 1 Busy erase and or store data process in progress Uchar Tropospheric model 0 0 Enabled N A 1 Disabled MSL model 1 0 Enabled N A 1 Disabled Last power up modes 0 Cold start invalid almanac S time or position 6 2 3 1 Initialized start valid almanac N A time and position only with battery backup RAM 4 Reserved N A Time source 0 Initialization required 5 7 1 External N A 2 SV without NAV mode 3 SV with NAV mode Uchar 7 8 Almanac week of collection N A Ushort 9 10 Week number N A Ushort Continued on Page 98 SUPERSTAR II Firmware Reference Manual Rev 5 97
48. 65 RTCM data message received 76 Almanac data DIFFERENTIAL ROVER STATION Message ID Definition 20 Navigation data user coordinates 21 Navigation data ECEF coordinates 23 Measurement block data 43 DGPS configuration 48 Differential message status 65 RTCM data message received POST PROCESSING DATA Message ID Definition 22 Ephemeris data 33 Satellite data 75 lonospheric and UTC time data 113 Timing status Continued on Page 75 74 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs SATELLITE TRACKING AND CHANNEL CONTROL Message ID Definition Current channel assignment 1 6 Current channel assignment 7 12 NMEA SV DOP information NMEA satellite in view information Satellite visibility data and status Satellite health summary SBAS data SBAS status message Almanac data Message ID 900 Almanac reception status NMEA Format Messages Definition Navigation status 902 Self test results 906 Bearing distance and delta elevation to waypoint 907 User position MGRS format 908 Receiver parameter status 912 Receiver configuration GGA GPS fix data and undulation GLL Geographic position latitude longitude GSA GPS DOP and active satellites GSV GPS satellites in view RMC GPS specific information VTG Track made good and ground sp
49. 8 Example Header Translated to Decimal 01 125 130 16 SUPERSTAR II Firmware Reference Manual Rev 5 113 Chapter 3 Output Logs 3 3 24 Acknowledge Log ID 126 The receiver generates this log to acknowledge all messages It is sent as soon as possible if there is at least one message to acknowledge The data field of this log contains 5 bytes that encode the IDs of the messages acknowledged 4 messages per time interval and possibly a message from a previous time interval that was not completely decoded A maximum of five messages may be acknowledged per log Message ID 0 indicates a dummy message and is discarded Its purpose is only to fill the data field of the acknowledge log Structure Message ID 126 Rate seconds 0 1 BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 ID of first message acknowledged N A Uchar 4 6 ID of second message acknowledged N A Uchar 5 7 ID of third message acknowledged N A Uchar 6 8 ID of fourth message acknowledged N A Uchar 7 9 ID of fifth message acknowledged N A Uchar 8 10 11 Szen see Section 16 degen Ian Tue Example Output 617E8165 14151666 66446161 2DD25F31 Example Header Translated to Decimal 01 126 129 05 114 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 4 NMEA Protocol Logs Chapter 3 Table 18 lists a set of supported NMEA logs An explanation of
50. 90 Newfoundland Nova Scotia Quebec 41 North American 1927 Clarke_1866 4 159 188 Canada Northwest Territories Saskatchewan 42 North American 1927 Clarke_1866 7 139 181 Canada Yukon 43 North American 1927 Clarke_1866 0 125 201 Canal zone 44 North American 1927 Clarke_1866 0 125 194 Central America 45 North American 1927 Clarke_1866 12 130 190 Mexico 3 Alaska Canada CONUS 46 North American 1983 GRS 80 0 0 0 Central America Mexico 47 Old Egyptian 1907 Helmert_1906 130 110 13 Egypt 48 Old Hawaiian Clarke_1866 61 285 181 Hawaii Kauai Maui Oahu 49 Oman Clarke_1880 346 1 224 Oman E England Isle of Man 50 Sey ee Bitan Airy 375 111 431 Scotland Shetland Islands 1936 Wales 51 Pitcairn Astro 1967 International 185 165 42 Pitcairn Island Continued on Page 50 SUPERSTAR II Firmware Reference Manual Rev 5 49 Chapter 2 Input Commands 52 Qatar National International 128 283 22 Qatar 53 Qornoq International 164 138 189 Greenland South 54 Schwarzeck SE EH EI ley 251 Namibia amibia Argentina B olivia Brazil 55 South American 1969 South_America_ 57 1 41 Chile Colombia Ecuador 1969 Guyana Paraguay Peru Trinidad amp Tobago Venezuela 56 South American 1969 E n e A1 Brazil 57 South American 1969 e ee lla Nhe 36 Colombia 58 South American 1969 Breet lcd 1 33 Venezuela 59 South Asia ee ES H 10 26 Singapore 60 ioe Ge
51. A Once set a satellite does not need Deselection to be deselected continuously 91 Set DGPS Set N A Once set the DGPS configuration Configuration does not need to be reset continuously 95 Particular Satellite Request to track N A Does not need to be re requested 99 Erase NVM Erase N A Does not need to be re erased 103 Set Date and Set N A Once set the date and time do not Time need to be updated continuously 105 Set Default Binary Set N A Once set the message list does Message List not need to be reset continuously 110 Configure COM1 Configure N A The COM1 port does not need to be reconfigured continuously 16 SUPERSTAR II Firmware Reference Manual Rev 5 Messages 1 2 3 2 1 3 Chapter 1 GPS Receiver to PC Message Types There are 6 types of messages that can be output from the GPS receiver to your PC all data is sent in receiver internal format Dummy Message ID 0 Reserved Initiate Link ID 63 This is the response to the PC initiate link message Acknowledge Message ID 126 All messages are acknowledged by this message It is sent as soon as possible if there is at least one message to acknowledge The data field of this message contains 5 bytes which encode the ID s of the messages acknowledged 4 messages per time interval and possibly a message from a previous time interval that was not completely decoded A maximum of five messages may be acknowledged per message Mess
52. A 0 manual SNR level 5 0 old SNR levels N A 1 new SNR levels 6 7 Reserved N A 20 33 Channel 8 assignment data 19 34 47 Channel 9 assignment data 33 48 61 Channel 10 assignment data As per Channel 7 47 62 75 Channel 11 assignment data 61 76 89 Channel 12 assignment data 75 90 91 Checksum see Section 1 6 Checksum N A Ushort 89 Calculation Rules starting on Page 19 SUPERSTAR II Firmware Reference Manual Rev 5 79 Chapter 3 Example Output 66666034 F D52542 3F 4266606 66666666 66663A22 SAZED324 126131CE SAGF 6167 666666066 66663A 62 340F7F23 D32402 008 6266766C 286366 6C Example header translated to decimal 01 07 248 85 80 F855666D 3A138724 A1246266 6266E2A1 CEF 2242 154266606 65 OC 6566 15266266 62 66ACC3 66666666 13426166 FSFF 6666 66663A61 66666066 Output Logs SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 3 3 Navigation Data User Coordinates ID 20 Message ID 20 Rate seconds 1 0 2 or 0 5 1 Structure Chapter 3 This log contains the best position latitude longitude and altitude coordinates and velocity m s computed by the receiver In addition it reports height and velocity Figures of Merit FOMs and a Dilution of Precision value DOP which are quality indicators For more information on the FOM and DOP refer to the Glossary in the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html
53. Data Message Received 104 SUPERSTAR II Firmware Reference Manual Rev 5 ID 65 RTCM Data Messages Retransmission 34 ID 67 SBAS Data 35 104 105 ID 68 SBAS Status Message 35 106 ID 69 Set Timing Parameters 36 111 ID 7 Current Channel Data 7 12 79 ID 75 Ionospheric and UTC Data 38 ID 76 Almanac Data Request 38 ID 77 Update Almanac 39 ID 78 Almanac Data 107 108 110 ID 78 Almanac Data Upload 39 ID 79 Specific Almanac Data 40 ID 80 Set Operating Mode 42 135 ID 81 Set Mask Angle 43 46 ID 83 Set DGPS Configuration 44 ID 84 Set Tropospheric Model 45 ID 86 Set Mean Sea Level Model 46 ID 88 Select Define Datum to Use 46 ID 90 Satellite Deselection 52 ID 95 Track a Particular Satellite 54 ID 99 Erase NVM 55 identify 16 inclination angle 41 109 initialization 61 Initiate Link ID 63 33 Initiate Self Test ID 51 33 inputs discreet 98 integrity 136 Ionospheric and UTC Data ID 75 38 ionospheric data 38 K knots 127 L latency 73 149 latitude 26 81 123 127 link 113 Link Overload Message ID 125 113 longitude 26 81 123 127 M man 29 marine 29 mask angle 43 66 98 111 120 mean sea level 16 46 97 120 measurement 138 blocks 87 SUPERSTAR II Firmware Reference Manual Rev 5 Index carrier phase 140 code phase 140 data 27 87 parameters 87 period 143 pseudorange 111 142 Measurement Data ID 23
54. FR First Request PM Protocol Mes sage SM Status Message and UR Update Request b Twice per second when in 2 Hz PVT mode c On first request and then on new ephemeris reception d PMs and SMs are output once per second or per 100 ms SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 3 Binary Protocol Logs 3 3 1 Current Channel Assignment Data 1 6 ID 6 Structure Message ID 6 Rate seconds 1 This log shows you the current satellites assigned to channels through 6 Chapter 3 BYTE BIT DESCRIPTION UNIT TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 Reserved N A Uchar 4 0 4 SV 0 31 N A SV type 6 5 0 GPS SV SV bit 0 4 1 N A Uchar 5 1 SBAS SV SV bit 0 4 120 6 7 Reserved N A 7 10 Carrier frequency resolution cycles Ulong 6 11 14 Serial to Noise ratio SNR dB Hz Float 10 15 18 Reserved N A Uchar 4 14 Tracking state 0 not ready 0 1 1 bits ready N A 2 measurement ready 3 failed Allocation state 0 idle SEN 1 locating N A 19 2 tracking Uchar 18 Channel mode 4 1 automatic N A 0 manual SNR level 5 0 old SNR levels N A 1 new SNR levels 6 7 Reserved N A 20 33 Channel 2 assignment data 19 34 47 Channel 3 assignment data 33 48 61 Channel 4 assignment data As per Channel 1 47 62 75 Channel 5 assignment data 6
55. HE COMPANY WEB SITE HEREINAFTER REFERRED TO AS SOFTWARE 1 License NovAtel Inc NovAtel grants you a non exclusive non transferable license not a sale to where the Software will be used on NovAtel supplied hardware or in conjunction with other NovAtel supplied software use the Software with the product s as supplied by NovAtel 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 make one copy of the Software solely for backup or archival purposes one copy may be made for each piece of NovAtel hardware on which it is installed or where used in conjunction with other NovAtel supplied software the media of said copy shall bear labels showing all trademark and copyright notices that appear on the original copy 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 c
56. I Firmware Reference Manual Rev 5 29 Chapter 2 Input Commands 2 5 9 Request Satellite Visibility Data and Status ID 33 Use this command to request data and status information on satellites in view See also Message ID 33 output on Page 90 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 33 Continuous 01 41 DE 000001 or Transmitted 6 Bytes IDH 33 One Shot 01 21 DE 000001 2 5 10 Request DGPS Configuration ID 43 Use this command to request information on the current DGPS configuration if your receiver is operating in differential mode See also Message D 43 output on Page 92 and Message ID 83 Set DGPS Configuration on Page 44 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 43 Continuous 01 AB 54 00 00 01 or Transmitted 6 Bytes ID 43 One Shot 01 2B D4 00 00 01 30 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 5 11 Request Hardware Software Identification ID 45 Use this command to view your receiver s software and hardware identification num
57. ITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Built in status test 0 Reserved 5 0 7 1 Initiate test N A Uchar 2 Output results Checksum see Section 1 6 Checksum of Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 7 Bytes ID 51 01 33 CC 01 04 0B 01 2 5 17 Initiate Link ID 63 See Section 1 3 Initiation starting on Page 17 for more on Message ID 63 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 5 Password UGPS 000 in ASCII format U ls character first NA Uchar 8 Checksum see Section 1 6 Checksum 13 14 Calculation Rules starting on Page 19 NA Ushort Example Input Transmitted 14 Bytes IDH63 Initiate link 01 3F CO 08 55 47 50 53 2D 31 30 30 05 03 SUPERSTAR II Firmware Reference Manual Rev 5 33 Chapter 2 Input Commands 2 5 18 Set Channel Deselection ID 64 This command allows you idle up to 12 channels if the password field bytes 5 12 is valid The channels to be disabled should be indicated in a bit map form A in the bit map specifies that the corresponding channel is disabled BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Password UGPS 000 in ASCII format U oe character first N A Uchar 8 13 bit map bit 0 ch 1 bit 7 ch 8 N A Uchar 14 bit map bit 0 ch 9 bit 3 ch
58. Input Commands 2 5 36 Set Differential Message Configuration ID 91 Chapter 2 This command allows you to set the RTCM differential message type and rate if your receiver is a BASE model and is operating in differential mode BYTE BIT DESCRIPTION UNITS 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 TYPE 0 5 Message 0 Clear all messages 1 RTCM1 4 RTCM3 Type 0 RTCM 1 3 Reserved N A Uchar Rate 0 Stop transmitting 1 255 Rate in seconds Uchar 7 8 Checksum see Section 1 6 Checksum Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 8 Bytes ID 91 Set 01 5B A4 02 FO 1E 10 02 SUPERSTAR II Firmware Reference Manual Rev 5 53 Chapter 2 Input Commands 2 5 37 Request to Track a Particular Satellite ID 95 This command allows you to track an SV on any available channel that is not currently tracking or that has not been deselected It starts the search at a given Doppler frequency offset to the carrier Doppler center frequency The search window option is specified from 0 to 100 kHz in 1 kHz increments BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 SV 1 32 for GPS or SV 33 51 for SBAS where 33 represents SV 120 34 represents SV 121 35 represents SV 122 36 represents SV 123 37 represents SV 124 38 repre
59. International 189 242 91 Madagasgar 61 Tokyo Bessel_1841 148 507 685 Japan 62 Tokyo Bessel_1841 128 481 664 Mean Value 63 WGS 1972 WGS 72 0 0 0 Global definition 50 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Table 8 Ellipsoid Description Table Ellipsoid name Airy Airy_modified Australian_National Bessel 1841 Bessel 1841 in Namibia Clarke 1866 Clarke 1880 Everest Sabah amp Sarawak Everest 1830 Everest 1948 Everest 1956 Everest_Modified GRS 80 Helmert 1906 Hough International Krassovsky Modified Fisher 1960 SGS 85 South America 1969 WGS 72 WGS 84 Semi major axis a 6377563 3960 6377340 1890 6378 160 0000 6377397 1550 6377483 8650 6378206 4000 6378249 1450 6377298 5560 6377276 3450 6377304 0630 6377301 2430 6377304 0630 6378137 0000 6378200 0000 6378270 0000 6378388 0000 6378245 0000 6378155 0000 6378136 0000 6378 160 0000 6378135 0000 6378 137 0000 Inverse flattening 1 f 299 324964600 299 324964600 298 250000000 299 152812800 299 152812800 294 978698200 293 465000000 300 801700000 300 801700000 300 801700000 300 801700000 300 801700000 298 257222101 298 300000000 297 000000000 297 000000000 298 300000000 298 300000000 298 257000000 298 250000000 298 260000000 298 257223563 SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 2 51 Chapter 2 2 5 35 Satellite Deselection ID 90 This command allows
60. Pos X m Pos Y m Pos Z m Vel X m s Vel Y m s Vel Z m s Clock Bias s Cik Drift PPM HFOM VFOM HDOP DOP Nav Mode 1634519 83 3664606 39 4942489 _64 0 00 0 00 0 00 0 000000000 0 000000522 1 75 2 39 0 9 1 4 Diff 3 D GPS Week 1214 Sec 238219 00000 9 Nbr SYs OM 20000086 SUPERSTAR II Firmware Reference Manual Rev 5 Proprietary Notice SUPERSTAR II Firmware Reference Manual Publication Number OM 20000086 Revision Level 5 Revision Date 2005 06 09 Proprietary Notice The software described in this document is furnished under a licence agreement or non disclosure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non disclosure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission of a duly authorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication NovAtel is a registered trademark of NovAtel Inc All other brand names are trademarks of their respective holders Copyright 2003 2005 NovAtel Inc All rights reserved Unpublished rights reserved under Internati
61. Rate Selection see Table 11 below Table 11 Baud Rate Selection Character Baud Rate 0 19200 1 300 2 600 3 1200 4 2400 5 4800 6 9600 7 19200 Example Configure COM1 to binary mode at 19200 SPMCAG 000 0 58 lt CR gt lt LF gt 60 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 6 2 PMCAG 001 Initialize Time and Position This command initializes the receiver with reference UTC date UTC time and user position HEADER CONTENTS OF DATA FIELDS SPMCAG 001 XX XX XXXX XX XX XX txXx xXxX t1111 11 a yyyyy yy a x xx hh lt CR gt lt LF gt KH HA du altitude longitude E w latitude Nn s reserved reserved Example SPMCAG 001 08 07 1993 16 37 21 00 00 5301 97 N 00133 48 E 35 35 40 lt CR gt lt LF gt Date Time Reserved Reserved Latitude Longitude Altitude 08 07 1993 16 37 21 Must be 00 Must be 00 53 01 97 North 1 33 48 East 35 35 m above mean sea level 1 Altitude in meters above or below mean sea level resolution 0 01 m 2 Longitude E W with respect to WGS 84 3 Latitude N S with respect to WGS 84 4 Reserved must be 00 5 Reserved must be 00 6 UTC Time Hour 0 23 Minutes 0 59 Seconds 0 59 7 UTC Date Day 1 31 Month 1 12 Year 1980 2079 SUPERSTAR II Firmware Reference Manual Rev 5 61 Chapter 2 Input Commands 2 6 3 PMCAG 003 Initiate Self Test This comman
62. Reserved 15 Unlimited 4 7 Reserved N A Navigation message rate 0 1 Hz PVT 0 1 1 2 Hz PVT N A 6 2 5 Hz PVT Uchar 5 3 Reserved 2 7 Reserved N A Antenna type 0 1 0 Auto Detect H N A 7 1 Active Uchar 6 2 Passive 2 7 Reserved 8 Reserved Uchar 7 9 10 Maximum speed m s Ushort 8 Maximum acceleration in the range 0 to 40 m s 0 5 When 40 is received the internal value is set to m s 11 39 2 Uchar 10 6 7 Reserved 12 Standstill threshold cm s Uchar 11 13 Dead reckoning threshold in the range 0 to 254 s Uchar 12 14 20 Reserved Uchar 7 13 21 22 Checksum see Section 1 6 Checksum N A Calculation Rules starting on Page 19 Ushort variable a Navigation messages are NMEA GGA GLL GSA RMC VTG and Binary ID s 20 and 21 b Auto Detect starts up with a Passive setting and auto switches to Active if an active antenna is detected Example Output 01 1E E1 10 0A 1D E1 77 84 06 02 00 82 00 00 00 00 00 00 00 9D 03 Example Header Translated to Decimal 01 30 225 16 SUPERSTAR II Firmware Reference Manual Rev 5 89 Chapter 3 Output Logs 3 3 8 Satellite Visibility Data and Status ID 33 Structure Message ID 33 Rate seconds 1 Data transmission of up to 12 satellites in view listed in decreasing elevation order BYTE BIT DESCRIPTION UNITS TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 0 3 Total
