C-Nav 2050M User Manual Download

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C-Nav2050 User Guide

Connector Assignments

Inp

a Messa

ilab

ut/Output Dat

ges

RTK data only ava

optioned for RTK

le in C-Nav receivers

eration.

Data Interfaces:

2 serial ports

from 1200 bps to 115.2 kbps

CAN Bus I/F

C-Nav2

050M On

Event Marker
I/P

C-Nav2050M Only

1PPS C-Nav2050M

Only

NCT Proprietary

PVT ,

Dat

Raw M
Satellit
Nav Qu

easurement

e Messages

ality

Receiver Commands

NMEA-0183

ALM, GBS, GGA, GLL, GRS,

Me
(Ou

GSA, G

VTG,

ZDA

ssages

tput Only)

ST, GSV, RMC,

Proprietary
NMEA-0183 Type

SET

(Output Only)
Cod

RTCM
WAAS

SAS/GAGAN

e Corrections

1 or 9

/EGNOS/M

RTK Correction

NCT Pr

Dat

oprietary

C-Nav

ce (RTG

Dual)
RTCM

a (I/O)

Correction Servi

18,19 or 20, 21

CMR+/CMR (Msg. 0, 1, 2)

A-5

Summary of Contents for 2050M

Page 1: ...C Nav2050 User Guide C Nav World DGPS 730 East Kaliste Saloom Rd Lafayette La 70508 USA Tel 1 337 210 0000 Fax 1 337 261 0192 E mail cnav support cnavgps com ...

Page 2: ...n 1 713 468 1536 South America Rio de Janeiro 55 21 2172 4000 Africa South Africa 27 21 705 2741 Angola 244 222 330202 Asia Singapore 65 6295 9738 China 86 139 1178 0036 India 91 22 27619975 Indonesia 62 21 521 3835 Japan 81 35 312 4600 U A E 971 50 642 4419 Vietnam 844 754 3216 Europe UK Bury St Edmunds 44 1284 703800 Norway 47 5779 6070 Russia 7 095 763 0665 ...

Page 3: ...he supplied LEMO 7 pin connector of the dual data cable to COM1 of the C Nav2050 Connect the DB9 ends as required A typical setup could include NMEA data out to the Navigation or DP Dynamic Positioning System and data in from a 3rd party connection input RTCM Antenna Mount TNC Connector 3 Mount the supplied antenna to the mast as described in Chapter 3 Ensure the antenna is in an area with a 360 v...

Page 4: ...ront of the receiver labeled L BAND ANT See p 4 6 Select the power cord appropriate for your region and attach to the power adaptor Connect the power cord to the available power source OR connect a DC power source 12V nominal to the C Nav2050 power cable Refer to Figure 6 for power cable pin assignments 7 Connect the supplied LEMO 4 pin power cable to the connector labeled DC PWR on the front of t...

Page 5: ...urther information see the C Monitor and C Setup Users Manuals www cnavgps com support C NaviGator After connecting the DB9 end of the serial cable to the C NaviGator use the touch screen menu to select Settings Port and choose the corresponding port Select the receiver type and choose communication settings 19200 baud parity none 8 data bits 1 stop bit Press Ok This software will allow you to vie...

Page 6: ...C Nav2050 User Guide C Nav2050G M Front Panel C Nav2050R Front Panel Notice additional TNC connector for L band antenna iv ...

Page 7: ...ode to the receiver Select Device License Status and check the new expiration date to verify that the activation code was entered correctly C NaviGator Open the attached file obtained from C Nav Support with Notepad or Wordpad and make note of the 36 digit License Code Press the Menu button and select Settings C Nav2050 Corrections Authorization Using the keypad input the 36 digit License Code fou...

Page 8: ... no interruption in service Old subscription expires 10 Jan New subscription begins 15 Jan New code entered on 12 Jan Result Old subscription expires on 2400z 10 Jan New subscription will begin on 0000z 15 Jan No service from 0001z 11 Jan to 2359z 14 Jan Old subscription expires 10 Jan New subscription begins 15 Jan New code entered on 1200z 5 Jan Result Old subscription cancelled immediately on 1...

Page 9: ...d verify by pressing OK Send the generated cancel code to C Nav Support for cancellation verification C NaviGator Press the Menu button and select Settings C Nav2050 Corrections Authorization Press Cancel and verify by pressing OK Send the generated cancel code to C Nav Support for cancellation verification Alternate Method If you do not have the latest C Nav software you can deactivate service by...

Page 10: ...e Press Menu button and select Settings C Nav2050 Corrections Authorization Using the keypad input the 36 digit License Code found in the attached file then select Apply An 8 digit Cancel Verify Code will appear if the cancellation code was entered correctly Return the Cancel Verify Code to C Nav Support to stop signal charges Subscription Deactivation Notes With the latest C Nav software versions...

Page 11: ...vation Notes viii Table of Contents ix List of Figures xiii List of Tables xiv Notices xv Copyright xv Trademarks xv FCC Notice xvi User Notice xvi Limited Warranty xvi C Nav Correction Service Licensing xvii USG FAR xviii Global Positioning System xviii COCOM Limits xix Revision History xx Use of this Document xxii Related Documents xxiii C Nav2050 Technical Reference Manual xxiii C Nav Online Re...