63. S format 2 Navigation Solution Request a navigation solution by sending a Select Active Waypoint message NMEA ID 010 see Page 70 In StarView select Tool Setting Select Active Waypoint The receiver replies typically within 3 seconds with a navigation solution from the local position to that waypoint using the currently selected datum This message NMEA ID 906 contains bearing in degrees true north range in meters and delta elevation in meters information In StarView select Window To Waypoint 3 Current Status The receiver transmits navigation status and the current user position in both UTM and MGRS formats These messages are defined by NMEA message ID s 900 Page 116 and 907 Page 119 In StarView select Window Navigation Status and Window User Position respectively SUPERSTAR II Firmware Reference Manual Rev 5 147 Del TA Message Formats The chapter discusses the industry standard message formats that can be used with your SUPERSTAR II receiver including RTCM and NMEA See also the RTCM and NMEA references on Page 12 for more information on using these message formats F 1 RTCM Format Messages The Radio Technical Commission for Maritime Services RTCM was established to facilitate the establishment of various radio navigation standards including recommended GPS differential formats The standards recommended by the Radio Technical Commission for Maritime Services Special Committee 104 D
64. STAR II Firmware Reference Manual Rev 5 45 Chapter 2 Input Commands 2 5 32 Set Mean Sea Level Model Use ID 86 This command allows you to use the mean sea level MSL model for your application if the password field bytes 5 12 is valid Its use is Off by default When it is On the undulation value is automatically added Sending this command in One Shot mode turns MSL model use on and in Continuous mode turns it off BYTE BIT DESCRIPTION UNITS TYPE Header see Section 1 2 2 Message Block Structure starting on Page 13 1 4 MSB of Message ID byte 0 model is used 1 model is not used y Password UGPS 000 in ASCII format Se U character first NA Uchar 8 Checksum see Section 1 6 Checksum 13 14 Calculation Rules starting on Page 19 WA Ushort Example Input Mean Sea Level model use is on Transmitted 14 Bytes IDH86 0156490804 1D E1 77 4E 02 4800 1F 03 2 5 33 Set Fixed Height Mode ID 87 This command is used to select a fixed mode When NONE is selected the receiver can not go in 2 D mode When AUTO is selected the receiver automatically tries to go in 2 D mode if only 3 satellites are available This setting is stored in NVM BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Fixed Height Mode 0 0 NONE default 5 1 AUTO N A Uchar 1 7 Reserved 6 13 Reserved N A Double 14 15 Checksum N A Ushort
65. TAR II Firmware Reference Manual Rev 5 NoiAtel OM 20000086 Revs 2005 06 09
66. User configuration cm s Uchar Continued on Page 29 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 Dead reckoning threshold 13 Range 0 254 s Uchar 255 use current value 14 20 Reserved N A Uchar 7 Checksum see Section 1 6 Checksum ae Calculation Rules starting on Page 19 N A Ushort a Navigation messages are NMEA GGA GLL GSA RMC VTG 906 907and Binary ID s 20 21 b Auto Detect starts up with a Passive setting and auto switches to Active if an active antenna is detected Example Input Transmitted 22 Bytes IDH 30 Set 01 1E E1 10 0A 1D E1 77 84 06 02 00 82 00 00 00 00 00 00 00 9D 03 Table 6 Preset Configurations Preset Maximum Velocity Maximum Stand Still Configuration m s Acceleration mie Threshold m s Man 10 3 0 2 Car 45 8 0 2 Tractor 20 7 0 2 Marine 20 7 0 1 Plane 100 20 0 2 Rocket 510 40 0 2 2 5 8 Request Receiver Configuration ID 30 Use this command to obtain information on the configuration of your receiver See also Set Receiver Configuration on Page 28 and Message ID 30 output on Page 89 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 30 One Shot 01 1E E1 00 00 01 SUPERSTAR I
67. Ushort Example Input Transmitted 21 Bytes IDH103 Set 01 67 98 OF 04 1D E1 77 30 03 44 00 82 00 00 00 00 00 00 87 03 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 5 40 Set Default Binary Message List ID 105 Use this command to set which logs to generate Your selection is generated by default at start up and comes out at the highest rate possible BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Reserved Message ID 1 flag 1 0 Do not transmit 1 Transmit 5 Message ID 2 flag N A Uchar 2 0 Do not transmit 1 Transmit Message ID 3 7 flags 3 7 0 Do not transmit 1 Transmit Message ID s 8 to 15 flags 6 0 Do not transmit N A Uchar 1 Transmit 7 As per Byte 6 for Message ID s 16 to 23 Uchar N A 20 As per Byte 6 for Message ID s 120 to 127 Uchar 21 28 Reserved N A Uchar 8 29 30 Checksum see Section 1 6 Checksum N A Ushort Calculation Rules starting on Page 19 Example Input Transmitted 30 Bytes ID 105 01 69 96 18 QA 1D E1 77 DE 05 04 00 82 00 00 00 00 00 00 00 00 00 00 00 CO FB 12 00 03 05 SUPERSTAR II Firmware Reference Manual Rev 5 57 Chapter 2 Input Commands 2 5 41 Configure COM1 Port Mode ID 110 This command allows you to configure the baud rate and protocol of the COM1 port BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Messag
68. XXX xXxX xx hh lt CR gt lt LF gt I aie Reserved ie We Reserved Year Month Day UTC Example SGPZDA 151701 00 21 10 2004 61 lt CR gt lt LF gt SUPERSTAR II Firmware Reference Manual Rev 5 UTC 15 17 01 00 Date 21 October 2004 129 Chapter 4 Firmware Updates The software update utility is designed to provide an easy way to update your SUPERSTAR II receiver software and model The software package includes the following items e An update utility usually called update exe may be named otherwise e An activation key e An application note containing the instructions as they are in this appendix 4 1 System Requirements Before you use the update utility make sure your computer is IBM PC compatible with the following minimum system requirements e Intel compatible 486DX 66 MHz PC or higher e One standard serial port e Windows 95 operating system or higher 4 2 Utility Installation Follow the steps below to install the Update utility 1 Create a folder on the PC and name it Update for the Update utility installation The folder name is not critical but avoid names that are over 8 characters long 2 Copy the Update utility executable file update exe for this example into the newly created folder 3 Select Run from the Start menu and press the Browse button to locate update exe in the Update folder Select update exe press the Open button and then OK Alternatively
69. a Messages on Page 150 4 Non SBAS models are now available see Appendix A SUPERSTAR II Card Models on Page 133 5 5 Hz carrier phase CP models that are capable of 1 2 or 5 Hz measurements see Table 19 on Page 133 The most up to date version of this manual can be downloaded from our website at http www novatel com Downloads docupdates html If you are unfamiliar with any of the terms used in this manual refer to the GPS Reference Manual available on our website at the address above Prerequisites As this reference manual is focused on SUPERSTAR II commands and logging protocol it is necessary to ensure that the receiver has been properly installed and powered up according to the instructions outlined in your product s companion hardware user manual before proceeding SUPERSTAR II Firmware Reference Manual Rev 5 11 Foreword Conventions This manual covers the full performance capabilities of NovAtel SUPERSTAR IL based receivers A list of models may be found in Appendix A SUPERSTAR II Card Models on Page 133 Simple conventions are H The number preceding H is a hexadecimal number b The number preceding b is a binary number In tables where values are missing they are reserved for future use Messages and status words are output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal Conversions and their binary or decimal results are always read from right to le
70. aaa ana aAa Aaa aeaaea a ado dea iad a iant 29 DATUM Description vice tee i a a aisle ieee a a 48 EllipSoid Description Table 51 Element tovErase iste anand Biv noe ec ie Milo ee ls ee nets 55 NMEA Input GomMmands EE 59 Baud Rate Selection etc anlar en ee dee oe 60 PM AG 007 E CEET EE 65 Message Vs Latency oneei ienei eed Eege REENEN 73 Logs By Function Table swiss casita cited ih neil na ete Ee Eege AE 73 SUPERSTAR Il Log Summa svi cui eae el atte een hen aie a a ait eee 76 Rover Message IDF At et sevsesdceeeeetide ancien cbc Seege baad NEE dee eege Dees 95 Base Message ID 48 uinean eaves iti eee dive de dads as ec N RE 96 List NMEA LOGS eegene dee Reached sents EE aE ARRE EE Ery sae EARE CAR RE hadebacsteteaeeaness 115 SUPERSTAR II Software Models 133 Time Estimator Status Conditions cccccceeeeeeceeeeeeeeeceeeeeeeeeaeeceeeeeeeaaeesecaeeesaaeeseeeeesseaaeeeeaees 136 Residual Solution Status Conditions 136 Glock Drift CD Ne CT harada aoda eae daana daa reda irena aada nak da itaga 139 Measurement BiS vue EON AEE ATOE i O i aa 141 L1 GPS Firmware Reference Manual Rev 5 7 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 WITH THESE TERMS OF USE DO NOT INSTALL COPY OR USE THIS ELECTRONIC PRODUCT SOFTWARE FIRMWARE SCRIPT FILES OR OTHER ELECTRONIC PRODUCT WHETHER ON A CD OR AVAILABLE ON T
71. ach command or log and be able to effectively communicate with the receiver thus enabling you to effectively use and write custom interfacing software for specific needs and applications The manual is organized into chapters that allow easy access to appropriate information about the receiver There is also optional Satellite Based Augmentation System SBAS signal functionality in SUPERSTAR II based products Please see Appendix A SUPERSTAR II Card Models on Page 133 and Appendix D SBAS Positioning on Page 145 of this manual and the Conventions section below for more information This manual does not address any of the receiver hardware attributes or installation information Please consult the appropriate hardware user manual for technical information on these topics see Table I on Page 12 Furthermore should you encounter any functional operational or interfacing difficulties with the receiver consult the same hardware manual for NovAtel warranty information Customer support information may be found in this manual on Page 10 What s New in Firmware Version 1 300 Since Version 1 200 Version 1 300 of the firmware adds the following to this manual 1 Support for 2 D mode which is useful when there are only 3 satellites available for computing a solution 2 A fixed height mode command Message ID 87 to enable 2 D mode in 1 above see Page 46 3 The NMEA Message Format and the NMEA Checksum Calculation see Section F2 NMEA Format Dat
72. age ID 0 indicates a dummy message and is discarded Its purpose is only to fill the data field of the acknowledge message block See also Acknowledge Log ID 126 on Page 114 Link Overload Error Message ID 125 Sent by the receiver only when at least one log caused an overload of the data link This log is sent at a maximum rate of once per second It encodes a bit map of all the Message ID s 1 127 therefore indicating which ID s caused the link overload The log request that caused the overload is cancelled to prevent any further overload See also Link Overload Error Message ID 125 on Page 113 Data Message DM Logs containing requested data Status Message SM Initiation Informs the PC of the status of a file transfer performed using a command The status is encoded in the MSB of the ID field If the MSB 0 the command request is unsuccessful If the MSB 1 the command is successfully performed This log is sent within minute after the command This is currently only used for the almanac see Almanac Data Upload ID 78 on Page 39 Upon receipt of an initiate link command block containing a valid password the receiver sends a log block back to the PC with its own password This command also cancels all previous data request logs within 2 seconds The receiver responds to the initiate link command within 300 ms SUPERSTAR II Firmware Reference Manual Rev 5 17 Chapter 1 Messages 1 4 1 5 Data Link
73. al 3 D Differential 2 D 6 Dead reckoning For BASE model units 8 Base Station Solution Confidence Level 0 Normal NAV solution from lt 5 SVs 1 High NAV solution from gt 5 SVs Differential source selection 0 SBAS 1 DGPS Reserved N A Uchar 80 81 83 0 3 Number of SVs used to compute this solution 4 7 Reserved Reserved N A N A Uchar Uchar 3 84 85 Checksum see Section 1 6 Checksum Calculation Rules starting on Page 19 N A Ushort 84 Example Output G115EASF FCF6FFFF B172E6F6 38C1D045 G68BA9DA 52416666 000006839 647553AD AZ3EB7C5 3B41F6E1 66666627 226155AA Example header translated to decimal 01 21 234 79 67156341 BD1674F5 66666666 6FBEBOCA 76416866 16666666 BE 648 OBC 4BC1B661 66666666 FCEAFEBF DC 86A2 69 666666660 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 Definitions Origin 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 I 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 Complet
74. and licences hereby granted by NovAtel Licensee may terminate this Agreement by providing 30 days prior written notice to NovAtel Upon termination for any reasons the Licensee shall promptly on NovAtel s request return to NovAtel or at the election of NovAtel destroy all copies of any documents and extracts comprising or containing the Software The Licensee shall also erase any copies of the Software residing on Licensee s computer equipment Termination shall be without prejudice to the accrued rights of either party including payments due to NovAtel This provision shall survive termination of this Agreement howsoever arising 8 L1 GPS Firmware Reference Manual Rev 5 Software License 5 Warranty a For 90 days from the date of shipment of new purchased product 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 b 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 6 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 indem
75. ans Resolution 2 023 x Double 21 30 37 38 45 Argument of perigee W Range 2 0 3 2 0 3 z to 2 09 1 0 2 023 x radians Resolution 2 0 3 x Right ascension Omega D Range 2 0 3 2 023 z to 2 08 1 0 2 023 n radians Resolution 2 0 83 x Double Double 29 37 46 53 Semi major axis Root_A Range 2525 0 to 2 0 4 1 0 2 011 m1 2 Resolution 2 0 Double 45 Continued on Page 109 108 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 Rate of right ascension Omega_Dot 54 61 Range 2 015 2 0 38 z to 2 015 1 0 2 0 1 radians s Double 53 Resolution 2 0 8 x Angle of Inclination relative to 0 30z i 62 69 range 2 015 2 019 x to 2 015 1 0 2 019 r radians Double 61 resolution 2 0 9 x Eccentricity e 70 77 Range 0 to 0 03 N A Double 69 Resolution 2 021 Almanac week common to all SVs 78 79 Range 0 to 65535 weeks Short 77 80 Next satellite block variable variable Checksum see Section 1 6 Checksum Calculation N A Ushort variable Rules starting on Page 19 Example Output 66666606 66660066 OOOOOHGEE 67614CB3 SFH1G6E6 64666066 O66606A6 343F 6666 66666666 963D52DD CEGAIES9 63C6BD17 D315F29D FBBFFBG6 86479FES CE3F 6666 66669A21 B4461062 257C02F39 46BEGD34 S6FBE695 A13FO006 66668694 753FDC64 621B6168 F7120A55 AFGO1C79 3
76. ase measurements are used to derive a quantity ICP The ICP is computed using the relation below 140 SUPERSTAR II Firmware Reference Manual Rev 5 Measurements Appendix C ICP cycles RawICP SZ AICP 4 5803 i l AICP RawICP RawICP _ Equation 3 When removing the nominal cycles the measurement generator truncates the IF frequency to 1405400 Hz A correction of 4 5803 is applied on the RawICP to correct for this Correction to apply for the truncated IF TrunkCorrection 1405400 F ae 999999 4 5804 where F p 1405396 825 Hz Equation 4 C 4 Carrier Phase In Message ID 23 In Message ID 23 the carrier phase measurement information bits are sent by the GPS receiver The systems use different detectors to set those 2 bits which provide information about the whole cycle counter and cycle fraction See Table 23 below Table 23 Measurement Bits Bit 0 Bit 1 Whole cycle bit WC Fraction bit FR The WC bit is used to qualify the status of whole cycle counter Each time a channel is initialized the WC bit is set Because of the nature of GPS navigation data message bi phase modulation the receiver must adjust the carrier phase measurement for a half cycle count When the software has detected the initial polarity of phase tracking 0 or 180 degree boundary the receiver adjusts the initial phase measurements The WC counter bit is clear Then the receiver starts and continues the accumulation of cyc
77. ase or lowercase alpha characters Fixed number xx Fixed length field of numeric characters Fixed text cc Fixed length field of valid characters NOTES 1 Spaces may only be used in variable text fields 2 A negative sign HEX 2D is the first character in a Field if the value is negative The sign is omitted if value is positive 3 All data fields are delimited by a comma 4 Null fields are indicated by no data between two commas Null fields indicate invalid or no data available 5 The NMEA Standard requires that message lengths be limited to 82 characters NMEA Checksum The checksum field delimiter and checksum are optional on input not including the and the delimiters 150 SUPERSTAR II Firmware Reference Manual Rev 5 151 1PPS 111 112 134 136 2 D and 3 D modes 82 84 98 116 124 A accuracy 111 149 acknowledge 114 Acknowledge Message ID 126 114 alignment 136 almanac 97 data 38 39 message 108 reception 40 save 108 scaling 108 transfer 40 110 update 39 upload 110 Almanac Data Request ID 76 38 Almanac Data Upload ID 78 39 Almanac Data ID 78 107 108 110 altitude 81 122 angle mask 98 track 81 antenna 135 azimuth 125 B base station fix data 122 logs 22 74 message configuration 31 53 mode 82 95 96 position 94 status 31 Base Station Status ID 47 31 94 baud rate 58 60 64 66 92 bearing 147 bit ordering 13 block
78. ated GPS Data Doppler Present Because of the Doppler shift the reconstructed carrier is shifted in frequency We reconstitute a frequency of Fnom FDoppler The carrier phase Integrated Carrier Phase that we generate is ICP INTEGRATED MEASURED PHASE INTEGRATED NOMINAL PHASE The Integrated Carrier Phase ICP represents the Doppler shift frequency measured by the receiver and integrated over time To retrieve the instantaneous Doppler value from the ICP measurements compute the derivative of the ICP measurements For example the average Doppler value over a period of one second can be computed by dividing the difference between two consecutive ICP measurements by the measurement period ICP i ICP i 1 0 999999 for a measurement period of 0 999999 The ICP are accumulated for 1 s The nominal number of cycles is computed for 1 s 1 us so if the TCXO does not drift ICP integrated cycles due to Doppler plus a nominal error If the TCXO drifts the measurement period is not affected by the clock drift but the ICP contains the clock drift value C 1 3 Clock Drift Concept A clock drift influences the duration of the measurements mark by reaching the mark count in advance or with a delay depending on the drift direction Time alignment compensates this effect by delaying or advancing the occurrence of the mark interrupt based on the predicted clock drift In this way the measurement period is
79. ating Mode ID 80 42 135 Set Timing Parameters ID 69 36 111 Set Tropospheric Model ID 84 45 signal to noise ratio SNR 77 79 87 125 slew 87 144 slip cycle 88 SNR see signal to noise ratio software models 93 part number 31 space vehicle number SVN 87 98 Specific Almanac Data ID 79 40 speed knots 127 128 Standard Positioning Service SPS 108 start of header 14 static operation 134 135 status 17 GPS 127 indicators 136 receiver 21 73 SUPERSTAR II Firmware Reference Manual Rev 5 Index SBAS 106 structure message 13 subframe 86 108 synchronization 134 system mode 97 T test built in 33 time 16 129 anomaly of reference 40 108 data 127 elapsed since power up 82 estimate 136 GPS 83 87 105 logs 22 74 NMEA 61 119 122 123 127 operating mode 112 out 40 parameters 36 solution 111 source 97 status 58 tag 94 Timing ID 113 58 111 track angle 81 made good 127 128 satellite 23 54 75 97 state 77 79 Track a Particular Satellite ID 95 54 tractor 29 transmit 18 tropospheric ionospheric 16 45 66 97 120 type 19 20 U Update Almanac ID 77 39 update firmware 10 upload almanac 110 user 61 UTC 67 V values 124 velocity 26 81 83 155 Index W WAAS 92 106 112 134 warranty 11 waypoint navigation 23 68 70 75 118 week 97 X x axis 83 Y y axis 83 Z z axis 83 zone 119 156 SUPERS
80. bers and model See also Message ID 45 output on Page 93 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 45 One Shot 01 2D D2 00 00 01 2 5 12 Request Base Station Status ID 47 This command allows you to request base station status information if your receiver is a BASE model and is operating in differential mode See also Message ID 47 output on Page 94 and Appendix A SUPERSTAR II Card Models on Page 133 BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes IDH4 Continuous 01 AF 50 00 00 01 or Transmitted 6 Bytes IDH 47 One Shot 01 2F D000 0001 SUPERSTAR II Firmware Reference Manual Rev 5 31 Chapter 2 Input Commands 2 5 13 Request Differential Message Status ID 48 Use this command to view the status of your differential messages if your receiver is operating in differential mode See also Message ID 48 on Page 95 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page
81. cteristic defined in Table 6 on Page 29 are not limits where the receiver stops functioning They are rather limits within which the receiver performance and behavior are optimal for the application Exceeding these limits causes receiver performance to degrade when used in the specified application See also Message ID 30 output on Page 89 Db 1 You must set the receiver configuration to match your application to get optimum performance 2 You must reboot your receiver for a new navigation rate to take effect BYTE BIT DESCRIPTION UNIT TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Configuration 0 User configuration 1 Man 2 Tractor 0 3 3 Marine 5 SE N A Uch 5 Plane eat 6 Rocket 7 14 Reserved 15 Unlimited 4 7 Reserved Navigation message rate 0 1 Hz PVT 1 2 Hz PVT 0 1 2 5 Hz PVT 6 3 Reserved N A Uchar Change is effective at the next power up 2 7 Reserved Antenna type 8 0 Auto Detect H 0 1 1 Acti 7 tee N A Uchar 2 Passive 2 7 Reserved 8 Reserved N A Uchar Maximum velocity this field is only read when 9 10 Byte 5 above is set to User configuration m s Ushort Maximum lateral acceleration in the range 0 to 40 m s this field is only read when Byte 5 0 5 above is set to User configuration 11 mie Uchar When 40 is set the internal value is set to 39 2 6 7 Reserved Stand still threshold this field is only read when i Byte 5 above is set to
82. d rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 in KBaud units Keep same baud rate no effect and update message list with new update rate values Save the included list in NVM and overwrite the previous one SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 6 6 PMCAG 007 Erase Non Volatile Memory Command HEADER CONTENTS OF DATA FIELDS SPMCAG 007 xx hh lt CR gt lt LF gt 1 element Table 12 PMCAG 007 Elements Characters Element 00 ALL 01 04 RESERVED 05 ALMANAC 06 08 RESERVED 09 TCXO PARAMETERS 10 IONO amp UTC PARAMETERS 11 POSITION 12 TIME 13 DGPS CONFIGURATION 14 DEFAULT NMEA MSG LIST 15 RS232 CONFIGURATION Wo0 W49 WAYPOINT ID WXX ALL WAYPOINTS a These commands force the receiver to go into the default mode and baud rate dependant on your receiver model at the next power up Example PMCAG 007 15 6B lt CR gt lt LF gt 1 NVM element to erase configuration of COM1 and binary message list sent by default after each power up See also Table 12 above SUPERSTAR II Firmware Reference Manual Rev 5 65 Chapter 2 Input Commands 2 6 7 PMCAG 008 Set Receiver Parameter Command This command allows you to configure the parameters of your receiver 66 HEADER CONTENTS OF DATA FIELDS SPMCAG 008 15 a a a X X X a X X X X X hh lt CR gt lt LF gt SE UTC Time Resolution TS
83. d requests a complete self test of the receiver Results of the self test are automatically output see PMCAG 902 Self Test Results starting on Page 117 on COM1 at completion of the BIT self test sequence HEADER CONTENTS OF DATA FIELDS SPMCAG 003 hh lt CR gt lt LF gt Example SPMCAG 003 47 lt CR gt lt LF gt 62 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 6 4 PMCAG 004 Request Log Command This message requests only one transmission of the NMEA log you specify See also Section 3 4 NMEA Protocol Logs starting on Page 115 for a list of available NMEA logs HEADER CONTENTS OF DATA FIELDS SPMCAG 004 oece hh lt CR gt lt LF gt Sentence Identifier Example Request a GPGGA log SPMCAG 004 GGA 2D lt CR gt lt LF gt 1 Valid sentence identifiers are those listed in Section 3 4 NMEA Protocol Logs starting on Page 115 SUPERSTAR II Firmware Reference Manual Rev 5 63 Chapter 2 Input Commands 2 6 5 PMCAG 005 Set Output Configuration Command Use this command to configure the output of the COM1 port It contains the input output COM baud rate and the list of Message IDs see table below with their minimum time interval between consecutive transmissions 64 ID Description 900 Navigation Status 906 Bearing Distance and Delta Elevation to Waypoint 907 User Position in MGRS Format GGA Global Positioning System Fix Data GLL Geographic Positio
84. e Delta altitude Status 1 Status A Data Valid B V Data Invalid 118 18 T X R 02090 38914 100 5 HILL 03 355 8 degrees 143 772 m 70 6 m Data Valid SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 4 4 PMCAG 907 User Position in MGRS Format Current position in MGRS format and UTC time of position HEADER CONTENTS OF DATA FIELDS SPMCAG 907 Grid northing Grid easting Square row Square column Zone letter Zone number XX a a a XXXXX XXXXX xxxxx x hhmmss ss A hh lt CR gt lt LF gt UTC time of position Altitude above MSL lt The position references the receiver s active datum Example SPMCAG 907 18 T X R 02090 38779 100 5 141105 A 79 lt CR gt lt LF gt Zone number 18 Zone letter T Square column X Square row R Grid easting 02090 Grid northing 38779 Altitude 100 5 UTC time 14 11 05 Status Valid Data 1 Status A Data Valid Navigation Mode B V Data Invalid SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 3 Output Logs 3 4 5 PMCAG 908 Receiver Parameter Status 120 HEADER CONTENTS OF DATA FIELDS SPMCAG 908 15 a a a X X r Reserved Datum number Mask angle Tropospheric model use MSL model use Number of elements 1X hh lt CR gt lt LF gt UTC time resolution at Long resolution 1 Xy y xX L X X COM2
85. e Block Structure starting on Page 13 Baud rate in 300 baud units up to 19200 1 300 de 32 9600 5 N A Uchar 64 19200 maximum Mode 7 0 NMEA 1 Binary Checksum see Section 1 6 Checksum 6 7 Calculation Rules starting on Page 19 N A Ushort lt If you enter a rate other than 300 600 1200 2400 4800 9600 or 19200 the rate is rounded to the nearest allowable baud rate by the receiver For example 0A 1010 10 gt 3000 is detected as 2400 by the receiver Example Input Transmitted 7 Bytes ID 110 01 PE 91 01 CO C1 01 In this example CO 1100 0000 gt Binary mode and 64 gt Binary mode at 19200 baud 2 5 42 Request Timing Information ID 113 This command allows you to request the timing status of your receiver if it is a SUPERSTAR II based product with Precise Timing T capability See also Message ID 113 output on Page 111 and Appendix A SUPERSTAR II Card Models on Page 133 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 113 Continuous 01 F1 OE 00 00 01 or Transmitted 6 Bytes ID 113 One Shot 01 71 8E 000001 58 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 6 NMEA Protocol Commands Table 10 lists valid NMEA input sentences A
86. e second epoch i e every second x 000000 x 1 00000 in the case of 1 Hz measurements To achieve the fractional seconds of the time tag the clock bias and the clock drift are used to steer the measurement mark so that it occurs at the one second epoch This way receivers take their measurements simultaneously The steering occurs at each second The carrier phase and code phase measurements are taken at the same time C 1 2 Doppler Concept The GPS data is modulated by a 1 57542 GHz carrier see Figure 8 and Figure 9 on Page 139 The effect of the relative velocity of the satellite and the receiver Doppler effect is to shift this signal in frequency A carrier tracking Phase Lock Loop PLL regenerates the carrier frequency shifted by the induced Doppler To determine the Doppler from the measurements the nominal number of cycles has to be subtracted for the measured number of cycles which is composed of the nominal Doppler The carrier measurement output is the integrated carrier in the 1024th cycle from which the IF frequency ramp is removed What remains in the carrier phase measurement is therefore the satellite clock drift the Doppler an IF neglected fractional component and the part of IF corresponding to the correction to the clock due to the clock drift 0 1 5 GHz gt Figure 8 Modulated GPS Data Doppler Present 138 SUPERSTAR II Firmware Reference Manual Rev 5 Measurements Appendix C 0 4 MHz Figure 9 Demodul
87. ecimal fraction minutes SUPERSTAR II Firmware Reference Manual Rev 5 123 Chapter 3 Output Logs 3 4 9 GPGSA GPS DOP and Active Satellites Operating mode satellites used for navigation and DOP values HEADER CONTENTS OF DATA FIELDS SGPGSA a X XX XX XX XX XX XX XX XX XX XX XX XX XX X XX X If ac Pama dl Ek Ab kk kk Jr HDOP kat doch bk PPO PRNs of SVs used Mode Mode xx x hh lt CR gt lt LF gt VDOP This log is sent at twice the requested update rate if the 2 Hz PVT mode is active Example SGPGSA A 3 14 22 03 09 08 29 17 2 7 2 2 1 6 3A lt CR gt lt LF gt Mode 3 3 D SVs used PRNs 14 22 03 09 08 29 and 17 PDOP Seel HDOP 2 2 VDOP 1 6 1 PRN numbers of satellites used in solution null for unused fields 2 Mode 1 Fix not available 2 2 D 3 3 D M Manual forced to operate in 2 D or 3 D mode A Automatic allowed to automatically switch between 2 D and 3 D mode 3 Mode 124 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 4 10 GPGSV GPS Satellites In View Number of SVs in view PRN numbers elevation azimuth and SNR values Four satellites maximum per transmission Additional satellite data is sent in the second or third sentence HEADER CONTENTS OF DATA FIELDS SGPGSV ip Rp RS OR Rp OG OK oe ade ede XX XX XXX XX X hh lt CR gt lt LF gt SNR Azimuth degrees Elevation degrees Sa
88. ed ECEF coordinates see Figure 2 on Page 85 In addition it reports height and velocity Figures of Merit FOMs and Dilution of Precision DOP values which are quality indicators For more information on the FOM and DOP refer to the Glossary in the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 12 GN to 604800 0 s Double 4 13 14 Week weeks Short 12 15 22 X coordinate position m Double 14 23 30 Y coordinate position m Double 22 31 38 Z coordinate position m Double 30 39 42 Velocity vector along X axis m s Float 38 43 46 Velocity vector along Y axis m s Float 42 47 50 Velocity vector along Z axis m s Float 46 51 58 Clock bias s Double 50 59 66 Clock drift s s Double 58 67 70 HFOM m Float 66 71 74 VFOM m Float 70 ZG Resolut n 0 1 units NA Senon a GE Resolution 0 1 units NA Ushort 76 Continued on Page 84 1 SUPERSTAR Il based receivers are capable of a navigation rate of 1 Hz If you have a model with 5 Hz PVT you can alternatively select 5 Hz 0 2 or 2 Hz 0 5 See a list of models on Page 133 SUPERSTAR II Firmware Reference Manual Rev 5 83 Chapter 3 Output Logs 79 NAV Mode Initialization required 1 Initialized 2 NAV 3 D 3 Altitude hold NAV 2 D 4 5 Q Differenti
89. ed from the ICP because the clock drift is absent on the pseudorange This method for carrier and code phase matching works for time measurements only It is only applicable for 1 Hz measurements as the slew is required The slew is output once a second lt The slew is used to remove the clock drift element The clock drift can be computed externally and then removed allowing you to work with any rate of measurements 144 SUPERSTAR II Firmware Reference Manual Rev 5 vie IA SBAS Positioning D 1 Overview A Satellite Based Augmentation System SBAS is a type of geo stationary satellite system that improves the accuracy integrity and availability of the basic GPS signals Accuracy is enhanced through the use of wide area corrections for GPS satellite orbits and ionospheric errors Integrity is enhanced by the SBAS network quickly detecting satellite signal errors and sending alerts to receivers to not use the failed satellite Availability is improved by providing an additional ranging signal to each SBAS geostationary satellite SBAS includes the Wide Area Augmentation System WAAS the European Geo Stationary Navigation System EGNOS and the MTSAT Satellite Based Augmentation System MSAS At the time of publication there are two WAAS satellites over the western Atlantic Ocean and the Pacific PRN 122 and PRN 134 respectively and one EGNOS satellite over the eastern Atlantic Ocean PRN 120 SBAS data is available from any of th
90. eed ZDA Message ID 20 UTC time and date information WAYPOINT NAVIGATION Definition Navigation data user coordinates 21 Navigation data ECEF coordinates 900 Navigation status 906 Bearing distance and delta elevation to waypoint 907 User position MGRS format SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 3 75 Chapter 3 76 Table 15 SUPERSTAR II Log Summary Output Logs ID Definition Message Type Current channel assignment data 1 6 UR FR Current channel assignment data 7 12 UR FR 20 Navigation data user coordinates UR FR 21 Navigation data ECEF coordinates H UR FR 22 Ephemeris data ICD GPS 200 format UR FR 23 Measurement block data UR FR 30 Receiver configuration DR DM 33 Satellite visibility data and status UR FR 43 DGPS configuration UR 45 Hardware software identification UR 47 Base station status data DR DM 48 Differential message status data DR DM 49 Receiver status data DR DM 50 Satellite health summary UR FR 51 Self test results DR DM 65 RTCM data message received FR 67 SBAS data DR DM 68 SBAS status message DR DM 75 lonospheric and UTC time data DR DM 76 Almanac data DR DM 78 Almanac reception status sma 113 Timing status DR DM 125 Link overload error log PM 126 Acknowledge log PM a DM Data Message DR Data Request
91. engine SBAS for example WAAS and EGNOS is an option available on SUPERSTAR II based products The SBAS and T features are independent from one another but together yield a more accurate 1PPS alignment and enhanced timing integrity See also Appendix D SBAS Positioning starting on Page 145 Bi The SUPERSTAR II Timing Engine The SUPERSTAR II timing engine provides an accurate 1PPS timing pulse aligned to UTC for use in precise network synchronization applications Several timing parameters are configurable and are detailed further As an option the receiver can make use of the SBAS signal to enhance the availability integrity and accuracy of the timing pulse The receiver can operate as a standard SUPERSTAR II receiver that is provide position velocity and time information in real time under any given dynamics or it can operate in static mode and provide an accurate timing signal You can set the receiver to operate in either static or dynamic mode using Section 2 5 28 Set Operating Mode ID 80 on Page 42 The receiver is also capable of self surveying its position The accuracy of the 1PPS signal that is the alignment of the leading edge of the 1PPS with respect to the UTC second boundary is as follows 50 ns typical B 2 Definitions This section gives definitions to some fundamental timing elements presented in this appendix The 1PPS output time represents the predicted time in UTC units at which the 1PPS signal has bee
92. ention applies for 32 bit and 64 bit values Table 3 on Page 20 describes the field types used in the description of commands logs SUPERSTAR II Firmware Reference Manual Rev 5 19 Chapter 1 Messages Table 3 Field Types Description Char 1 The char type is an 8 bit integer in the range 128 to 127 This integer value may be the ASCII code corresponding to the specified character UChar 1 The uchar type is an 8 bit unsigned integer Values are in the range from 0 to 255 Short 2 The short type is 16 bit integer in the range 32768 to 32767 UShort 2 The same as Short except that it is not signed Values are in the range from 0 to 65535 Long 4 The long type is 32 bit integer in the range 2147483648 to 2147483647 ULong 4 The same as Long except that it is not signed Values are in the range from 0 to 4294967295 Double 8 The double type contains 64 bits 1 for sign 11 for the exponent and 52 for the mantissa Its range is 1 7E308 with at least 15 digits of precision This is IEEE 754 Float 4 The float type contains 32 bits 1 for the sign 8 for the exponent and 23 for the mantissa Its range is 3 4E38 with at least 7 digits of precision This is IEEE 754 Enum 4 A 4 byte enumerated type beginning at zero an unsigned long In binary the enumerated value is output Hex n Hex is a packed fixed length n array of bytes in binary but in ASCII is converted into 2 character h