Page 12: ...mpling 1 10 GPS Performance 1 11 Rugged Design 1 11 Accuracy 1 11 Chapter 2 Interfacing 2 1 Electrical Power 2 1 Isolation Mount Adaptor 2 4 Communication Ports 2 5 CAN Bus Event C Nav2050M only 2 8 Event 2 8 1 PPS 2 9 Event Input Configuration 2 10 Indicator Panel 2 12 Link LEDs 2 12 Base LEDs 2 13 GPS LEDs 2 13 Chapter 3 Installation 3 1 Standard Antenna 3 1 Antenna Location 3 2 Antenna Mounting...

Page 13: ...afety First 5 2 Appendix A GPS Receiver Specifications A 1 Features A 1 Time To First Fix Cold Start A 2 Dynamics A 2 Measurement Performance A 3 User programmable output rates A 4 Data Latency A 4 1PPS A 4 Connector Assignments A 5 Input Output Data Messages A 5 LED Display Functions Default A 6 Satellite Based Augmentation System Signals A 6 Physical and Environmental A 6 Appendix B Antenna Spec...

Page 14: ... Appendix E Certificates E 1 Certificate of Registration E 1 Certificate of Type Approval E 3 Ministry of Transportation of the Russian Federation Certificate of Type Approval E 6 Appendix F C Nav L band Correction Signal F 1 Appendix G Glossary G 1 Abbreviations G 1 Definitions G 5 Appendix H Index H 1 xii ...

Page 15: ...h Latitude L band Antenna 3 7 Figure 20 C Nav2050G M Block Diagram 3 13 Figure 21 Radio Port Configuration in StarUtil 3 14 Figure 22 C Nav2050R Block Diagram 3 14 Figure 23 Communication Port Connections 3 16 Figure 24 Dual Data Cable 3 16 Figure 25 Dual Data Cable Pin Assignment Diagram 3 17 Figure 26 Optional Com Port Setup with Dual Data Cable 3 18 Figure 27 StarUtil NMEA Message List 4 2 Figu...

Page 16: ...3 11 Table 9 Dual Data Interface Cable I O 3 17 Table 10 Factory Default NCT Binary Messages COM2 4 4 Table D1 ALM Output Format D 1 Table D2 GBS Output Format D 2 Table D3 GGA Output Format D 3 Table D4 GLL Output Format D 6 Table D5 GRS Output Format D 7 Table D6 GSA Output Format D 8 Table D7 GST Output Format D 9 Table D8 GSV Output Format D 10 Table D9 RMC Output Format D 11 Table D10 VTG Out...

Page 17: ...r program s described herein may be reproduced stored or transmitted by any means without the expressed written consent of the copyright holders Translation in any language is prohibited without the expressed written consent of the copyright holders Trademarks C Nav is a registered product of C C Technologies Inc C Nav GPS Division All other products and brand names are trademarks or registered tr...

Page 18: ...e on an as is basis and C C Technologies Inc specifically disclaims all associated warranties whether express or implied In no event will C C Technologies Inc be liable for direct indirect special incidental or consequential damages in connection with the use of or reliance on the material contained in this publication even if advised of the possibility of such damages C C Technologies Inc reserve...

Page 19: ...expressed or implied in fact or in law including the implied warranties of merchantability and fitness for a particular purpose and of all duties or liabilities of C C Technologies Inc to the buyer arising out of the use of the goods and no agreement or understanding varying or extending the same will be binding upon C C Technologies Inc unless in writing signed by a duly authorized officer of C C...

Page 20: ...l Positioning System Selective availability S A code was disabled on 02 May 2000 at 04 05 UTC The United States government has stated that present GPS users use the available signals at their own risk The US Government may at any time end or change operation of these satellites without warning The U S Department of Commerce Limit Requirements state that all exportable GPS products contain performa...

Page 21: ...ed States The following limitations are implemented on the C Nav2050 GPS Receiver Immediate access to satellite measurements and navigation results are disabled when the receiver s velocity is computed to be greater than 1000 knots 515 meters per second or its altitude is computed to be above 18 000 meters The receiver continuously resets until the velocity and altitude are found to be below the s...

Page 22: ...I LO wiring table and message output instructions Minor grammatical corrections Used production model photo of C Nav2050 on cover Rev E Aug 2005 Added USG FAR Statement Made changes that denote NCT 2100 where applicable Minor formatting changes to wording tables etc Changed Controller Data Logger graphic to better depict the text Changed antenna output voltage to 4 6 nominal Changed power table to...

Page 23: ...ms Remove datum description from text body Add figures for port settings Expand port configuration descriptions Add DCE DTE definitions Add wiring diagrams Rev G Jul 2008 Add RTCA DO 229D standard WAAS EGNOS MSAS GAGAN Add UltraRTK specs Add NMEA message GBS GRS ITRF2000 update to ITRF2005 Apr 08 as reference for C Nav position outputs Update text and graphics pertaining to C Nav Correction Servic...

Page 24: ...ful Indicates a caution care and or safety situation The user might do something that could result in equipment damage or loss of data This symbol means Danger You are in a situation that could cause bodily injury Before you work on any equipment be aware of the hazards involved with electrical and RF circuitry and be familiar with standard practices for preventing accidents Revisions to this User...

Page 25: ... output data message formats utilized by this instrument for customer programming purposes contact cnav support cnavgps com to obtain a digital copy C Nav Online Resources Includes the latest software firmware updates users manuals FAQs Satellite Calculator and help files for all C Nav products www cnavgps com support xxiii ...