93. er portion does not match the complementary block ID the block is discarded This means that the data received is probably not a block 1 5 2 Checksum Error For the receiver if the calculated checksum value on receipt of a block does not match the value in the block the block is discarded and this command log ID is not included in the acknowledge log sent to the PC For the PC if it detects a checksum error then the block is discarded and a time out occurs for the corresponding request 1 5 3 Time Out Errors The PC waits for the reception of a command log until the time of its data rate has elapsed If a log is not received in this time the time out error is reported 1 5 4 Frame Synchronization Errors 18 Extra characters can be generated when using asynchronous communications To overcome this synchronization is as follows 1 If the character received when expecting the start of a block is not a SOH then it ignores the character and continues to search for a SOH 2 Once a SOH is found the receiver assumes that the next two bytes are a valid block ID number and complement 3 If they are complements then it assumes that the packet has begun and the search for the next SOH starts after the checksum even if the checksum is invalid If they are not complements it continues to search for a SOH from the location of the block ID number SUPERSTAR II Firmware Reference Manual Rev 5 Messages Chapter 1 1 6 Checksum Calcula
94. erase 00 20 in ASCII see Table 9 N A Uchar 2 Checksum see Section 1 6 Checksum eh Calculation Rules starting on Page 19 N A Ushort Table 9 Element to Erase Characters Element 00 All 01 04 Reserved 05 Almanac 06 08 Reserved 09 TCXO parameters 10 IONO and UTC parameters 11 Position 12 Time 13 DGPS configuration 14 Default NMEA message list 15 RS232 configuration and default binary message list 16 19 Reserved 20 Ephemeris Example Input Transmitted 14 Bytes IDH 99 01 63 9C 08 55 47 50 53 2D 30 30 30 04 03 SUPERSTAR II Firmware Reference Manual Rev 5 55 Chapter 2 2 5 39 Set Date and Time ID 103 This command allows you to set the date and time UTC if the password field bytes 5 12 is valid 56 Input Commands BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Bytes 2 and 3 Reserved in this command Password UGPS XXX in ASCII format U character first where XXX is 000 The date and time parameter is 5 12 applied Hex Uchar 8 100 Requests a 1 shot 1PPS output and sets the system time to provide date and time if no SV is currently being tracked UTC time Gier 13 15 Resolution 1 s h min s Uchar Uchar Uchar T 16 19 M 1 day dy mo yr Uchar Uchar Ushort Checksum see Section 1 6 Checksum 20 21 Calculation Rules starting on Page 19 NA
95. eric model status Mask Angle 10 5 Datum 0 WGS 1984 DGPS Coast time 45 seconds DGPS Baud Rate 9600 COM2 port Does not affect present resolution on Latitude Longitude and UTC time data SUPERSTAR II Firmware Reference Manual Rev 5 67 Chapter 2 Input Commands 2 6 8 PMCAG 009 Define Waypoint in MGRS Format Define the position of a waypoint in Military Grid Reference System MGRS format Refer to http earth info nga mil GandG grids grids1 htm for more information on MGRS zone numbers HEADER CONTENTS OF DATA FIELDS SPMCAG 009 XX a a a XXXXX XXXXX tXKXKX X C C xXx hh lt CR gt lt LF gt Waypoint number 00 49 Waypoint name max 8 char Altitude above MSL m Grid northing Grid easting Square row Square column Zone letter Zone number Example SPMCAG 009 18 T X R 02090 38779 100 5 POINTA 03 79 lt CR gt lt LF gt Zone number 18 Zone letter T Square column X Square row R Grid easting 02090 Grid northing 38779 Altitude 100 5 Waypoint name POINTA Waypoint ID 03 1 Ifthe Square Column field latitude band is X then the Zone number field should not be set to 32 34 or 36 These zones were incorporated into other zone numbers and do not exist see Figure 1 following 68 SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 2 Input Commands 2 6 9 PMCAG 010 Select Active Waypoint Selects the active waypoint to be used
96. erived using the residuals of the least square time solution When using GPS measurements only the TFOM does not take into account any bias in the residuals that may be induced by the atmospheric errors Therefore it provides a relative accuracy estimate When the SBAS channel is available the clock bias estimate is virtually free of systematic errors and the computed TFOM approximates an absolute accuracy of the 1PPS output by the receiver BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Cable delay value 5 8 Propagation delay induced by the antenna cable that is Ulon 4 has been entered using Message ID 69 Set Timing g Parameters see Page 36 1PPS offset 9 12 Delay between the edge of the UTC second and the fs Ulong 8 rising edge of the 1PPS signal that has been entered using the Set Timing Parameters command ID 69 1PPS pulse length 13 16 Length of the 1PPS pulse that has been entered 100 ns Ulong 12 using the Set Timing Parameters command ID 69 Number of observations ie Number of satellites used to compute the clock error N A Uchar 16 Mask angle 18 19 Elevation angle below which satellite measurements 0 01 Ushort 17 are not used Leap second change Indicates the change to the leap second value 20 applicable at the end of the current day at midnight A Char 19 Zero indicates no leap second change This value reverts to 0 after midnigh
97. es Leading zeros always included for degrees and minutes to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Time hhmmss ss Fixed Variable length field hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included for hours minutes and seconds to maintain fixed length The decimal point and associated decimal fraction are optional if full resolution is not required Defined field Some fields are specified to contain pre defined constants most often alpha characters Such a field is indicated in this standard by the presence of one or more valid characters Excluded from the list of allowable characters are the following which are used to indicate field types within this standard A a o hh hhmmss ss IILI x yyyyy yy Numeric Value Fields Variable X X Variable length integer or floating numeric field Optional leading and trailing numbers zeros The decimal point and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX bb Fixed length HEX numbers only MSB on the left Information Fields Variable text CG Variable length valid character field Fixed alpha aa Fixed length field of upperc
98. es 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 5 WGS 84 A 4 D Earth s Center of Mass BIH Defined Zero Meridian PS 1984 0 a re a Y WGS 84 X WGS 84 Analogous to the BIH Defined Conventional Terrestrial System CTS or BTS 1984 0 Figure 2 ECEF Coordinate System SUPERSTAR II Firmware Reference Manual Rev 5 85 Chapter 3 Output Logs 3 3 5 Ephemeris Data ID 22 Structure Message ID 22 Rate seconds 1 This log contains ephemeris data for one satellite at a rate of one log per second until the ephemeris data list is complete and then only if there is new ephemeris data Please refer to the NAVSTAR GPS Space Segment Navigation Interface document ICD GPS 200 Rev B for specifics on the format of the ephemeris data See Table 1 on Page 12 for contact information BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 0 4 SV 0 31 N A 5 Uchar 4 5 7 Reserved N A 6 77 Ephemeris sub frame 1 3 words 3 10 as per NAVSTAR 5 MSB of byte 6 is Bit 61 of subframe 1 Checksum see Section 1 6 Checksum 78 79 Calculation Rules starting on Page 19 N A Ushort 77 a See Reference 1 on Page 12 Example Output 6666662 66606668 28646116 E9496C2F 96665462 533646F1 SE636
99. es eti testes AATA AAEE EAA AAE RE AETERNA REINAS 115 3 4 1 BPMCAG 900 Navigation Status cccccccscccccsseceesseeecseecesseeccsaeeeseeeeccsaeeeesseeecsaeesesaees 116 3 4 2 PMCAG 902 Self Test Results ccccccccccsceeseeeceecesceesecseuaeeeueusueeueessedeecssssneaueueeeasens 117 3 4 3 PMCAG 906 Bearing Distance and Delta Elevation to Waypoint ecceeeeeeees 118 3 4 4 PMCAG 907 User Position in MGRS Format cccccccccscscsssceseeseeeseeseeesseesaeeeueeeseeseess 119 3 4 5 PMCAG 908 Receiver Parameter Status oo ccccccccccsecsssseeesueseeueeeseesecaeuaaeaueusenauees 120 3 4 6 BPMCAG 912 Receiver Configuration cccccccsccccssceccseeccsseeeeceeecsseeescaeecssaeesessaeeesaees 121 3 4 7 GPGGA Global Positioning System Fix Data 0 ccccecccececeseceeeeeeeeeeseeeseeeeseeeseeeeseneneaees 122 3 4 8 GPGLL Geographic Position Latitude LONGitude 123 3 4 9 GPGSA GPS DOP and Active Satellites 0 cccceceeeceeeseeeee cece ceceeeeaeeeeaeesaeeeeeeeteeeeninees 124 3 4 10 GPGSV GPS Satellites In View 125 3 4 11 GPRMC Recommended Minimum Specific GPS Data 0 ccceceeeseeeeeeeeeeeteeeeeeeeeeees 127 3 4 12 GPVTG Track Made Good and Ground Speed eccceesceeeeeeeeeeeeeeeeceeeeaeeeeeeeeeeeeeeees 128 3 4 13 GPZDA Time and Date vii ens aie vata oil ele ees 129 4 Firmware Updates 130 4 1 System Requirements vk 130 4 2 Utility Matalat EE 130 43 Registration E 1
100. ese satellites and more satellites will be available in the future The primary functions of SBAS include e data collection e determining ionospheric corrections e determining satellite orbits e determining satellite clock corrections e determining satellite integrity e independent data verification e SBAS message broadcast and ranging e system operations amp maintenance The SBAS is made up of a series of Reference Stations Master Stations Ground Uplink Stations and Geostationary Satellites GEOs The Reference Stations which are geographically distributed pick up GPS satellite data and route it to the Master Stations where wide area corrections are generated These corrections are sent to the Ground Uplink Stations which up link them to the GEOs for re transmission on the GPS L1 frequency These GEOs transmit signals which carry accuracy and integrity messages and which also provide additional ranging signals for added availability continuity and accuracy These GEO signals are available over a wide area and can be received and processed by SUPERSTAR II receivers with appropriate firmware GPS user receivers are thus able to receive SBAS data in band and use not only differential corrections but also integrity residual errors and ionospheric information for each monitored satellite The signal broadcast through the SBAS GEOs to the SBAS users is designed to minimize modifications to standard GPS receivers As such the GPS L1 fre
101. ethod is to modify the pseudoranges measurement to include the frequency drift This allows you to match the ICP that contains the clock drift The equations that are used are only valid for sampling of one second The slew value is only applicable for the previous second interval C 5 1 1 Adjusting the Measurement Period of the Pseudoranges The sequence of predicted time that is obtained in Message ID 23 is modified using the relationship below The process is initialized using PTimeg GPSMessage23 PredictedTime The Slew value is the number of 175 ns corrections that were applied on the measurement mark to have a second period PTime PTime 1 00000 SlewValue 5 7142857 175e 09 Equation 5 where 5 7142857 is the nominal Clock Drift expressed in 175 ns increments For instance if the clock drift is 1us 1s it compensates for the 1us 1s nominal drift and no slew correction is applied The measurement time is 1 s 1 us to account for the clock drift even though the real measurement time is 1 s The sequence of pseudorange measurements are computed pP m PTime Floor PTime D CodePhase 2095104000 if p lt 0 p 1 RAP Fe where C is the speed of light Equation 6 142 SUPERSTAR II Firmware Reference Manual Rev 5 Measurements Appendix C These equations reconstruct a sequence of pseudoranges that contains both the user satellite Doppler and TCXO drift C 5 1 2 Adjusting the Measureme
102. exadecimal pairs String n String is a variable length array of bytes that is null terminated in the binary case and additional bytes of padding are added to maintain 4 byte alignment The maximum byte length for each String field is shown in their row in the log or command tables Following is the detail of the floating point format Float 32 bits MSB bit 31 Sign Bit 30 23 Exponent exp Bit 22 00 Mantissa 2exp 1 bit22 2 exp 2 bit21 Value Sign l mantissa 2 exp EXP 127 Double 64 bits MSB bit 63 Sign Bit 62 52 Exponent exp Bit 51 00 Mantissa 2exp 1 bit51 2 exp 2 bit50 Value Sign l mantisa 2 exp EXP 1023 For example Message ID 6 bytes 11 14 SNR value float 20 byte 11 85 byte 12 AC byte 13 41 byte 14 42 float 4241 AC85 Sign EXP 132 mantissa 0 5130773782 value 48 4 SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 2 Input Commands 2 1 Command Format The receiver accepts commands in Binary format as described in Chapter 1 or in NMEA format In Binary format the MSB of the Message ID may be used to set the receiver to Normal mode MSB 0 or to Special mode MSB 1 See also the D description on Page 14 and Command Message on Page 15 Binary format messages include a checksum for error checking 2 2 Command Settings To determine the current command settings of the receiver request a binary message list see Page 57
103. ft Related Publications 12 The related publications are listed in Table 1 below Table 1 Related Publications PUBLICATION NAME PUBLICATION NAME 1 ICD GPS 200 Rev B NAVSTAR GPS Space Segment Navigation Interface 2 RTCM 104 version 2 1 Recommended Standards for Differential NAVSTAR GPS January 1994 Radio Technical Commission for Maritime Services 3 SAEJ1211 SAE Recommended Environmental Practices for Electronic Equipment Design 4 NMEA 0183 Rev 2 20 National Marine Electronics Association Standard for Interfacing 5 STARVIEW User Manual NovAtel Part Number OM 20000081 3 6 SMART ANTENNA User Manual NovAtel Part Number OM 20000078 3 7 SUPERSTAR II User Manual NovAtel Part Number OM 20000077 a Adobe PDF versions of these manuals can be downloaded from our website at http www novatel com Downloads docupdates html SUPERSTAR II Firmware Reference Manual Rev 5 Chapter 1 Messages This section defines a serial data transfer protocol for the receiver The serial data is sent in variable size message blocks where the message block header defines the contents and size of all message blocks For discussion purposes the PC is the controlling host computer and the GPS receiver is a SUPERSTAR II based product StarView provides a graphical interface to control and monitor the operation of your NovAtel receiver A StarView CD is supplied with development kits otherwise S
104. g up in the measurements Furthermore the 1PPS output can be set to disabled by the residual in order to enhance timing integrity B 6 Use of One Shot Alignment Mode 136 The purpose of this section is to present the use and behavior of the Timing Engine when it is in One Shot Alignment Mode The current oscillator s phase offset is represented by the clock bias This value is constantly being computed by the receiver and subsequently consumed by realigning the system time based on this offset You should not incorporate the clock bias in the external oscillator steering algorithm Instead nullify the clock drift in order to drive the 1PPS within 50 ns The predicted time used to output the 1PPS assumes a perfect 10 MHz frequency This means that the 1PPS drifts according to the current clock drift The 1PPS residual represents the error between the 1PPS output time and the time at which it should have been output For example if the receiver is set to output the 1PPS aligned on the second edge using Message ID 69 then the 1PPS residual is in fact a fraction of the 1PPS output time Once the external oscillator stabilizes at a perfect 10 MHz frequency the 1PPS Residual remains constant It represents the actual phase offset To remove this constant phase offset redo the receiver s one shot alignment SUPERSTAR II Firmware Reference Manual Rev 5 Precise Timing Appendix B using command Message ID 103 It removes this offset f
105. ge 91 90 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 51 55 Satellite visibility data of the 10 Sv asperSV1 asperSV1 50 56 60 Satellite visibility data of the 11 SV asperSV1 asperSV1 55 61 65 Satellite visibility data of the 12 Sv asperSV1 asperSV1 60 Checksum see Section 1 6 Checksum Beret Calculation Rules starting on Page 19 NA Ushort 65 Example Output 66666666 66666016 616121DE 3D6A6556 65613669 39486635 7627FD66 2F 742168 612F7D1D CDGG2E77 12486628 7COF BO6 276FGE45 61276467 B 662720 G36D6624 66666666 S6666666 S666336C 61330024 Example Header Translated to Decimal 01 33 222 61 SUPERSTAR II Firmware Reference Manual Rev 5 91 Chapter 3 Output Logs 3 3 9 DGPS Configuration ID 43 Structure Message ID 43 Rate seconds 1 This log outputs the current DGPS configuration if your receiver is operating in differential mode BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Enable 0 0 Off Use SBAS over DGPS corrections 1 On Use DGPS over SBAS corrections Mode 0 No DGPS 1 3 1 SBAS only 5 2 DGPS only N A Uchar 4 3 DGPS SBAS automatically 4 6 Reserved must be 0 Port 7 0 COM1 1 COM2 6 Differential coast time seconds Uchar 5 7 Reserved N A Uchar 6 8 Baud rate 1 300 32 9600 64 19200 bauds Uchar 7 N A Uchar 8 8 9
106. hreshold for a short period of time When this event happens it is possible for the phase measurement to be affected SUPERSTAR II Firmware Reference Manual Rev 5 141 Appendix C Measurements since the signal input to the tracking loop has low power For most applications you should use measurements only when both bits WC and FR are clear Both status bits are latched over a 1 second period However the receiver is also maintaining a discontinuity counter Cycle_Slip Counter for each channel being tracked A constant value over a period T indicates that carrier phase measurements have been continuous over that period Therefore when measurements are logged at arate less than 1 Hz use that counter to validate the measurement C 5 Coherence Between Pseudoranges and ICP Unless you want to further smooth the pseudorange measurement with carrier phase there is no need to obtain coherent measurements When you need a coherent set of ICP and pseudoranges that is pseudoranges and ICP exhibit the same slope there is an additional manipulation that must be done either on the ICP or pseudoranges Coherency is very often verified by examining the first difference of ICP and first difference of pseudorange measurements lt In aligned mode the first difference of ICP and pseudorange differs for the ionospheric differential that is causing an advance on the carrier and a delay on the code measurement C 5 1 Time Adjustment Method The first m