Page 26: ...nded Standards For Differential GNSS Service Radio Technical Commission For Maritime Services 1800 N Kent St Suite 1060 Arlington Virginia 22209 CMR CMR Compact Measurement Record Trimble Navigation Limited 935 Stewart Drive Sunnyvale CA 94085 NMEA 0183 National Marine Electronics Association Standard For Interfacing Marine Electronic Devices NMEA National Office 7 Riggs Avenue Severna Park Maryla...

Page 27: ...set by the RTCA WAAS Wide Area Augmentation System U S Department of Transportation Federal Aviation Administration 800 Independence Ave SW Washington DC 20591 EGNOS European Geostationary Navigation Overlay Service European Space Agency 8 10 rue Mario Nikis F 75738 Paris Cedex 15 France MSAS MTSAT Satellite based Augmentation System Japan Civil Aviation Bureau Ministry of Transport Kasumigaseki 2...

Page 28: ...al hours are 7am to 5pm Monday through Friday Central US Standard Time In addition our regional offices can provide first line support for the C Nav GPS System To expedite the support process please have following information available 1 The product type and model number s 2 The Serial number s 3 The software or firmware version number s 4 The LAT LON position of operation 5 Your specific question...

Page 29: ... to be received via the C C Technologies Inc mail server Place the file on C C Technologies Inc open FTP site and include the filename in your email or telephone inquiry so that C Nav Support can retrieve the file s The site can be accessed at ftp cctechnol com In the event that your equipment requires service we recommend that you contact either your regional agent or C Nav GPS Support to obtain ...

Page 30: ...C Nav2050 User Guide xxviii ...

Page 31: ...perating methods The operating software is also capable of supporting an external radio modem The C Nav2050 integrated receiver consists of 24 channel dual frequency precision GPS receiver 2 channel SBAS receiver WAAS EGNOS MSAS GAGAN C Nav Correction Service L band receiver There are three models the C Nav2050G C Nav2050M and the C Nav2050R Packaging and performance standards of the models are th...

Page 32: ...C Nav2050 User Guide Supplied Equipment Figure 1 C Nav2050 Supplied Equipment Figure 2 L band Antenna C Nav2050R Only 1 2 ...

Page 33: ...P Dual Data Cable 6ft PN 4250004 0 See Figures 24 25 8 C Nav2050 User s Guide Not Shown P N 5250001 XX 9 Ruggedized Travel Case Not Shown P N 3250004 0 10 2 pin AC power Cords 10 ft US P N 4250011 110 See Figure 5 Euro P N 4250012 220 Not Shown UK P N 4250013 240 Not Shown 11 L band GPS Antenna Helix C Nav2050R only P N 825R003 0 See Figure 2 12 L band GPS Antenna Cable C Nav2050R only P N 4250008...

Page 34: ...The antenna can also be mast mounted for marine offshore use C Nav2050M This model is ideal for vehicle mounting to suit a wide variety of machine guidance and control applications in Agriculture Mining Aerial Surveying Hydrographic Surveying It is equipped with additional features allowing interconnectivity with a wide variety of antennas vehicle data busses and other instrumentation to suit spec...

Page 35: ...ken to select an appropriately rated GPS antenna if the standard C Nav antenna is not used Features That Apply to All Models C Nav2050G C Nav2050M C Nav2050R Output Data Rate All C Nav2050 models can output proprietary raw data at programmable rates from 1Hz to predetermined rates up to 50Hz and Position Velocity Time PVT data at programmable rates from 1Hz to predetermined rates up to 25Hz This i...

Page 36: ...y 0xB1 and 0xB5 This data can be integrated in real time positioning applications or post processed against any number of software applications designed to handle NCT or RINEX raw data The C Nav2050 Technical Reference Manual describes the specific attributes of each of the input output records see Related Documents in the fore matter NMEA 0183 Data The C Nav2050 is capable of outputting several s...

Page 37: ...und Speed ZDA Time Date Proprietary header PNCT SET Solid Earth Tide Described in the Technical Reference Manual Antennae Standard The standard integrated antenna P N 8250001 0 tracks all GPS WAAS EGNOS MSAS GAGAN and C Nav Correction Service signals Our compact GPS antenna has excellent tracking performance and a stable phase center for GPS L1 and L2 This antenna is listed in the NOAA GPS Antenna...

Page 38: ...ace with four mounting holes and a downward facing TNC connector This antenna is certified to 70 000 feet see Specifications fo restrictions AAS ce and a r L band option C Nav2050R only The L band antenna P N 825R003 0 tracks C Nav Correction Service signals This antenna has excellent tracking performance of geostationary satellites for latitudes furthest from the equator The robust housing assemb...

Page 39: ...software options or visit www cnavgps com Unique Features The C Nav2050 GPS receiver has many unique features C Nav Correction Service The ability to receive C Nav s unique correction service is fully integrated within each unit A single set of corrections can be used globally enabling a user to achieve decimeter level positioning accuracy without the need to deploy a separate base station thus sa...

Page 40: ...tivity With RTK Extend a C Nav2050 receiver operating in RTK mode can transition to RTK Extend mode and maintain centimeter level positioning during communication loss for up to 15 minutes RTK Extend allows more efficient and uninterrupted work enabling focused concentration on the work rather than the tools Separate software option required for use of RTK Extend Contact C Nav Support for details ...