107. ifferential GPS Service RTCM SC 104 Washington D C have been adopted by NovAtel for implementation into the receiver Because the receiver is capable of utilizing RTCM formats it can easily be integrated into positioning systems around the globe As it is beyond the scope of this manual to provide in depth descriptions of the RTCM data formats it is recommended that anyone requiring explicit descriptions of such should obtain a copy of the published RTCM specifications Refer to the Standards References section of the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html for reference information Message ID 83 DGPS Configuration contains one or part of a RTCM message The message type selected in the Set DGPS Configuration message Message ID 83 bytes 9 to 16 is retransmitted through this message Message length is variable and a message can be transmitted up to once every 100 ms A RTCM message always starts as the first byte of a message and always ends as the last byte of a message Thus a RTCM message can be output in one or many messages but a message block cannot contain more than one RTCM message The control byte is used to determine the start and the end of a RTCM message The sequence number of the control byte can be used to detect the loss of a message block on the transmitter side It starts at 0 and increments by one for each consecutive message block 0 1 2 3 0 1 2 3 0 1 See als
108. ime Floor PredictedTime CodePhase CodePhaseUnitPeriod if oz Pi 1 Pi PxC Equation 1 Floor Round towards minus infinity The CodePhaseUnitPeriod is 1 1024 half chip CodePhaseUnitPeriod 1023000 2048 where 1023000 C A code chip rate and 2048 is 2 1024 C is the speed of light So to convert the code phase to time units the code phase must be divided by the chip rate and multiplied by the resolution The time of applicability of the measurements is the predicted time This tag is said to be predicted since it refers to a predicted time that is based on the previous estimate clock bias and clock drift Therefore the predicted time is in error only by the second derivative of the clock bias The receiver steers the measurement mark continuously C 3 Carrier Phase Measurements Raw carrier phase measurements p are output as ICP The 32 bits carrier phase measurement is composed of the 30 bits ICP in 1 1024 cycles at the L1 frequency and a 2 bit status When read as an unsigned number ICP wraps at value 2430 1 1024 cycles This is done to reduce the bandwidth requirements in Message ID 23 To unwrap raw carrier phase measurements we use this process RAWICP MSG23ICP 1024 IF ABSOLUTE DICP gt 27 IF RAWICP RAWICP gt 0 RAWICP AND ALL SUBSEQUENT RAWICP ARE DECREASED BY 2 20 ELSE EQ 2 RAWICP AND ALL SUBSEQUENT RAWICP ARE INCREASED BY 2 20 Equation 2 Unwrapped raw carrier ph
109. in subsequent requests to PMCAG 906 see Page 1 8 HEADER CONTENTS OF DATA FIELDS SPMCAG 010 xx hh lt CR gt lt LF gt Waypoint ID 00 49 Example SPMCAG 010 03 47 lt CR gt lt LF gt 70 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 6 10 PCMAG 012 Receiver Configuration This message is used to configure the receiver for the following modes HEADER CONTENTS OF DATA FIELDS SPMCAG 012 X a a a XXX XX X XX XXX XXX XXX r hh lt CR gt lt LF gt Filtering period in dynamic mode Filtering period in 2 static mode Dead reckoning threshold s 3 Stand still threshold 3 4 4 5 Maximum accelaration m s Maximum speed m s 4 6 Motion detector 7 Phase measurement type Antenna type P A F S Predefined configuration 2 5 1270 seconds where 1275 sets the value to the predefined receiver parameters 0 0 to 2 50 m s 0 0 to 2 55 m s This field is read only when User Configuration is chosen 0 to 40 A Automatic S Static M Motion F False T True P Auto Detect starts with passive and switches to active if an active antenna in detected A Active F Passive 0 User Configuration 1 Man 2 Tractor 3 Marine 4 Car 5 Plane 6 Rocket 7 14 Reserved 15 Unlimited SUPERSTAR II Firmware Reference Manual Rev 5 71 Chapter 2 Input Commands 72 Example 1 SPMCAG 012 4 P F A
110. increased or decreased Because the measurement mark time base is the same as the carrier DCO clock the clock drift has an impact on the carrier cycles measurements The number of cycles measured is directly affected by the clock drift This effect is fully compensated by changing the measurements period Table 22 summarizes the effect of the clock drift on the measurement period time and the code and carrier phases Table 22 Clock Drift CD Effects Measurement Time Aligned The measurement period varies in the range 1 s 175 ns 1 s 175 ns This is due to the time correction granularity of 175 ns The clock drift has little impact on the measurement period since it influences only the fraction of 175 ns offset from 1 s Time Code CD has only little effect The ICP needs to be corrected to account for the measurement period Carrier which varies between epochs The ICP contains the clock drift SUPERSTAR II Firmware Reference Manual Rev 5 139 Appendix C Measurements C 2 Code Phase Measurements Raw Code phase measurements are punctual measurements They can be used to derive pseudorange measurements Raw phase measurements are basically transmitted time time of transmission in 1 1024 chip latched at the time mark The time tag identification of the Measurement mark of that mark is reported in Message ID 23 see Page 87 The pseudoranges are computed using the following relation p PredictedT
111. information See also Message ID 68 output on Page 106 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 68 Continuous 01 C4 38 00 00 01 or Transmitted 6 Bytes ID 68 One Shot 01 44 BE 000001 SUPERSTAR II Firmware Reference Manual Rev 5 35 Chapter 2 Input Commands 2 5 22 Set Timing Parameters ID 69 This command allows you to set timing parameters for receivers with Precise Timing T capability If all ones F Fh 1111 1111 is entered in any field below the corresponding value is not modified See also Message ID 113 Time Status on Page 111 and Appendix A SUPERSTAR II Card Models on Page 133 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Cable Delay Set the propagation delay that is induced by the antenna 5 8 cable This delay compensates the 1PPS output so it ns Ulong remains synchronized with the UTC time Range from 0 to 1 ms 1PPS Offset 9 12 Set the offset from the UTC time for the 1PPS signal to be output The offset is in the range 0 to 900 ms in steps ns Ulong of 100 ms or it is not accepted 13 16 1PPS Pulse Width 100 ns Ulong Range from 0 to 65 ms 0 Timing Mode Free running One Shot Alignment The rece
112. is the same for all satellites and therefore drops out of the equation You can use Equation 2 on Page 140 to unwrap the ICP measurement C 5 3 Matching the Carrier Phases and the Code Phases for 1 Second The measurements have to be adjusted to account for the true measurement period In Align Mode the measurement period is s The sequence of predicted time is taken directly from Message D 23 without adjustments With this time the sequence of pseudorange measurements are computed to produce pseudorange measurements for the actual measurement period which is slightly different than 1 s p PredictedTime Floor PredictedTime LC ode Phase LL Code Phase Unit Period if 0 lt 0 SUPERSTAR II Firmware Reference Manual Rev 5 143 Appendix C Measurements Pi 1 PRSE xC Equation 9 The carrier phase measurements must be modified to match the 1s code phase measurements as in Equation 10 k ICP cycles 8 RawICPy gt AICP TrunkCorrection TimeCorrection ClockDrift xc h i 1 where AICP RawICP RawICP _ Time Correction Slew f p 175e 9 fp 1405396 825Hz ClockDrift 175e 9 Slew NominalDrift PredictedTime PredictedTime SES 1 0 NominalDrift 1le 6 Equation 10 The TimeCorrection element adjusts the ICP to the effective measurement period It is used to remove the nominal cycles for the period going from 0 999999 to the actual measurement period The clock drift is remov
113. iver slews the 1PPS output to align it with GPS 17 1 time once at power up Afterwards the 1PPS output is N A Uchar synchronized using the receiver s internal clock and therefore drifts This mode is used for an externally controlled oscillator 2 Continuous Alignment Keeps the 1PPS aligned on the GPS second boundary 1PPS output continuously This is the default for models 0 that do not have Precise Timing capability T and cannot be changed 1 1PPS output only when using at least one satellite in navigation status 2 1PPS output only when acceptable conditions are met according to the residual 18 3 Conditions 1 and 2 above NA Uchar 4 There is no 1PPS output 1PPS output only when the receiver has a position for 5 example in Nav 3D or Diff 3D This is the default for models that do have Precise Timing capability and can change 6 Conditions 2 and 5 above 19 Reserved N A Uchar 20 21 Intrinsic delay range from 0 to 65534 ns ns Ushort 65535 ns indicates no changes Continued on Page 37 36 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 22 31 Reserved N A Uchar 10 Checksum see Section 1 6 Checksum Calculation 32 33 Rules starting on Page 19 N A Ushort Example Input Transmitted 33 Bytes IDHES Set 01 456416 04 1D E1 77 6C 02 2D 00 82 00 00 00 00 00 00 00 00 00 00 00 CO FB 12 00 CD AB BA BE 07 SUPERSTAR II Firmwa
114. les starting on Page 19 Example Input Transmitted 27 Bytes IDH 83 Set 01 53 AC 1504 1D E1 77 4E 02 26 00 82 00 00 00 00 00 00 00 00 00 00 00 CO AC 04 44 SUPERSTAR II Firmware Reference Manual Rev 5 2 5 31 Set Tropospheric lonospheric Model Use ID 84 This command allows the receiver to use a tropospheric ionospheric model correction if the password field bytes 5 12 is valid The correction is applied by default see the Warning below Input Commands Chapter 2 Sending this command with the MSB of the message ID byte to 0 ensures that tropospheric ionospheric model use is on Setting the MSB of the message ID byte to turns tropospheric ionospheric model use off See also Message ID 75 Ionospheric and UTC Data on Page 107 Warning This command is for advanced users of GPS only It is not recommended that you turn off the tropospheric ionospheric model The solution is seriously degraded with this model off BYTE BIT DESCRIPTION UNITS TYPE Header see Section 1 2 2 Message Block Structure starting on Page 13 1 4 MSB of Message ID byte 0 model is used 1 model is not used 5 12 Password UGPS 000 in ASCII format N A Uchar 8 U character first Checksum see Section 1 6 Checksum 13 14 Calculation Rules starting on Page 19 N A Ushort Example Input Tropospheric lonospheric model use is on Transmitted 14 Bytes IDHE4 01 54 AB 08 0A 1D E1 77 4E 0232000903 SUPER
115. les until loss of power has been detected The bit can be asserted when the receiver has detected a parity error while demodulating and assembling the GPS word This status is latched over a 1 second period The FR bit is used to qualify the status of the carrier phase measurement fraction The receiver monitors the stability of the phase tracking loop A steady tracking is characterized by a very stable phase error in the phase detector When the phase error motion is determined to have exceeded a threshold in the one second interval the FR bit of the measurement status is asserted The WC and FR bits are both set on two distinctive events e The phase lock is lost The whole cycle count is also reset to zero Such an event requires the complete recovery of the carrier measurement generation process The WC and FR bits remain set until the lock is reestablished es The carrier measurement is unstable but still locked When both bits are asserted Status 3 Not ready the carrier phase measurements are not usable When both bits are clear Status 0 Ready the whole cycle and fraction are declared to be reliable and accurate When the WC bit is asserted Status 1 you can use the phase measurements but should expect a half cycle jump once the ambiguity is resolved When only the FR bit is set Status 2 Phase unlock use the measurement with care Early Warning Temporary Phase unlock is detected when the signal strength falls below a t
116. levation 147 ellipsoid 51 ephemeris 27 86 125 Ephemeris Data ID 22 27 86 Erase NVM ID 99 55 error 18 example message 19 external oscillator 149 F factory default 25 field type 19 20 FIELDS 120 figure of merit FOM 81 83 111 112 135 filter solution 21 74 firmware update 10 fix 122 flash 101 formats 150 framing 102 G GEO SBAS 145 geoid 122 GPS 116 grid 119 ground 128 ground speed 81 H hardware 25 31 93 Hardware Software P N ID 45 31 93 header 14 height 26 81 83 122 hexadecimal 20 HW SW Number 16 I ID 103 Date and Time 56 58 ID 105 Set Default Message List 57 ID 110 Configure COM1 Mode 58 ID 113 Timing 58 111 ID 125 Link Overload Message 113 ID 126 Acknowledge Message 114 ID 2 Reset Receiver 25 ID 20 Navigation Data User 26 81 ID 21 Navigation Data ECEF 26 83 ID 22 Ephemeris Data 27 86 ID 23 Measurement Data 27 87 141 ID 30 Receiver Configuration 28 29 89 ID 33 Satellite Data and Status 30 89 90 ID 43 DGPS Configuration 30 92 ID 45 Hardware Software P N 31 93 ID 47 Base Station Status 31 94 ID 48 Differential Status 32 95 ID 49 Receiver Status 32 97 ID 50 Satellite Health 32 99 ID 51 Initiate Self Test 33 ID 51 Self Test Results 101 ID 6 Current Channel Data 25 77 ID 63 Initiate Link 33 ID 64 Set Channel Deselection 34 ID 65 RTCM
117. lock Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 20 Continuous 01 94 6B 00 00 01 or Transmitted 6 Bytes ID 20 One Shot 01 14EB 000001 2 5 4 Request Navigation Data ECEF Coordinates ID 21 This command requests navigation data with position and velocity in earth centred earth fixed ECEF coordinates of X Y and Z See also Message ID 21 output on Page 83 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes ID 21 Continuous 01 95 64 00 00 01 or Transmitted 6 Bytes ID 21 One Shot 011564000001 26 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 5 5 Request Ephemeris Data ICD GPS 200 Format ID 22 Each time a new request is sent the receiver sends a complete set of ephemeris and SV clock data currently acquired In continuous mode the GPS receiver sends a complete set only on receipt of a new ephemeris See also Message ID 22 output on Page 86 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort
118. ming status 553 0 0 2 GGA Global Positioning System fix data 550 4 0 2 GLL Geographic position lat lon 549 9 14 4 GSA GPS DOP and active satellites 5498 160 GSV GPS satellites in view 50 5 2 6 VTG Track made good and ground speed 550 5 0 2 ZDA UTC time and date 150 8 0 7 3 2 Logs by Function Table 14 lists the logs by function while Table 15 on Page 76 is a listing of logs in order of their Message IDs Table 14 Logs By Function Table GENERAL RECEIVER CONTROL AND STATUS Message Definition 30 Receiver configuration 45 Hardware software identification 49 Receiver status 51 Self test results 113 Timing status Continued on Page 73 SUPERSTAR II Firmware Reference Manual Rev 5 73 Chapter 3 Output Logs POSITION PARAMETERS AND SOLUTION FILTERING Message ID Definition 20 Navigation data user coordinates 21 Navigation data ECEF coordinates 22 Ephemeris data 23 Measurement block data 43 DGPS configuration 75 lonospheric and UTC time data GPGGA NMEA fix data position data and undulation GPGLL NMEA position data GPGRS NMEA range residuals GPGSA NMEA DOP information CLOCK INFORMATION STATUS AND TIME Message ID Definition 75 lonospheric and UTC time data 113 Timing status DIFFERENTIAL BASE STATION Message ID Definition 33 Satellite data 43 DGPS configuration 47 Base station status
119. n Latitude Longitude GSA GPS DOP and Active Satellites GSV GPS Satellites in View RMC Recommended Minimum Specific GPS Data VTG Track Made Good and Ground Speed ZDA UTC Time and Date HEADER CONTENTS OF DATA FIELDS SPMCAG 005 X X CCC XXX CCC xXxxx hh lt CR gt lt LF gt J 0 eee nth message blockt first message blockt baud rate Example SPMCAG 005 4 8 GGA 010 RMC 001 VTG 001 ZDA 010 48 lt CR gt lt LF gt Logs GGA and ZDA transmitted every 10 s RMC and VTG transmitted every 1 s 4800 bps SPMCAG 005 1 GLL 001 2A lt CR gt lt LF gt Logs GGA and ZDA transmitted every 10 s GLL RMC and VTG transmitted every 1 s 4800 bps and stored in NVM GLL 001 4800 overwrites all previous NVM messages lt 1 If the receiver is capable of navigating at a rate gt 1Hz enabling an NMEA message with a rate value of 999 will request that message at the fastest rate possible provided that the fastest rate has been set by Binary message 30 or NVM elements have been cleared the NMEA message is capable of the fastest rate These include GGA GLL GSA RMC VTG 906 and 907 See also Table 19 SUPERSTAR II Software Models on Page 133 2 Messages can be stopped by entering a rate value of 0 1 Each message block includes ccc message identifier xxx time interval between consecutive transmissions 001to 999 s where 000 stops the transmission 2 V 0 1 alid bau
120. n 75 Request ionospheric and UTC time data 80 Set position operating mode 81 Set mask angle 83 Set DGPS configuration 84 Set tropospheric ionospheric model use 86 Set mean sea level model use 87 Set fixed height mode CLOCK INFORMATION STATUS AND TIME Message ID Definition 75 Request ionospheric and UTC time data 113 Request timing information DIFFERENTIAL BASE STATION Message ID Definition 33 Request satellite visibility data and status 43 Request DGPS configuration 47 Request base station status 65 Request RTCM data message received 76 Request almanac data DIFFERENTIAL ROVER STATION Message ID Definition 20 Request navigation data user coordinates 21 Request navigation data ECEF coordinates 23 Request measurement block data 43 Request DGPS configuration 48 Request differential message status 65 Request RTCM data message received POST PROCESSING DATA Message ID Definition 22 Request ephemeris data 33 Request satellite visibility data and status 75 Request ionospheric and UTC time data 113 Request timing information Continued on Page 23 22 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 SATELLITE TRACKING AND CHANNEL CONTROL Message ID Definition Request current channel assignment 1 6 Request 2 channel measurement data 33 Request satellite visibility data and status 50 Re