Page 41: ...The rugged design of the C Nav2050 system components provides protection against the harsh conditions common to offshore and marine environments Accuracy The system provides 50cm position accuracy RMS when WAAS EGNOS MSAS or GAGAN correction signals are used The system provides 10cm position accuracy post convergence period when C Nav Correction Service signals are used The system provides instant...

Page 42: ...C Nav2050 User Guide 1 12 ...

Page 43: ...ale connector provides electrical power to the C Nav2050 Pin assignments are given below in Figure 3 see Figure 6 for associated power cable pin assignments Figure 3 Power Port Pin Assignment Pins 1 and 2 connect to same internal point in the C Nav2050 Likewise pins 3 and 4 connect to the same internal point The supplied power cable is constructed using 26 AWG wire Power cables longer than 5m 15ft...

Page 44: ...AC DC 12V 2A power adapter P N 3250012 0 See Figure 4 See Figure 6 for power cable pin assignments Figure 4 Universal Power Adapter Replacement AC power cords are available through small appliance retailers Radio Shack Walmart Best Buy etc Figure 5 AC Power Cord 2 2 ...

Page 45: ...DC will turn the unit off To turn the unit on power must be in the 10 to 30 VDC range Press and hold the I O switch in for more than 3 seconds Voltages in excess of 30VDC will damage the unit The power supply must be well conditioned with surge protection Vehicular electrical systems which create voltage spikes in excess of 30VDC will benefit from providing power protection during vehicle engine p...

Page 46: ...av2050 chassis ground is internally connected to the power ground thus the Isolation Mount Adaptor P N PRE2025 may be needed when using vessel supplied DC power Contact C Nav Support for available isolation solutions Figure 7 Isolation Mount Adaptors 2 4 ...

Page 47: ...S232 standard with data rates from 1 2 to 115 2kbps The RS 232 serial cable pin outs are described in Table 2 This cable P N 4250003 6 is constructed as described in Figures 9A and 9B The C Nav2050 is configured as a DCE device Laptop and desktop computers are configured as DTE devices therefore a straight through cable provides proper connectivity PC TXD pin 2 connects to C Nav2050 RXD pin 2 Figu...

Page 48: ...ure DCE w respect to DB9 DB9S Pins 1 CTS Clear To Send 5VDC to Bluetooth Wireless Receiver 8 2 RD Receive Data 2 3 TD Transmit Data 3 4 DTR Data Terminal Ready 4 5 RTN Return Ground 5 6 DSR Data Set Ready 6 7 RTS Request To Send 7 Figure 9A C Nav Serial Cable Pin Assignment 2 6 ...

Page 49: ...t both ends Refer to Table 3 for acceptable RS 232 Cable Lengths Table 3 Acceptable RS 232 Cable Lengths Maximum Data Rate bps Maximum Length 2 400 2 4K 120m 400ft 4 800 4 8K 60m 200ft 9 600 9 6K 30m 100ft 19 200 19 2K 15m 50ft 38 400 38 4 7 5m 25ft 57 600 57 6K 5 0m 16ft 115 200 115 2K 2 5m 8ft 2 7 ...

Page 50: ...lored to the specific manufacturer s equipment being interfaced For further information contact C Nav Support Event The C Nav2050M accepts an event input pulse to synchronize external incidents requiring precise GPS time tagging such as aerial photography For example the action of a camera s aperture could send a pulse to the Event port of the C Nav2050M This would give the user output position in...

Page 51: ...ns where relative timing is required Specifications 12 5ns relative accuracy Better than 100ns absolute accuracy 50 Ohm TTL level Pulse width default 100mS range 10 999mS Pulse delay default 0mS range 0 999mS Rising or Falling Edge Synchronization A BNC female connector provides the 1PPS output pulse A 3ft 0 9m long BNC male to BNC male cable P N 4250006 3 is available by contacting C Nav Support ...

Page 52: ...gure 11 Event Cable Wiring Diagram Table 4 Event Wiring Connections Pin Signal Name Color 1 Event Lo Black 2 Event Hi Red 3 Ground White 4 CAN Hi Green 5 CAN Lo Orange Once the cable is wired to correspond with the event pulse requirements configure the receiver to output the message containing a time mark referenced to the time kept within the receiver indicating when the event is sensed 0xB4 See...

Page 53: ...program s 1PPS Event Latch window Figure 12 1PPS Event Latch Configuration Enable the Event Latch message 0xB4 in the NCT 2000 Message Output list Set the Message Rate for 0xB4 to On Trigger Right Click on the Rate area adjacent to the B4 Message ID and follow the menu as depicted in Figure 13 Once configured the Event Latch Message 0xB4 is output upon recognition of an input trigger by the receiv...

Page 54: ...tioning rate 1 5 10 or 25Hz To power the unit on or off depress the I O switch for more than 3 seconds All LEDs illuminate for a period of 3 5 seconds during power up of the GPS receiver Link LEDs Table 5 Link LED Indication Default LINK Status Command Mode Repeating Red to Amber to Green indicates Searching for C Nav Correction Service signal C No 8dB Strong Signal Strength from C Nav Correction ...

Page 55: ... reflect the type of RTK corrections when the C Nav2050 is operated as a Base Station RTK UltraRTK NCT Proprietary 1Hz blink rate CMR 1Hz blink rate RTCM 18 19 1Hz blink rate 20 21 5Hz blink rate GPS LEDs Table 7 GPS Light Indication GPS Status Power is off Power is on No satellites tracked Tracking satellites position not available yet Non differential positioning Code based differential position...

Page 56: ...C Nav2050 User Guide 2 14 ...

Page 57: ...when working at heights to prevent injury to personnel or death Prior to commencing any work on the mast ensure that all radar systems are switched off and isolated Standard Antenna The 5 8 inch BSW threaded antenna mount has a depth of 16mm 0 63 inch Do not loosen or remove the eight Phillips screws on the base of the antenna for mounting purposes This will VOID the warranty and compromise the en...

Page 58: ... elevation generally are not a problem though this is dependent on satellite availability for the local region Avoid placing the antenna where more than 90º azimuth of the sky is obstructed When more than 90º of azimuth is shaded it is often still possible for the reciever to navigate however poor satellite geometry due to satellite shading will provide poor positioning results Even 10º of shading...

Page 59: ... between antennas is 1m 39 in which provides 6dB of isolation For 10dB of isolation separate the GPS antennas by 2 5m 8ft and for 13dB of isolation recommended separate the antennas by 5m 16ft Active antennas those with LNA s or amplifiers create an electrical field around the antenna These radiated emissions can interfere with other nearby antennas Multiple GPS antennas in close proximity to each...

Page 60: ...o signal strength throughout the entire elevation tracking path A clear line of sight between the antenna and the local INMARSAT satellite is required to track the C Nav Correction Service signal INMARSAT satellites are geo synchronized 35 786kms above the Equator currently at Longitudes 142 West 97 65 West 15 5 West 25 East 109 East 178 East Antenna Mounting Pole Included with the C Nav2050 are t...

Page 61: ...adaptor converts From 5 8 BSW depth of 14mm 0 55 To 1 14UNS 2B depth of 32mm 1 C Nav recommends that the supplied mounting adaptor hardware P N 3250005 0 be used in conjunction with the supplied antenna mounting pole P N WES534610 as the primary means of mounting Figure 16B Antenna Mounting Pole and Adaptor Figure 17 Antenna Adaptor and Mounting Pole 3 5 ...

Page 62: ...otential risks to personnel and equipment due to possible dropped object hazards 2 Install the antenna with an antenna mounting pipe in the predetermined location The pipe can either be welded to the mast for a more permanent installation or secured using stainless steel hose clamps 3 Use a level to ensure that the antenna is mounted vertically Antenna has 360 view of the sky Coaxial Cable Connect...

Page 63: ...cautions a GPS antenna s the standard Figure 19 High Latitude L band Antenna n platforms with many antenna systems it is better to m path and the 8 rd and L band antenna specifications O locate the standard GPS antenna closer to the wheelhouse but out of the radar or satcom bea and the L band antenna high on the mast Applications at high latitudes without the L b antenna should mount the GPS anten...

Page 64: ...Avoid ru too power cables and high power RF cables Ensure edges or places where the cable could become pinched or damaged in any way Determine the manufacturers specifications for the coaxial cable in use This should include impedance diameter attenuation in dB 100ft and dB 100m at 1 575GHz velocit propagation and the minimum bend radius of the cable Ensure the cable does not exceed the recommende...

Page 65: ...se from the amplif and possible ingress of moisture and dust to the in line amplifier In line amplifier or splitter devices must pass DC power from the receiver to the antenna or source the appropriate voltage and current to the antenna see Appendix B In line amplifiers may also over saturate the receiver front end if improperl used Contact C Nav Support for more information on available in line a...

Page 66: ...the cable route with tape or zip ties and place a label at the GPS receiver end of the cable for identification purposes 6 Connect the coaxial cable to the female TNC connector on the GPS receiver labeled GPS ANT See Figure 8 Ensure that any slack in the cable is neatly stowed and that the minimum bend radius is not exceed during this process C Nav2050R only If using the L band antenna at high lat...

Page 67: ...5 21 066m LMR400 5 263 17 267 133 004 40 540m LMR600 3 408 11 181 205 399 62 606m ning Protection Where the GPS antenna is exposed to sources c discharge such as lightning surge suppressor between the GPS receiver ct ailable GPS R The C Nav2050 GPS receiver is best installed using the integrated mounting brackets of electromagneti install a properly grounded in line electrical and antenna Install ...

Page 68: ...r in a confined space or where it may be exposed to excessive heat moisture or humidity Install the receiver in a location with easy access to both the front and back panels There are no user serviceable parts inside the GPS R The co female as show S connectors er the antenna preamplifier VDC and C Nav2050 GPS Receiver Removing the screws that secure the front and rear end plates will void the equ...

Page 69: ...mA max power to the C Nav Correction Service only antenna preamplifier not disconnect the ered on C Nav2050 system is supplied with 12ft 3 6m cable P N 4250001 12 The cable with a right angle male TNC connector and a straight male TNC con Also includes an addition L band antenna cable for use with the L band antenna P N 4250008 12 Block Diagrams The C Nav2050 has three user configurable physical c...

Page 70: ... the next section The Radio Diagnostic port connects to an internal UHF radio and is not used nor should it be assigned as a logical port in any of the C Nav2050 products Figure 21 Radio Port Configuration in StarUtil Figure 22 C Nav2050R Block Diagra For G r to Appendix A m PS receiver specifications and dimensions refe 3 14 ...