121. n explanation of the supported NMEA protocol and field definitions is provided in Appendix F NMEA Format Data Messages on Page 150 Individual NMEA commands and logs can be found in this chapter and Chapter 3 respectively lt The checksum is optional with NMEA commands For further details on the NMEA message structure and formats please refer to NMEA 0183 specification The sentence type has the following meanings P DR Proprietary sentence issuing a data request P CM Proprietary sentence issuing a command Table 10 NMEA Input Commands Sentence Length ESP Max Characters 000 Configure COM1 port P CM 17 001 Initialize time and position P CM 77 003 Initiate BIT self test P CM 15 004 Request log P DR 19 005 Set output configuration P CM 67 007 Erase non volatile memory NVM P CM 18 008 Set receiver parameters P CM 60 009 Define waypoint in MGRS format P CM 57 010 Select active waypoint P CM 18 012 Receiver configuration P CM 65 SUPERSTAR II Firmware Reference Manual Rev 5 59 Chapter 2 Input Commands 2 6 1 PMCAG 000 Configure COM1 Port Command This command allows you to configure the baud rate and protocol from NMEA to binary of the COM1 port Use Message ID 110 to switch back from binary to NMEA see Page 58 On power up COM 1 stays in the same mode HEADER CONTENTS OF DATA FIELDS SPMCAG 000 X hh lt CR gt lt LF gt Baud
122. n output This predicted time is based on a propagation of the receiver s previously computed system time including clock bias and clock drift The 1PPS residual is the difference between the 1PPS output time and the desired output time For example if the desired output time is 12 00 00 000000000 and the computed 1PPS Output Time is 12 00 00 000000025 then the 1PPS Residual is 0 000000025 The clock bias represents the estimated error in the previous predicted time This value is computed at the standard receiver solution update rate and is based on the GPS measurements and the known receiver position The clock bias values are typically filtered to remove the intrinsic measurement noise thermal noise atmospheric corrections mis modeling and so on The intent is to have the clock bias represent the true oscillator phase error as accurately as possible The clock bias does not represent the absolute error of the time misalignment For example if there is a 10 ns offset in all pseudorange measurements the filter tracks the best estimate along that constant offset The clock drift represents the oscillator frequency error This value is typically computed using GPS carrier phase measurements 134 SUPERSTAR II Firmware Reference Manual Rev 5 Precise Timing Appendix B B 3 Precise Timing Features In static mode the receiver uses a known position with observed measurements pseudo ranges and delta ranges to derive accurate clock informa
123. nd Netherlands 21 European 1979 International 86 98 119 Norway Spain Sweden Switzerland 22 Geodetic Datum 1949 International 84 22 209 New Zealand 23 Hjorsey 1955 International 73 46 86 Iceland 24 Hong Kong 1963 International 156 271 189 Hong Kong Continued on Page 49 48 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 25 Hu Tzu Shan International 637 549 203 Taiwan 26 Indian 1954 Everest 1830 218 816 297 Thailand Vietnam 27 Ireland 1965 Airy_modified 506 122 611 Ireland 28 Kertau 1948 Everest 1948 11 851 5 West Malaysia amp Singapore 29 Liberia 1964 Clarke_1880 90 40 88 Liberia Philippines Excluding 30 Luzon Clarke_1866 133 77 51 Mindanao 31 Massawa Bessel_1841 639 405 60 Ethiopia Eritrea 32 Merchich Clarke_1880 31 146 47 Morocco 33 Minna Clarke_1880 92 93 122 Nigeria 34 Nahrwan Clarke_1880 247 148 369 Oman Masirah Island 35 North American 1927 Clarke_1866 5 135 172 Alaska Antigua Barbados Bermuda Caicos Islands Cuba 36 North American 1927 Clarke_1866 3 142 183 Dominican Republic Grand Cayman Jamaica Turks Islands 37 North American 1927 Clarke_1866 10 158 187 Canada 38 North American 1927 Clarke_1866 7 162 188 Canada Alberta British Columbia 39 North American 1927 Clarke_1866 9 157 184 Canada Manitoba Ontario Canada New Brunswick 40 North American 1927 Clarke_1866 22 160 1
124. nfiguration Commande 64 2 6 6 PMCAG 007 Erase Non Volatile Memory Commande 65 2 6 7 PMCAG 008 Set Receiver Parameter Commande 66 2 6 8 PMCAG 009 Define Waypoint in MGRS Format s sesssssessnnssnsnnnrnesrnnrnnrnnnrrntnnstnnsrnnnnn en 68 2 6 9 PMCAG 010 Select Active Waypoint c cceccecceeseceeeeceeeceaeeeaaeeeaeeseeeeaeeseeeeeeeeeeieenees 70 2 6 10 PCMAG 012 Receiver Configuration cccccecceeseceeeeceeeeceaeeeeaeeeaeecaeeesaeeseeeeseeseeeenaeess 71 3 Output Logs 73 Bs UW LOGS ecg ses 5 sess Peta a chet asec EE 73 KOR Ee 73 SA LOGS DY FUNCTION masisi ces ag EE eege AER geet bens ees 73 3 3 Enn dere Te EE 77 3 3 1 Current Channel Assignment Data 1 6 ID 6 oo eeeeeeceeeeeeeeeeeneeeeeeeeececaeeeeeaeeeseeeeeeeeeeeaas 77 3 3 2 Current Channel Assignment Data 7 12 ID 7 oo eeecceececeeecceeceneeeeeeeeeeeeaeeeseseeeseeeeeeaeeeeaas 79 3 3 3 Navigation Data User Coordinates ID 20 81 3 3 4 Navigation Data ECEF Coordinates ID 21 83 3 3 5 Ephemeris Data IDE 22 uge EE Ee ee ee EE se 86 3 3 6 Measurement Block Data ID 23 ooo eee iarrann aneka tanet Eain ESAEREN SERES EREE SAEN 87 3 3 7 Receiver Configuration ID 20 89 3 3 8 Satellite Visibility Data and Status ID 33 0 eeccceeeceeeeeeeeeeeeeeeeeeaeeseceeeeeeaeeseeeeeestaaeeneaes 90 3 3 9 DGPS Configuration ID 43 ooo eeceecceceeeeeeeeeeeaeeeeeeeeeeaaaeeeeeeeeecaaeeeeeeeeesaeeeseaeeeseaeeeseaeeeeaas 92 3 3 10 Hardware Software Identification ID 45 ooo
125. ng on Page 13 TYPE 0 5 SV 6 7 SV type 0 Reserved 1 GPS 2 3 Reserved N A Uchar Clock aging parameter af Range 2 0 2 020 to 2 019 1 0 2 020 Resolution 2 0 2 Double 14 21 Clock aging parameter af1 Range 2 010 2 0738 to 2 010 1 0 2 0 8 Resolution 2 0 s s Double 22 29 Mean anomaly of reference time MO Range 2 079 2 0 3 z to 2 079 1 0 2 023 x Resolution 2 0 3 x radians Double 30 37 Argument of perigee W Range 2 0 3 2 023 n to 2 0 1 0 2 023 x Resolution 2 0 3 x radians Double 38 45 Right ascension Omega D Range 2077 2 023 n to 2 0 1 0 2 0 3 x Resolution 2 0 3 x radians Double 46 53 Semi major axis Root_A Range 2525 0 to 2 024 1 0 2 01 Resolution 201 Double Continued on Page 41 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 Rate of right ascension Omega_Dot 54 61 Range 2 015 2 038 z to 2 015 1 0 2 0 x radians s Double Resolution 2 0 8 x Angle of Inclination relative to 0 307 i 62 69 range 2 015 2 0 9 m to 2 015 1 0 2 019 r radians Double resolution 2 019 x Eccentricity e 70 77 Range 0 to 0 03 N A Double Resolution 2 072 78 79 Checksum see Section 1 6 Checksum Calculation N A Rules starting on Page 19 Ushort
126. nity contribution or otherwise howsoever to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any loss damage actions costs claims demands and other liabilities or any kind whatsoever direct consequential special or otherwise arising directly or indirectly out of or by reason of the use by the Licensee of the Software whether the same shall arise in consequence of any such infringement deficiency inaccuracy error or other defect therein and whether or not involving negligence on the part of any person 7 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 Fax 403 295 4901 e mail to support novatel ca website http www novatel ca or write to NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 8 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
127. nt Period of the Carrier Phases Because the integration period is not fixed the carrier phase must be compensated for the effect of the measurement period variation on the nominal cycles which is 1 intermediate frequency Therefore the nominal cycles at the IF frequency must be precisely adjusted to meet the measurement period The measurement generator assumes the measurement period to be 0 999999 s Therefore two corrections must be applied on the output ICP The first correction is to account for the truncated IF The seconds correction is to account for the measurement period different than 0 999999 s The Slew value is the number of 175 ns corrections that were applied on the measurements mark to have a 1 s period Correction to apply for the measurement period different than 0 999999 s DriftCorrection Fp 175ns Slew 0 245944444375 Slew where F r 1405396 825 Hz Equation 7 With the two corrections applied the reconstruction of the ICP becomes ICP RawICP AICP 4 5803 0 245944444375 Slew Value i l AICP RawICP RawICP _ Equation 8 The slew value is contained in Message ID 23 By using these equations and by calculating the first difference of pseudoranges measurement and delta ranges measured on the carrier a match between ICP and pseudoranges is obtained C 5 2 Double Difference Technique When using the carrier phase measurement with a double difference technique the non coherency constant
128. o Page 44 of this manual for details on this message All receiver messages adhere to the structure recommended by RTCM SC 104 Thus all RTCM messages are composed of 30 bit words Each word contains 24 data bits and 6 parity bits All RTCM messages contain a 2 word header followed by 0 to 31 data words for a maximum of 33 words 990 bits per message Message Frame Header Data Bits Word 1 Message frame preamble for synchronization 8 Frame message type ID 6 Base station ID 10 Parity 6 Word 2 Modified z count time tag 13 Sequence number 3 Length of message frame 5 Base health 3 Parity 6 The remainder of this section will provide further information concerning receiver RTCM data formats F 1 1 RTCM1 Differential GPS Corrections Fixed This is the primary RTCM message used for pseudorange differential corrections This message follows the RTCM Standard Format for a Type 1 message It contains the pseudorange differential correction data computed by the base station generating this Type 1 message The message is of variable length depending on 148 SUPERSTAR II Firmware Reference Manual Rev 5 Message Formats Appendix F the number of satellites visible and pseudoranges corrected by the base station Satellite specific data begins at word 3 of the message Type 1 messages contain the following information for each satellite in view at the base station Satellite ID P
129. ombinations of words proprietary to NovAtel in connection with this Agreement without the prior written consent of NovAtel 3 Patent Infringement NovAtel shall not be liable to indemnify the Licensee against any loss sustained by it as the result of any claim made or action brought by any third party for infringement of any letters patent registered design or like instrument of privilege by reason of the use or application of the Software by the Licensee or any other information supplied or to be supplied to the Licensee pursuant to the terms of this Agreement 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 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
130. on Normal Mode Special Mode N A The information does not change 2 Reset Receiver Reset so this is unnecessary To continuously reset the receiver is not recommended Request Off T ff i d 23 Measurement Turns off continuous mode an On default Block Data does not give a one shot output 30 Set Receiver Set N A Once set the configuration does Configuration not need to be reset continuously 45 HW SW ID engt N A The information does not change Number y unless you update your software 64 Set Channel Set N A Once set channels do not need to Deselection be deselected continuously 69 Set Timing Set N A Once set the timing parameters Parameters do not need to be updated continuously N A Almanac data does not have to be 77 Update Almanac Update renewed continuously 78 Common Almanac Upload N A Almanac data does not need to be H reloaded continuously 79 Specific Almanac 80 Set Position Set N A Once set the mode does not need Operating Mode to be reset continuously N A Once set the mask angle does 81 Set Mask Angle Set not need to be reset continuously 83 Set DGPS Set N A Once set the DGPS mode does Configuration not need to be reset continuously Off It is not recommended that you turn 84 eewer odel On default off the use of this model for advanced H users of GPS only 86 MSL Model On Off default N A Once set the datum does not 88 Datum to Use Select Define need to be updated continuously 90 Set Satellite Set N
131. onal copyright laws 2 SUPERSTAR II Firmware Reference Manual Rev 5 Table of Contents Software License Customer Service Foreword 1 Messages 1 1 Physical Link Layer 1 2 Data Link Layer iir E A ER iE TN ER 1 2 1 Bit Orderng iiis iian ensina aiina a aaa 1 2 2 Message Block Structure ccccsceeeeseeeeeeeeeteeeeeeeeeeeeeaes 1 2 3 Message Block Tvpes TMUN eege aaa a a Ane a A RR tA Data LMK osae a ied Mee ele 1 5 Error Recovery and Tmmmimg 1 5 1 Block ID Complement Emor 1 5 2 Checksum Error ececceeeeeceeceeeeeeeeeeeeeeesaaeeeeeeeeessaeeeteneeesaas 1 5 3 Time Out Errors iisi iuei dassie eiia aaraa 1 5 4 Frame Synchronization Errors s es 1 6 Checksum Calculation Pules TA Ped Types aeaa aaae a a e 2 Input Commands 2A COMMANG FOrM AL EE 2 2 Command Settings ccccceececeeceeeeeeeeeeeeeeeeeseceeeeeeeeseteeeeeeaeeseaes 2 3 Commands by FUNCTION 00 ccceceeeeceeeeeeeeececeeeeeaeeeeeeeeeeseaeeseaes 2 4 Factory DetaulS ciiccctev csiceehcdectecivesecctebes ital ichesluccesetesuaadienseehde 2 5 Binary Protocol Command Reference seseeeeseeseresrrerre erene 2 5 1 Reset Receiver ID 2 cccccccccccceceeeeeeeeeeeeneeneecaeeeeeeeees 2 5 2 Request Current Channel Assignment Data ID 6 2 5 3 Request Navigation Data User Coordinates ID 20 2 5 4 Request Navigation Data ECEF Coordinates ID 21 2 5 5 Request Ephemeris Data ICD GPS 200 Format ID 22 2 5 6 Request Mea
132. other performance 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 performance or non performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement This Agreement is governed by the laws of the Province of Alberta Canada Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta L1 GPS Firmware Reference Manual Rev 5 9 Customer Service Contact Information If you have any questions or concerns regarding your SUPERSTAR II based receiver please contact NovAtel Customer Service using any one of the following methods NovAtel GPS Hotline 1 800 NOVATEL Canada and the U S 403 295 4900 International Fax 403 295 4901 E mail support novatel ca Website www novatel com Write NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 lt Before contacting NovAtel Customer Service regarding software concerns please do the following 1 Issue the NVM Reset command Message ID 99 on Page 55 with value 0 to reset all NVM 2 Log the following data requests to a file on your PC for 30 minutes Receiver Status Message ID 49 one shot Ephemeris Data Message ID 22 continuous Measurement Block Message ID 23 1 Hz HW SW Identification Me
133. point Navigation requires the use of the NMEA protocol An explanation of the supported NMEA protocol and field definitions is provided in Appendix F NMEA Format Data Messages on Page 150 Individual NMEA commands and logs can be found in Chapter 2 and Chapter 3 of this manual respectively For further details on the NMEA message structure and formats please refer to the NMEA 0183 specification Start up in NMEA Protocol Mode Switch the protocol for the receiver from Binary to NMEA by using Configure COMI Port Mode ID 110 on Page 58 See also PMCAG 000 Configure COM I Port Command on Page 60 for more details on the NMEA equivalent command E 2 Waypoints The SUPERSTAR II can perform simple navigation calculations through the serial communications port A database containing a maximum of 50 waypoints can be maintained within the receiver Waypoint entry retrieval and editing is accomplished using defined input output messages Waypoint positions are in the Military Grid Reference System MGRS co ordinate system format A waypoint is defined by an identifier number and an 8 character name E 3 Navigation Procedure 1 Route Planning Set up a navigation plan by defining a number of waypoints on your route Load the plan into the receiver by sending a series of Define Waypoint messages NMEA ID 009 see Page 68 In StarView select Tool Setting Define Waypoint Each ID 009 NMEA message defines the exact location of a waypoint in MGR
134. port baud rate Differential coast time 3 a DGPS mode 4 E D E D 5 Example PMCAG 908 15 D E E 8 35 E 45 9 6 5 6 5B lt CR gt lt LF gt Enable Mask angle Used datum DGPS coast time DGPS baud rate Lat Long resolution UTC time resolution DGPS tropospheric and MSL modes 8 0 35 North American 1927 Canada 45 seconds 9600 COM2 port 0 00001 of minutes lus 1 Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 in KBaud units 2 0 to 255 seconds 3 DGPS Mode D Disable E Automatic W SBAS only B DGPS only 4 This parameter reports the number of the datum that is currently used to report the position Refer to the supported datum list on Page 48 5 Indicates the number of elements that follow SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 4 6 PMCAG 912 Receiver Configuration This log gives the current receiver configuration HEADER CONTENTS OF DATA FIELDS SPMCAG 912 X a a a XxXX XX X XX XXX XXX XXX hh lt CR gt lt LF gt Filtering period in dynamic mode s Filtering period in static mode s Dead reckoning threshold s Stand still threshold m s Maximum acceleration m s Maximum speed m s Reserved Reserved Antenna type P A 2 Predefined configuration 3 Example SPMCAG 912 4 P 00045 08 0 20 130 3D l
135. publications 12 Q quality 116 R radio frequency RF 101 103 RAM 101 range 147 receiver parameter 66 status 29 32 Receiver Configuration ID 30 28 29 89 Receiver Status ID 49 32 97 request measurement block data 16 reset 16 Reset Receiver ID 2 25 residual 112 134 right ascension 40 108 rocket 29 route planning 147 rover 22 74 95 149 RTCM 94 148 149 RTCM Data Message ID 65 34 104 A satellite active 124 almanac 108 assignment 79 azimuth 125 data 90 deselection 52 elevation 125 ephemeris 86 125 for navigation 124 health 32 99 ID 149 in view 125 status 30 90 tracking 23 54 75 97 type 40 79 108 visibility 30 90 Satellite Data and Status ID 33 30 89 90 Satellite Deselection ID 90 52 Satellite Health ID 50 32 99 SUPERSTAR II Firmware Reference Manual Rev 5 save almanac 108 SBAS 92 106 112 absolute accuracy 111 concept 146 data 35 disable SV 98 overview 145 receiver 145 status 35 SBAS Data ID 67 35 104 105 SBAS Status Message ID 68 35 106 scaling almanac 108 scope 11 Select Define Datum to Use ID 88 46 self survey 42 134 135 self test 62 117 Self Test Results ID 51 101 semi major axis 40 108 Set Channel Deselection ID 64 34 set date time 16 Set Default Message List ID 105 57 Set DGPS Configuration ID 83 44 Set Mask Angle ID 81 43 46 Set Mean Sea Level Model ID 86 46 Set Oper
136. quency 1575 42 MHz is used together with GPS type modulation for example a Coarse Acquisition C A pseudorandom PRN code In addition the code phase timing is maintained close to GPS time to provide a ranging capability Refer also to the GPS Reference Manual available on our website at http www novatel com Downloads docupdates html D 2 SBAS Receiver SUPERSTAR II based models may have an SBAS capability option These models are able to simultaneously track two SBAS satellites and incorporate the SBAS corrections into the position See also Appendix A SUPERSTAR II Card Models on Page 133 SUPERSTAR II products can output the SBAS data in log format see Message ID 67 SBAS Data on Page 105 and can incorporate these corrections to generate differential quality position solutions Standard SBAS SUPERSTAR II Firmware Reference Manual Rev 5 145 Appendix D SBAS Positioning data messages are analyzed based on RTCA standard DO 229C Change 1 Minimum Operational Performance Standards for GPS WAAS airborne equipment A SBAS capable receiver permits anyone within the area of coverage to take advantage of its benefits To enable SBAS on a clean receiver set the DGPS mode to SBAS or Automatic see Message ID 83 Set DGPS Configuration on Page 44 D 2 1 SBAS Messages 146 The command Message ID 95 Track SV enables the use of particular SBAS corrections in the position filter Two SBAS specific messages are also available
137. quest satellite health summary 67 Request SBAS data 68 Request SBAS status message 76 Request almanac data 78 Almanac data upload NMEA Format Commande Message ID Definition 000 Configure the COM1 port 001 Receiver initialization data 003 Initiate BIT self test 004 Request log 005 Set output configuration 007 Erase non volatile memory NVM 008 Set receiver parameters 009 Define waypoint in MGRS format 010 Select active waypoint WAYPOINT NAVIGATION Message ID Definition 20 Request navigation data user coordinates 21 Request navigation data ECEF coordinates 009 NMEA Define waypoint in MGRS format 010 NMEA Select active waypoint SUPERSTAR II Firmware Reference Manual Rev 5 23 Chapter 2 Input Commands Table 5 SUPERSTAR II Binary Commands Summary ID Definition Message Type 2 Reset receiver CM 6 Request current channel assignment data DR 20 Request navigation data user coordinates DR 21 Request navigation data ECEF coordinates DR 22 Request ephemeris data ICD GPS 200 format DR 23 Request measurement block data DR 30 Set or Request receiver configuration CM 33 Request satellite visibility data and status DR 43 Request DGPS configuration DR 45 Request hardware software identification DR 47 Request base station status DR 48
138. r Message Types There are 5 types of messages that can be sent from your PC to the GPS receiver Dummy Message ID 0 Reserved Initiate Link ID 63 This is the first message sent by the PC upon entering the protocol It informs the receiver that communication is desired A password is encoded in the message This message interrupts all receiver logs and waits for new data request messages Data Request DR Message Request the receiver to turn on off broadcast data or to send data only once The MSB of the ID indicates the type of request with 1 to turn on broadcast and 0 for once only or to turn off the broadcast Command Message CM Request a particular receiver action other than a data request The MSB of the ID may be used to set the receiver to Normal mode MSB 0 or to Special mode MSB 1 lt For DR messages Normal mode is for one shot output and Special mode is for continuous output See also the ID description on Page 14 However for CMs the Special mode has another meaning Table 2 on Page 16 shows examples of Message ID s where using Normal mode or Special mode does not send the message out in one shot or continuous mode Data Message DM Any message containing data to be saved in receiver memory or processed by the receiver SUPERSTAR II Firmware Reference Manual Rev 5 15 Chapter 1 Messages Table 2 Message Modes Message ID Descripti
139. r description must be converted in HEX format General Results O fail 1 Pass bit0 RAM bit 1 Flash bit 2 EEPROM bit3 UART bit 4 Real time clock bit 5 Correlator and RF bit 6 7 Reserved Examples PMCAG 902 1 2000 000 R PASS 00 63 PMCAG 902 1 2000 000 R FAIL 03 49 Faults in Flash EEPROM and UART sections 49 31H 1 Engine self test result from the last initiated BIT PASS FAIL See also the opening paragraph above SUPERSTAR II Firmware Reference Manual Rev 5 117 Chapter 3 Output Logs 3 4 3 PMCAG 906 Bearing Distance and Delta Elevation to Waypoint Bearing distance and delta elevation to and location of a specified waypoint from the present position The distance is calculated along the great circle path HEADER CONTENTS OF DATA FIELDS SPMCAG 906 XX a a a XXXXX XXKXX tXKKKK X CC XX XXK X XXKKXKXKX XXX XXXKXX X a hh Grid easting Square row Square column Zone letter Zone number lt CR gt lt LF gt Status Delta altitude m Distance m True bearing degrees Waypoint number 00 49 Waypoint name max 8 char 1 Altitude above MSL m Grid northing Example SPMCAG 906 18 T X R 02069 38914 100 5 HILL 03 355 8 143 772 70 6 A 6E lt CR gt lt LF gt Zone number Zone letter Square column Square row Grid easting Grid northing Altitude Waypoint name Waypoint number Bearing Distanc
140. ration ID 93 44 2 5 31 Set Tropospheric lonospheric Model Use ID 84 0 0 eceeecccceceeeeeeeeeeceeeeeeeeeeseeeeeeeneeeeeas 45 2 5 32 Set Mean Sea Level Model Use ID 86 00 eceeeeccececeeeeeeeeeeeneeeeeeaeeseeeeeeseaeeseeeeessaaeessaes 46 2 5 33 Set Fixed Height Mode ID 87 istrine riaan aa rarae araa aa aaraa aa taa e anaiai 46 2 5 34 Select Define Datum to Use Don eececeeeceeeeeeeeeeeeeeceeeeeeeeaaeseeeeeeseaaeeseneeesesaeeeeeeeeeeas 46 2 5 35 Satellite Deselection ID 90 oo cece ce eeceeceeeeeeeeeeceeeeeeeaaeeeeaeeeecaaaeseeeeesaaeesseaeeesneeseeeneeeeaes 52 2 5 36 Set Differential Message Configuration ID 91 ooo ceeeceeeceeceeeeeeeeeeeeeeaeeeeeaeeesetaeeeseneeeeaas 53 2 5 37 Request to Track a Particular Satellite ID 95 ooo ee cceceeeeeeeeeeeeeeseeeesaaeeseeeeeeseaeeneaes 54 2 5 38 Erase NYM EIERE ege Ree Eege Eeer EEN eg 55 2 5 39 Set Date and Time ID 108 oe eeeccccccseeeeneececeeeeeeeeeeceaeeeeeaaeeeaaeeeseaeeeseaeesseaaeesseaeeesiaaeeesaes 56 2 5 40 Set Default Binary Message List ID 10 57 2 5 41 Configure COM1 Port Mode ID II 58 2 5 42 Request Timing Information ID 112 58 2 6 NMEA Protocol Commande iniiai ia a a a aiana iiaia aeai baia a 59 2 6 1 PMCAG 000 Configure COM1 Port Commande 60 2 6 2 PMCAG 001 Initialize Time and Position ccc ececeecccesceseeescesceseseeeeesuueuseeeseeesensesseanes 61 2 6 3 PMCAG 003 Initiate Geht Test 62 2 6 4 PMCAG 004 Request Log Commande 63 2 6 5 PMCAG 005 Set Output Co
141. re Reference Manual Rev 5 37 Chapter 2 Input Commands 2 5 23 Request lonospheric and UTC Time Data ID 75 This command allows you to request ionospheric and UTC time information See also Message ID 75 output on Page 107 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Checksum see Section 1 6 Checksum 5 6 Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 6 Bytes IDH75 Continuous 01 CB 34 00 00 01 or Transmitted 6 Bytes ID 75 One Shot 01 48 B4 00 00 01 2 5 24 Request Almanac Data ID 76 This command allows you to request almanac data See also Message ID 76 output on Page 108 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 Output almanac set to 1 5 1 Yes request an almanac N A Uchar 1 7 Reserved set to 0 6 7 Checksum see Section 1 6 Checksum N A Ushort Calculation Rules starting on Page 19 Example Input Transmitted 7 Bytes IDH 76 One Shot 01 AC B3 01 01 0201 38 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands Chapter 2 2 5 25 Update Almanac ID 77 This command forces the decoding of a new almanac from SV subframe 4 and 5 data See also Message ID 76 input on Page 38 and output on Page 108 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block
142. rom the 1PPS and is reflected in the reported 1PPS residual which is a constant within 50 ns To generate a 1PPS aligned on a true zero error a 1PPS can either be regenerated with external equipment using the receiver 1PPS signal and the 1PPS Residual or removed from the reported phase offset from the external oscillator SUPERSTAR II Firmware Reference Manual Rev 5 137 uione Dae Measurements This appendix explains in detail for advanced users the processing of the raw carrier and code phase measurements of the SUPERSTAR II These GPS receivers provide raw measurements raw code phase measurements and if your receiver is a model with Carrier Phase CP capability raw carrier phase measurements Before being used in an algorithm the raw measurements must be manipulated in order to provide a meaning to you perhaps as a system integrator Both raw measurements are taken and latched simultaneously at the measurement mark Raw measurements are provided in Message ID 23 The structure of this message is provided in Chapter 3 on Page 87 Details on the integrated carrier phase output by this message is given in Section C 4 on Page 141 See also Appendix A SUPERSTAR II Card Models starting on Page 133 C 1 Measurements Concepts C 1 1 Time Aligned Concept The clock steering is performed as follows The receiver steers the measurement mark of the receiver The steering is performed in such a way that the measurements are taken at the on
143. s 1 High NAV solution from gt 5 SVs Differential source selection 0 SBAS 1 DGPS Reserved N A Uchar 70 72 Number of SVs used to compute this solution Coordinate system lowest nibble Datum number b3 b2 b1 b N A Uchar 71 73 74 0 3 System mode 0 Self test 1 Initialization 2 Acquisition 3 Navigation 4 Fault 4 5 Coordinate system highest nibble Datum number b5 b4 Satellite tracking mode 0 All SVs in view based on current almanac position and time 1 Sky search Coordinate system highest nibble Datum number b6 b7 0 Elapsed time since power up hours N A hours Uchar Uchar 72 73 75 Reserved Uchar 74 76 77 82 Example Output Checksum see Section 1 6 Checksum Calculation Rules starting on Page 19 COGGG6D8 010114EB 47131666 80494060E B4D30786 79AB9A7D F869D772 D8FFBF3A 45834448 SCOHF3FG6 66666666 86666666 6536413D FF694166 861848A2 DB176115 EASF1262 66660616 Example header translated to decimal 01 20 235 71 N A 666666066 8CEC3FDB D947B5F2 000000687 69 63BE 64 6341BE 64 Ushort 75 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 3 4 Navigation Data ECEF Coordinates ID 21 Structure Message ID 21 Rate seconds 1 0 2 or 0 5 This log contains the receiver s best available position and velocity in earth centered earth fix
144. sents SV 125 39 represents SV 126 40 represents SV 127 41 represents SV 128 42 represents SV 129 5 43 represents SV 130 N A Uchar 44 represents SV 131 45 represents SV 132 46 represents SV 133 47 represents SV 134 48 represents SV 135 49 represents SV 136 50 represents SV 137 51 represents SV 138 0 5 SV type 6 7 0 Reserved 1 GPS 2 SBAS such as WAAS and EGNOS 6 9 Doppler center frequency Hz Range 60 000 to 60 000 Long Search window size 10 Range 0 to 100 1 kHz increments SE Uchar Minimum C No 11 14 Range 0 0 to 63 0 dB Hz Float 15 16 Doppler Hz s Ushort Track command 17 0 auto assign only if not already tracking N A Uchar 1 manual force to track on an idle channel 18 19 Checksum see Section 1 6 Checksum N A Calculation Rules starting on Page 19 Ushort Example Input Track a particular satellite Transmitted 19 Bytes ID 95 01 PE 40 0D 04 1D E1 77 30 03 30 00 82 00 00 00 00 71 03 54 SUPERSTAR II Firmware Reference Manual Rev 5 Input Commands 2 5 38 Erase NVM ID 99 Chapter 2 This command erases the data contained in the EEPROM if the password field bytes 5 10 is valid You must choose a value from Table 9 below BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Password UGPS 0 in ASCII format 5 10 U character first N A Uchar 6 11 12 Element to
145. seudorange correction Range rate correction e Issue of Data IOD When operating as a base station the receiver s position must be set using Message ID 80 Set User s Position Operating Mode When operating as a rover station the receiver COM port receiving the RTCM data must be set to Rover mode using command Message ID 80 See also Reference 6 on Page 12 for more details on this input message F 1 2 RTCM2 Delta Differential GPS Corrections Fixed Quite often a base station may have new ephemeris data before rover stations have collected the newer ephemeris The purpose of Type 2 messages is to act as a bridge between old and new ephemeris data A base station will transmit this Type 2 bridge data concurrently with Type Us for a few minutes following receipt of a new ephemeris The rover station adds the Type 2 data delta of old ephemeris minus new ephemeris to the Type 1 message data new ephemeris to calculate the correct pseudorange corrections based on the old ephemeris Once the rover receiver has collected its own updated ephemeris it will no longer utilize the Type 2 messages The GPS Card will accept and decode RTCM Standard Type 2 messages when available and if required Type 2 messages are variable in length depending on the number of satellites being tracked by the base station F 1 3 RTCM9 Partial Satellite Set Differential Corrections RTCM Type 9 messages follow the same format as Type 1 messages However
146. ssage ID 45 one shot 3 Send the file containing the log to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel ca incoming or the support novatel ca e mail address Firmware Updates Firmware updates are firmware revisions to an existing model which improve basic functionality of the GPS receiver See also Chapter 4 Firmware Updates on Page 130 Firmware upgrades are firmware releases which increase basic functionality of the receiver from one model to a higher level model type When available upgrades may be purchased at a price which is the difference between the two model types on the current NovAtel GPS Price List plus a nominal service charge If you need further information please contact a NovAtel authorized dealer or NovAtel directly using one of the methods given above 10 L1 GPS Firmware Reference Manual Rev 5 Foreword Congratulations on purchasing a NovAtel product Whether you have bought a stand alone SUPERSTAR II card or a packaged receiver the SUPERSTAR II User Manual or SMART ANTENNA User Manual will help you get the hardware operational Afterwards this text is your primary firmware command and logging reference Scope This manual describes each message that the NovAtel SUPERSTAR II receivers are capable of accepting or generating A SMART ANTENNA contains a SUPERSTAR II card Sufficient detail is provided so that you should understand the purpose syntax and structure of e
147. stration key DiKK1iL AKKTL KYYM Valid Key entered Configuration accepted You can start using Update utility Press a key to exit Figure 5 Configuration Accepted 4 5 Starting Software and Options Update Once activated the Update utility works until the date or session counter expires Simply follow the instructions on the screen The Update utility prompts you to remove or apply power to the GPS receiver The sessions counter decrements every time a programming session is successfully executed An example is shown in Figure 6 below Programming sessions 16 lt Timeout Enable gt Updating Software Cs gt 7 Go fiar GPS Communication Your jofiware and Options tility to update NovAtel Inc L1 GPS Receivers Remove power from your GPS receiver Please connect your GPS serial port to your PC Please select the serial port 1 4 or for help menu Figure 6 Update Utility Activation SUPERSTAR II Firmware Reference Manual Rev 5 131 Chapter 4 Firmware Updates 4 5 1 Programming Success The Update utility confirms programming success at the end of the programming session see Figure 7 below At this point remove power from your GPS receiver Checking GPS receiver Please wait For a final check please remove power from your GPS receiver Then press Enter Please apply power to your GPS receiver Configuration verification Your receiver has been updated successfully Thank you Press a key to exit
148. surement Block Data ID 23 ee 2 5 7 Set Receiver Configuration ID 20 2 5 8 Request Receiver Configuration ID 30 cesses 2 5 9 Request Satellite Visibility Data and Status ID 38 2 5 10 Request DGPS Configuration ID 43 0 0 eee 2 5 11 Request Hardware Software Identification ID 45 2 5 12 Request Base Station Status DAIN 2 5 13 Request Differential Message Status ID 48 0 0 2 5 14 Request Receiver Status ID A0 2 5 15 Request Satellite Health Summary ID 50 asese 2 5 16 Initiate Self Test ID 51 oo cecccccceeesesteeeeessnteeeeeeeeas 2 5 17 Initiate Link ID 63 ec eeeeceeceeeceeeceeeeeeeeeeeteeseeneeeaees 2 5 18 Set Channel Deselection ID 64 o oo eceesteeeeeeeees 2 5 19 Request RTCM Data Message Received ID 65 2 5 20 Request SBAS Data ID 67 iiaee 2 5 21 Request SBAS Status Message ID 68 0 2 5 22 Set Timing Parameters ID 2 5 23 Request lonospheric and UTC Time Data ID 75 2 5 24 Request Almanac Data ID Ap SUPERSTAR II Firmware Reference Manual Rev 5 Table of Contents 2 5 25 Update Almanac IDE T T ee aiai aaa a ia a 39 2 5 26 Almanac Data Upload ID 79 39 2 5 27 Specific Almanac Data Upload ID 0 40 2 5 28 Set Operating Mode ID 80 0 0 cee ceeecceceeceneeeeeeeeceeeeeeaaeeseeeeesaaaeseeeeeesaeeeseaeeeseaeeeeeeaeessaas 42 2 5 29 Set Mask Angle DEBT Sree anaa aa kaasar Re de e Edeg AER Deet d sek eE 43 2 5 30 Set DGPS Configu
149. t when the new leap second value has been applied to the UTC time Leap second value Offset between the GPS time and the UTC time 21 It contains only the leap second number and NOT the s Char 20 fractional part transmitted in the GPS Navigation Message ID 21 see Page 83 Clock bias 22 29 Bias between the predicted time and the actual time ns Double 21 at the time of the solution Clock drift Frequency drift of the TCXO at the time of the solution ppm Double 29 30 37 Continued on Page 112 SUPERSTAR II Firmware Reference Manual Rev 5 111 Chapter 3 Output Logs dy Char 38 41 UTC date of the 1PPS output mo Char 37 yr Short hr Char 42 51 UTC time of the 1PPS output min Char 41 S Double 1PPS residual Residual computed from the expected 1PPS output 52 55 time and the actual 1PPS output time within the resolution period of 50 ns To be used for systems with feedback or for post processing ns Long 51 Timing operating mode 0 Standard 1 One shot alignment 2 Constant alignment 0 1 Residual status 0 All residuals acceptable 2 3 1 One residual rejected 2 More than one residual rejected 3 Not tested Time estimator status 56 0 Successful genar SS 4 5 1 Warning residual cannot run 2 Not ready no measurements 3 Alarm raised by residual SBAS processing 6 0 Inactive 1 Active Static operation 7 0 Inactive 1 Active 57