Page 71: ...ited to 19 2K baud Thus the the Rover the NMEA Port is an output logical port t r NCT output corrections e caveats to Logical Physical port assignments The Control Po The Control Port typically handles the requires baud rates in excess of 19 2K baud particularly in multi hertz measurement and navigation applications Though COM1 is physically capable of operating at 115K baud the throughput from th...

Page 72: ... Data Interface Cable Use of the dual data interface cable P N 4250004 0 to COM1 via the LEMO 7 pin connector allows simultaneous input of external Radio IALA correction data messages and position data messages to your controlling device Figure 24 Dual Data Cable 3 16 ...

Page 73: ...er Guide Refer to Table 9 and Figure 25 for Dual Data Cable interface with C Nav2050 COM1 blue and red cable in Figure 26 Table 9 Dual Data Interface Cable I O Figure 25 Dual Data Cable Pin Assignment Diagram 3 17 ...

Page 74: ...3 18 Connect to Nav or DP System for NMEA Data Controller Solution C Monitor C Setup StarUtil or C NaviGator External 3 r Figure 26 Optional Com Port Setup with Dual Data Cable Message Output d Party nput connection i RTCM ...

Page 75: ...C Nav Support for more information on available controller software options 3rd party controller Some manufacturers already integrated C Nav s control features in their bu n tion kits in a v licatio GIS Machine Control Aerial Photogrammetry Land Oceanographic Survey Agriculture and applications is av g C Nav Support User Program Users may develop unique operating programs to control the C Nav2050 ...

Page 76: ...output to from the receiver The user has full control over the utilized message types and their associated rates via either C Setup C Monitor C NaviGator StarUtil or a third party software utility Though the output rate defaults to 1Hz the data output rate can be changed to On Change in StarUtil Making this selection in the NMEA output list will better reflect the navigation rate selected in the R...

Page 77: ...the factory designated contr manages the full functionality of the C Nav2050 igure 28 StarUtil Rover Navigation Setup rt is typically used to output data to othe or machines that can make immediate use of cise positi t output port when NCT RTK UltraRTK CMR o RTK correction services are in use ctory Default Configuration Control Port te 19 2Kbps ol port and 4 3 ...

Page 78: ...Messages Table 10 Factory Default NCT Binary Messages COM Msg R 44 On Change Almanac 81 On Change Ephemeris 86 On Change Channel Status A0 On Change Alert Message AE 600 Seconds Identification Block B0 On Change Raw Measurement Data B1 On Change PVT Solution The term On Change indicates that the C Nav2050 will output the specified message only when the information in the message changes On occasio...

Page 79: ...atus information containing the GPS week GPS Time of Week number of satellites viewed tracked PDOP tracked satellite identity satellite elevation and azimuth C No for the L1 signals and correction age for each satellite A0 Alert Text Message Details message receipt and processing A Details the receiver software versions GPS Engine and Processor and digital serial numbers B1 PVT Position Velocity a...

Page 80: ...ntrol port of the C Nav2050 unit ckly the source of any problems 1 Start StarUtil 2 6 or higher and open the PC e RAW GPS t Typically 0 unit Logged data files can help C Nav Support to better understand the nature of user issues and more qui determine Communications port to receive th binary data from the Control Por COM2 of the 205 Figure 29 StarUtil PC Port Configuration 4 6 ...

Page 81: ... 0xB0 Raw Measurements 0xB1 Solution 0xB2 Satellite Se 0xE1 Failure Details 0x5F 0x60 0xD3 LBM DSP Status from the LBM Status Menu Receiver Setup StarFire Configure Message Output ure 30 NCT Binary Message Output Configuration Fig the ata se a logging file name of serial number of receiver dat 3 Using the StarUtil data logging utility enable logging schedule and log the RAW binary d to a file U 4 ...

Page 82: ...le every day in the selected logging directory 5 If desired unwanted data files can be purged to save disk space The RAW binary data will be recorded in 24 hour data files that can be saved to a CD ROM or compressed using WinZip and uploaded to the C Nav FTP site for Enter a filename using the actual C Nav2050 Serial Number with an extension of dat analysis 4 8 ...

Page 83: ...ner of the screen nding Data to C Nav ort Raw GPS b Support to help resolve GPS related queries or con n acco p Nav FT delivery ging Raw Binary Data Using C Setup C Monitor aw binary data using C Setup or C Monitor the NCT binary messages cribed in the previous 1 Select File Log 2 Choose logging period 3 Log data to the 4 Refer to the respective users detailed softwar 1 Insert a USB Memory S USB p...

Page 84: ...will open a new window connecting directly to the FTP server Simply drag and d the files to be uploaded into the window If the window does not automatically open u the following information to log into the serv o User ID Anonymous o Password Your E mail Address o upload to the directory pub incoming upload You should now be able to upload your logged raw data files to the directory Note When using...

Page 85: ...nformation on the setup of the C Nav2050 a rover contact C Nav Support as 3rd ttings Ple ma er is par Party Controller Configuration Se ase refer to the third party controller solution nual users guide if the C Nav2050 GPS receiv t of an integrated solution 4 11 ...

Page 86: ...C Nav2050 User Guide 4 12 ...

Page 87: ...nt failure amp equipment must be dried at a temperature less an 40 C 104 F but greater than 5 C 41 F at the arliest opportunity xternal Power Source he C Nav2050 is supplied with an external power able This must be connected to the chosen external ower solution in accordance with Chapter 2 terfacing Electrical Power It is important that the xternal power source allow sufficient current draw for Th...

Page 88: ...urer This includes other manufacturer s equipment that may be attached to C Nav manufactured equipment Always use the equipment in accordance with local regulatory practices for safety and health at work There are no user serviceable parts inside the C Nav2050 GPS receiver Accessing the inside of the equipment will void the equipment warranty Take care to ensure the C Nav2050 does not come into co...

Page 89: ...navgps com coin cell bat is removed from the unit This allows faster satellite acquisition upon unit power up The cell has been designed to meet over 10 years of service life before requiring replacement at a C Nav approved maintenance facility All in view 12 L1 GPS 12 L2 GPS 2 SBAS Global decimeter level accurac Nav Correction Service Fully automatic acquisition of satellite broadcast corrections...

Page 90: ...c CAN bus C Nav20 Time To First Fix Cold Start Satellite 60 Seconds typical with Acquisition 5 minutes typical without Almanac Satellite Reacquisition 6 seconds outage time immediate reacquisition 1 second 30 seconds software typical with outage time 65 seconds 65 outage time requires full acquisition process Dynamics Acceleration up to 6g Speed 515 m s Altitude 60 000 ft To comply with Marine Equ...

Page 91: ...m RMS Position H Position Velocity V 12 cm 2ppm 25 cm 2ppm 0 01 m s UltraRTK Positioning 40km RMS 0x5E msg Position H 01 m s Position V Velocity 1 0 cm 1ppm 0 0 5 cm 1ppm RTK Positioning 10km RMS 0x5B msg Position H Position V Velocity 2 cm 1ppm 1 cm 1ppm 0 01 m s RTK Extend 10km RMS Position H Position V 4 cm 1ppm Velocity 2 cm 1ppm 0 01 m s Pseudo range Measurement Precision RMS Raw C A code 20c...

Page 92: ...25Hz Optional Raw data 1 2 5Hz Standard 10 25 50Hz Optional C Nav2050M PVT 1 2 5 10Hz Standard 25Hz Optional Raw data 1 2 5 10 25Hz Standard 50Hz Optional 1PPS Data Latency PVT t all rates 20 ms a Raw data 20 ms at all rates Accuracy 12 5ns Relative User ble C Nav2050M Configura Only A 4 ...

Page 93: ...ent Marker I P C Nav2050M Only 1PPS C Nav2050M Only NCT Proprietary PVT Dat Raw M Satellit Nav Qu a easurement e Messages ality Receiver Commands NMEA 0183 ALM GBS GGA GLL GRS Me Ou GSA G VTG ZDA ssages tput Only ST GSV RMC Proprietary NMEA 0183 Type SET Output Only Cod RTCM WAAS SAS GAGAN e Corrections 1 or 9 EGNOS M RTK Correction NCT Pr Dat oprietary C Nav ce RTG Dual RTCM a I O Correction Serv...

Page 94: ...8 W Inpu Connectors I O Ports DC Power RF Connector C 2 x 7 pin Lemo 4 pin Lemo TN Antenna Power 5 VDC 0 05mA bias for LNA Temperature ambient Operating Storage 40º C to 55º C 40º C to 85º C Humidity 95 non condensing C Nav Correction Service Signal ser Link Strength Default U Programmable Base Station N A in Standard C Nav2050 Configuration User Programmable GPS Position Quality WAAS EGNOS MSAS G...

Page 95: ...C Nav2050 User Guide Figure A1 C sions Nav2050 Front Dimen Figure A2 C Nav2050 Base Plate Dimensions A 7 ...

Page 96: ...C Nav2050 User Guide A 8 ...

Page 97: ...nd Circular RHCP Pre Amplifier 39dB gain 2dB Noise Figure 2 5dB Impedance 50 Ohms VSWR RL 2 0 1 9 54 dB min Band Rejection 20 dB 250MHz RF Power Handling 1 Watt Input Voltage 4 2 to 15 0 VDC Power Consumption 0 3W 60mA 10mA 5VDC Cable Connector TNC Female Operating Temp 55 C to 85 C Altitude 70 000ft 21 336m Finish Fluid resistant Ultem UV stable P N 8250002 0 is an optional aircraft mount ante De...

Page 98: ...250001 0 Antenna Dimensions To achieve the greatest level of accuracy the absolute phase center values must be incorporated into your processing Phase center information on this antenna is found on the antenna bottom and in Figure B2 B 2 ...

Page 99: ...B 5º 6 5dB 90º 07 00008 A AN 2004T Radiation Pattern erform at elevations an 30º There is a 10dB variation between 0º and 90º elevation factor 10x therefore lower elevation satellites are always more difficult to track and 0º Figure B3 Optimal antenna p ance is realized greater th There is a 5dB variation between 35º elevation factor 3x B 3 ...

Page 100: ... 25dB gain min to coax end Noise Figure 1 0dB typical Impedance 50 Ohms Input Voltage 3 0 to 5 5 VDC Power Consumption 0 3W typical 8 5mA 10mA 3 6VDC Cable Connector TNC Female Cable Length 3 meters Operating Temp 55 C to 85 C Magnetic attachment shear strength 3Kg Typical Direct attachment force pull 4Kg Typical The quadrafilar antenna wind loading 200Km hr Min forc brushing imum break over e fol...

Page 101: ...C Nav2050 User Guide Figure B4 C Nav2050R Antenna Dimensions Figure B5 C Nav2050R Antenna Mounts B 5 ...