150. t CR gt lt LF gt 1 An empty field means that the default value set by NovAtel is used 2 P Auto Detect starts with passive and switches to active if an active antenna in detected A Active F Passive 3 0 User configuration 1 Man 2 Tractor 3 Marine 4 Car 5 Plane 6 Rocket 7 14 Reserved 15 Unlimited SUPERSTAR II Firmware Reference Manual Rev 5 121 Chapter 3 Output Logs 3 4 7 GPGGA Global Positioning System Fix Data Time position and fix related data It is sent at twice the requested update rate if the 2Hz PVT mode is active 122 HEADER CONTENTS OF DATA FIELDS SGPGGA hnhmmss ss 1111 1111 a yyyyy yyyy a x xXx XxX X NIMM DOP SVs in uset Quality indicator E W East or West Longitude N S North or South Latitude UTC of position EXXXXX X M XXXX M XXXX XXXX hh lt CR gt lt LF gt Differential base station ID 0000 1023 Age of differential GPS data Units of geoidal separation meters Geoidal separation Units of antenna altitude meters Altitude Example SGPGGA 012338 61 5619 2837 N 17235 8964 E 1 05 2 3 34 2 M 17 5 M UTC 01 23 38 61 Latitude 56 19 2837 North Longitude 172 35 8964 East Quality GPS fix SVs used 5 HDOP 2 3 Altitude 34 2 m above mean sea level Geoidal Separation 17 5 m Ne ANWR wW May be different from number in view GPS Quality
151. t meters Double 33 42 45 Reserved N A Uchar 4 41 0 4 Number of differential messages to follow N A 46 Uchar 45 5 7 Reserved N A 47 Message type N A Uchar 46 48 Message rate s Uchar 47 Next message Variable Checksum see Section 1 6 Checksum f variable Calculation Rules starting on Page 19 NA Ushort Variable Example Output 24020011 F8134200 G666663A F313612F D62A1666 66666666 66666078 4EDB3E4B FOFI9EF1 7EECSFDD SE4CC4AG 63660 62A DBS738DF 66964666 64166131 Example Header Translated to Decimal 01 47 208 42 94 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs 3 3 12 Differential Message Status ID 48 Structure Message ID 48 Rate seconds 1 Chapter 3 This log outputs the status of the differential message requested by Message ID 48 if your receiver is a BASE model or is operating as a rover in differential mode See also Appendix A SUPERSTAR II Card Models starting on Page 133 If the unit is in rover mode the fields in Table 16 are used However if the unit is in base mode the fields in Table 17 on Page 96 are used Set the operating mode using Message ID 80 Set Operating Mode see Page 42 Table 16 Rover Message ID 48 BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 Station identification number N A Uchar 4 0 1 Reserved N A 2 4 Station health N A 6 Uchar 5 5 6 Station identifica
152. tarView is available on our website at http www novatel com Downloads fwswupdates html Prior to entering the protocol use StarView to set up both the PC and GPS receiver at the same baud rate and data setting Upon entering the protocol the PC and GPS receiver wait for message blocks Refer also to the StarView User Manual see Table 1 on Page 12 1 1 Physical Link Layer The electrical signals used are those through the communication port Only the receive and send lines are required The serial port is asynchronous and should be set up with 1 start bit 8 data bits no parity bit and one stop bit Asynchronous data is generated at irregular intervals when the output has changed A default baud rate of either 9600 or 19200 bps is used depending on your model Both the PC and receiver are operating at the same rate and can be reset see Message ID 110 on Page 58 See also Appendix A SUPERSTAR II Card Models starting on Page 133 1 2 Data Link Layer 1 2 1 Bit Ordering The ordering of data within message blocks is such that the least significant bit LSB is the first bit received and the most significant bit MSB is the last bit in the sequence MSB LSB Order 76543210 This ordering is applied to all data formats which include integer values floating point values and character strings 1 2 2 Message Block Structure Message blocks are used for communication between the GPS receiver and your PC Each message block consists
153. tellite PRN number Total number of satellites in view Message number mm Total number of messages Example SGPGSV 2 1 06 03 12 238 06 07 82 008 15 11 04 053 27 43 178 12 7F lt CR gt lt LF gt Number of Messages 2 Message Number 1 SV Visible 6 PRN 03 Elevation 12 Azimuth 238 SNR 6 dB PRN 07 Elevation 82 Azimuth 8 SNR 15 dB PRN 11 Elevation 4 Azimuth 53 SNR Not tracked PRN 27 Elevation 43 Azimuth 178 SNR 12 dB 1 SNR 00 99 dB null when not tracking 2 Azimuth range 000 to 359 3 Elevation range 00 to 90 4 Message number 1 to 9 5 Total number of messages 1 to 9 SUPERSTAR II Firmware Reference Manual Rev 5 125 Chapter 3 Output Logs Example SGPGSV 2 2 06 15 23 187 08 17 35 323 11 4E lt CR gt lt LF gt Messages 2 Message number 2 SV visible 6 PRN 15 Elevation 23 Azimuth 187 SNR 8 dB PRN 17 Elevation 35 Azimuth 323 SNR 11 dB 126 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 3 4 11 GPRMC Recommended Minimum Specific GPS Data Time date position course and data HEADER CONTENTS OF DATA FIELDS SGPRMC hnhmmss ss A 1111 1111 a yyyyy yyyy a xxx x xXxXxX X Track Speed knots E W East or West Longitude N S North or South Latitude Status UTC of position fix XXXXXX hh lt CR gt lt LF gt Date Example SGPRMC
154. the supported NMEA protocol and field definitions is provided in Appendix F NMEA Format Data Messages on Page 150 Individual NMEA commands and logs can be found in Chapter 2 and this chapter respectively For further details on the NMEA message structure and formats please refer to NMEA 0183 specification Message ID 900 Table 18 List of NMEA Logs Name Navigation Status 902 Self Test Results 906 Bearing distance and delta elevation to waypoint b 907 User position MGRS format 908 Receiver Parameter Status 912 Receiver Configuration GGA GLL Global Positioning System Fix Data 3 H Geographic Position Latitude Longitude b GSA GPS DOP and Active Satellites GSV GPS Satellites in View RMC VTG Recommended Minimum Specific GPS Data zb Track Made Good and Ground Speed ZDA UTC Time amp Date a This message is sent at twice the requested update rate if the 2Hz PVT mode is active b This message is sent at five times the requested update rate if the 5Hz PVT mode is active SUPERSTAR II Firmware Reference Manual Rev 5 115 Chapter 3 Output Logs 3 4 1 PMCAG 900 Navigation Status This log provides the current navigation mode and GPS fix quality indicator HEADER CONTENTS OF DATA FIELDS SPMCAG 900 ccc C hh lt CR gt lt LF gt GPS Fix Quality Indicator Navigation mode Example
155. the transmission time 0 5 SV 0 31 16 6 Reserved N A Uchar 15 7 Toggle at each ephemeris transmission Signal to Noise ratio SNR For example a Ge value of 160 translates to 40 0 dB Hz 0 25 dB Hz Uchar 16 Continued on Page 88 1 SUPERSTAR II based receivers with a carrier phase CP option are capable of 1 Hz output If you have a 5 Hz CP model you can also select 5 Hz 0 2 or 2 Hz 0 5 See a list of models on Page 133 SUPERSTAR II Firmware Reference Manual Rev 5 87 Chapter 3 Output Logs Code phase The correlator aligns the locally generated satellite C A with the received signal using a 1 1024 half 18 21 precision of 1 1024 of a half chip A chip lasts chi for 1 1023 ms Therefore the code phase p precision is 1 1023 ms 2 1024 Range 0 to 2095103999 Ulong 17 Carrier Phase 0 Ready 1 Phase Ambiguous 2 Phase Unlock 0 1 3 Not Ready N A For most applications use measurements only when both bits 0 and 1 are clear See Section 22 25 CA Carrier Phase In Message ID 23 starting Uchar 4 21 on Page 141 Carrier Phase SC Range 0 1023 cycles 12 31 Integrated number of cycles Range Natural roll over cycles Cycle_Slip Counter Raw data and tracking loop slips are observable in the measurement The carrier tracking loop has a 180 ambiguity so it is possible to slip by a full cycle or a half cycle The half cycles are detected and signalled through the measurements qualifiers least
156. tion that is clock bias and clock drift Fix the position using command Message ID 80 see Set Operating Mode ID 80 on Page 42 in which the exact position of the receiver antenna must be entered The 1PPS output can be set to be offset from the UTC second by a fixed value ranging from 0 to 1 s in increments of 100 ms see Message ID 69 on Page 36 The offset is a positive number only where the rising edge of the 1PPS is delayed with respect to the UTC second boundary by the desired amount of ms You can also set the pulse width using this command If you know the delay induced on the 1PPS signal due to e the cable length between the GPS antenna and the receiver since the time solution is computed for the antenna location e and the cable length from the receiver s 1PPS output to the host application then the sum of these values can be set in the receiver in order to compensate for the signal delays induced by the cables A reasonable estimate of the total delay would be the total cable length divided by the speed of light If you know by calibration the delay induced on the 1PPS signal through the receiver circuitry prior to its actual output you can program this value in the receiver to compensate for the delay The default value for the intrinsic delay is set to 1900 ns You may specify a PPS output control parameter via a command This parameter indicates under which conditions the 1PPS output should be inhibited See Section 2
157. tion Rules The 16 bit checksum is defined as the 16 bit sum of all the unsigned 8 bit bytes starting at the beginning of the header any overflow or carry over to the 16 bit sum is discarded immediately Therefore it adds unsigned bytes to produce a 16 bit result For example a valid configure COM1 port command can be SOH ID CmplID Length Baud and Mode Cksum LSB Cksum MSB Syntax 01 110 145 01 10 11 01 DECIMAL 01H 6EH 91H 01H OAH OBH 01H HEXADECIMAL 00000001 01101110 10010001 00000001 00001010 00001011 00000001 BINARY Where 10 decimal 0A hexidecimal and 00001010 binary translates to 0101 5 1500 bps 0 NMEA Please see Message ID 110 on Page 58 for details Checksum examples can be found throughout Chapters 2 and 3 in the Example Input or Example Output following commands and logs 1 7 Field Types This section describes the data representation standards to be used in formulating the contents of data fields The structures defined are 1 Character Data 2 Integer Values 3 Floating Point Values Character Data is stored in the block data field and is unsigned by default Integer values are represented in two s complement format Floating point values are stored in IEEE format to store data types that are larger than one byte Words are stored in two consecutive bytes with the low order byte at the lowest address and the high order byte at the highest address The same conv
158. tion bit N A 7 Reserved N A Message received bitmap 0 RTCM1 1 RTCM2 7 10 2 RTCM3 Uchar 4 6 3 7 Reserved 8 RTCM9 11 14 Reserved N A Uchar 4 10 15 16 Differential data link valid word count N A Uchar 2 14 17 18 Differential data link parity error count N A Uchar 2 16 19 24 Reserved N A Uchar 6 18 Receiver mode 0 12 bits 0 12 ZCount of last message 1 2 or 9 N A DGPS Status 0 DGPS disabled 25 26 1 Initialization synchronization Uchar 2 24 2 Correcting 13 15 3 Bad GDOP N A 4 Old corrections 5 Station unhealthy 6 Too few SVs 7 Reserved 27 28 Reserved N A Uchar 2 26 Checksum see Section 1 6 Checksum 29 30 Calculation Rules starting on Page 19 NA Ushort 28 SUPERSTAR II Firmware Reference Manual Rev 5 95 Chapter 3 Output Logs Table 17 Base Message ID 48 BYTE BIT DESCRIPTION UNITS TYPE OFFGSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 Station identification number bits 0 7 N A Uchar 4 0 1 Reserved N A 2 4 Station health N A 6 Uchar 5 5 6 Station identification bit N A 7 Reserved N A Message received bitmap 7 10 AREEN N A Uchar 4 6 2 RTCM3 11 24 Reserved N A Uchar 14 10 25 26 0 12 ZCount of last message 1 2 or 9 N A Ushort 24 27 28 Reserved N A Uchar 2 26 29 30 Checksum seq Sect 18 een wa use Le Example Output 96 BC526175 276136CF 18611861 66666666 66666
159. v 5 39 Chapter 2 2 5 27 Specific Almanac Data Upload ID 79 40 Input Commands This command provides SV specific almanac data using the YUMA almanac format to the receiver The first data byte is the SV A complete series of these messages is sent in increasing S V order from 1 to 32 for the SVs specified in the common almanac SV bit map data message It is important to note that each specific data message must be acknowledged through Message ID 126 see Page 114 before sending the next specific data message lt You must send Message ID 78 see Page 39 before using this command If the GPS receiver does not receive all the SV specific almanac data messages specified in the common message within 55 seconds then a time out error occurs The GPS receiver then disregards all the data currently received and sends an unsuccessful status message to the PC The PC resends the common message first and then all the data messages The GPS receiver always sends back an almanac reception status log whether the full almanac upload is successful or not The PC waits for this status log or waits for the occurrence of a 60 second timeout period before requesting another almanac upload Otherwise the previous almanac upload is cancelled and the new almanac upload request is ignored The almanac data specific to each SV is detailed below BYTE BIT DESCRIPTION UNITS 1 4 Header see Section 1 2 2 Message Block Structure starti
160. value is stored in NVM See also Message ID 49 Receiver Status on Page 97 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 5 6 Mask angle 0 to 7 2 radians Short 7 10 Reserved N A Float Checksum see Section 1 6 Checksum iste Calculation Rules starting on Page 19 N A Ushort Example Input Transmitted 18 Bytes IDH81 0151 AE OC 04 1D E1 7 4E 02 16 00 82 00 00 00 73 03 SUPERSTAR II Firmware Reference Manual Rev 5 43 Chapter 2 Input Commands 2 5 30 Set DGPS Configuration ID 83 This command allows you to set the DGPS configuration if your receiver is operating in differential mode See also Message ID 43 DGPS Status on Page 95 BYTE BIT DESCRIPTION UNITS TYPE 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Enable 0 0 Off Use SBAS over DGPS corrections 1 On Use DGPS over SBAS corrections 1 3 Reserved should be 1 5 N A Uchar 4 6 Reserved should be 0 Port 7 0 COM1 1 COM2 6 Differential coast time seconds Uchar 7 Reserved N A Uchar COM2 port baud rate 1 300 8 32 9600 300 baud Uchar 64 19200 Uchar 4 9 16 Reserved N A l Uchar 4 Differential Mode 0 No DGPS 0 1 1 SBAS only N A 17 2 DGPS only Uchar 3 Select SBAS DGPS automatically 2 7 Reserved N A 18 25 Reserved N A Uchar 8 26 27 Checksum see Section 1 6 Checksum N A Ushort Calculation Ru
161. ved COM2 port UART results 18 see the byte 12 description above Hex Uchar 12 bit 0 Link timeout 0 Pass 1 Error bit 1 Clock date error 0 2 0 Pass 1 Error bit 2 Clock time error 0 Pass 1 Error 14 N A Uchar 13 Scratch pad error bit 3 0 Pass 3 4 1 Error bit 4 Reserved 5 7 Reserved Continued on Page 103 102 SUPERSTAR II Firmware Reference Manual Rev 5 Output Logs Chapter 3 RF MAG LO limit 0 Pass 1 Error RF MAG HI limit 0 Pass 1 Error RF SIGN LO limit 0 Pass 1 Error 15 RF SIGN HI limit N A 0 Pass 1 Error RF and Q test 0 Pass 1 Error RF PLL 0 Locked 1 Not Locked Reserved Uchar 14 16 17 Global correlator test results 1 Bit 0 Channel 0 error in and Q test N A Bit 7 Channel 7 error in and Q test Global correlator test results 2 Bit 0 Channel 0 error in and Q test R N A Bit 7 Channel 7 error in and Q test Uchar Uchar 15 16 18 Global correlator test results 3 Bit 0 Channel 9 error in and Q test Bit 1 Channel 10 error in and Q test Bit 2 Channel 11 error in and Q test Bit 3 Channel 12 error in and Q test N A Bit 4 Channel 9 error in Measurement test Bit 5 Channel 10 error in Measurement test Bit 6 Channel 11 error in Measurement test Bit 7 Channel 12 error in Measurement test Uchar 17 19 40 Reserved N A Uchar 22 18 4
162. you to deselect SVs that you no longer wish to track if the password field bytes 5 12 is valid The SVs are indicated in a bitmap form A 1 in the bitmap specifies that the corresponding SV is 52 deselected and is not tracked BYTE BIT DESCRIPTION UNITS 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 Input Commands TYPE Password UGPS XXX in ASCII format U 5 12 character first where XXX is N A 000 Deselect GPS SV 0G4 or 0G5 Deselect SBAS SV Uchar 8 Dependant on XXX above XXX 000 GPS SV SV 1 13 7 SV 8 N A XXX 0G5 SBAS SV such as WAAS or EGNOS 0 SV 129 7 SV 136 Also dependant on XXX in bytes 5 12 XXX 000 GPS SV 0 SV 9 14 7 SV 16 N A XXX 0G5 SBAS SV such as WAAS or EGNOS 0 SV 137 1 6 Reserved 7 SV 138 Also dependant on XXX in bytes 5 12 XXX 000 GPS SV 0 SV 17 15 7 SV 24 N A XXX 0G4 SBAS SV such as WAAS or EGNOS 0 6 Reserved 7 SV 120 Uchar Uchar Uchar Also dependant on XXX in bytes 5 12 XXX 000 GPS SV 0 SV 25 16 7 SV 32 N A XXX 0G4 SBAS SV such as WAAS or EGNOS 0 SV 121 7 SV 128 Uchar 17 18 Checksum see Section 1 6 Checksum Calculation N A Rules starting on Page 19 Ushort Example Input Transmitted 18 Bytes ID 90 01 6445 0C 04 1D E1 77 3003 14 00 82 00 00 00 54 03 SUPERSTAR II Firmware Reference Manual Rev 5
163. ytes 21 52 of this log provide the 250 bit SBAS message The 250 bit message is packed into a 32 byte frame See also Section D 2 1 SBAS Messages starting on Page 146 and Appendix A SUPERSTAR II Card Models starting on Page 133 BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 5 8 Week number N A Ulong 4 GPS time 9 16 range 0 0 to 604800 0 s Double 8 17 20 SV ID N A Ulong 16 21 52 SBAS message data field N A Uchar 32 20 Checksum see Section 1 6 Checksum 53 54 Calculation Rules starting on Page 19 NA Ushort 52 Example Output 66C 66666 D7020143 BC3JODEO4 66666666 66667475 19412266 O666C66D 461DFFDF FFFE9FFD FFDFFDFF DFFDFFDF FFFFFFFF BBBSBBBB BB9D4S56A C3469C1B 0144BB 67 Example Header Translated to Decimal 01 67 188 48 SUPERSTAR II Firmware Reference Manual Rev 5 105 Chapter 3 Output Logs 3 3 18 SBAS Status Message ID 68 Structure Message ID 68 Rate seconds 1 This log provides the status of the SBAS for example WAAS and EGNOS message BYTE BIT DESCRIPTION UNITS TYPE OFFSET 1 4 Header see Section 1 2 2 Message Block Structure starting on Page 13 0 5 6 Message count N A Ushort 2 7 SV ID N A Uchar 6 8 SBAS message number N A Uchar 7 9 Correction age seconds Uchar 8 10 11 Reserved N A Uchar 2 9 12 13 a eer ER ee 91 Example Output 5C66891

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