Page 102: ...ons va tween 40º and vation factor 6 3x therefore her elevation satellites are always more difficult to track There is a 3dB variation between 10º and 0º elevation factor 2x 0R Antenna Rad Optimal antenna performance is realized at e between 10º and 50º There is an 8dB 90º ele hig riation be B 6 ...

Page 103: ...C Nav2050 User Guide C Nav2050 User Guide B 7 Airborne Antenna Dimensions Fig ns ure B7 P N 8250002 0 Antenna Dimensio B 7 ...

Page 104: ...C Nav2050 User Guide B 8 ...

Page 105: ...th exceptional reliability and unprecedented accuracy of better than 10cm 4 inches Because the corrections are broadcast via INMARSAT geo stationary satellites the user needs no local reference stations or post processing to get this exceptional accuracy Furthermore the same accuracy is available virtually any where on the earth s surface on land or sea from 76 N to 76 S latitude due to the worldw...

Page 106: ...tralia Burum the Netherlands Santa Paula California Auckland New Zealand and Southbury Connecticut for rebroadcast via the geo stationary satellites The key to the accuracy and convenience of the C Nav system is the source of SBAS corrections GPS satellites transmit navigation data on two L band frequencies The C Nav reference stations are all equipped with geodetic quality dual frequency receiver...

Page 107: ...overage area Each L band satellite covers more than a third of the earth Users equipped with a C Nav precision GPS receiver actually have two receivers a single package a GPS ceiver and an L band com unications receiver both his system The GPS receiver atellites in view and makes pseudorange es s ccuracy is ceivers processors and communication interfaces hich switch automatically or in response to...

Page 108: ...am of support enginee round the clock monitoring and control of the system The network is a fully automated self monitoring system To ensure overall system integrity an independent integrity monitor receiver similar to a standard C Nav user receiver is installed at every reference station to monitor service quality Data from these integrity monito processing hubs in Torrance California and Moline ...

Page 109: ...lease provide the following information Vessel Info and brief project description Name Number Location Customer Info Company Name PO Ref Num Point of Contact C Nav Equipment Details Receiver Type Firmware version Serial Number P N s etc Required Start Stop Date or Period Service Type Land or Offshore Activation or Deactivation Operational Region Asia Australia China South and Central America Carib...

Page 110: ...7 21 702 1870 Asia 65 9675 9033 C Nav offers a variety of receivers configured for different applications Details of all the C Nav receivers are available from a C Nav authorized local representative or on the C Nav website at www cnavgps com Figure C1 C Nav Correction Service Network C 6 ...

Page 111: ...M This output message reports orbital data almanac for the specified GPS satellite and is in compliance with s NMEA 0183 Standards version 3 0 Table D1 ALM Output Format Examp GP 379706 080 le ALM 32 1 01 1423 00 35BF 7B 1F38 FD5B A10D8B 78C23F B7E3C6 001 36 D 1 ...

Page 112: ...put message is used to support Receiver Autonomous Integrity Monitoring RAIM and is in compliance with NMEA 0183 Standards version 3 0 Table D2 GBS Output Format Example GPGBS 233618 00 0 2063 0 0220 0 4760 14 0 0001 2 4018 8 5704 65 D 2 ...

Page 113: ...age reports position and fix related mation and is in compliance with NMEA ty 0183 Standards version 3 0 unless Field 14 is set to NCT Station ID NCT Station ID is a C Nav proprie format Table D3 GGA Output Format See exceptions to Field 14 on next page D 3 ...

Page 114: ...49 W12 B0 Note that the in Field 14 is the same as that of the essage 0xB1 W22 he format of Field 14 when NCT Station ID is chosen a 3 digit integer value as denoted below as XYY X is the C Nav Correction Service satellite beam use and YY is the GPS correction signal type in use NCT Format Field 14 Beam Selection ID NMEA GP The tables below detail the information contained in F c Navigation Mode m...

Page 115: ...C Nav2050 User Guide NCT Format Field 14 Navigation Mode D 5 ...

Page 116: ...his output message reports geographic position latitude and longitude information and is in compliance with NMEA 0183 Standards version 3 0 Table D4 GLL Output Format Example GPGLL 3713 870070 N 12148 058706 W 032618 00 A D 7C D 6 ...

Page 117: ... the decimal part is dropped resulting in a integer 103 7 becomes 103 The maximum value for this field is 999 The sense or sign of the range residual is determined calculation The xpected order is al calculated range measured range being sent then eir order of transmission must match the order of orresponding GSA sentences Listeners shall keep ack of pairs of GSA and GRS sentences and discard ata ...

Page 118: ...output message reports 2D 3D solution mode DOP values and active satellite information and is in compliance with NMEA 0183 Standards version 3 0 Table D6 GSA Output Format xample PGSA A 3 03 08 13 16 20 23 25 27 2 4 1 4 1 9 36 E G D 8 ...

Page 119: ...output message reports pseudorange noise statistic information and is in compliance with NMEA 0183 Standards version 3 0 Table D7 GST Output Format GPGST 032746 00 22236 0738 0 0552 0 0355 019 4414 0 0543 0 0368 0 0 Example 991 6A D 9 ...

Page 120: ...ata for up to 4 satellites equired for full satellite message is in compliance with NMEA 0183 Standards version 3 0 Table D8 GSV Output Format th so several sentences may be r in view information The format for this xamples PGSV 3 1 11 13 68 347 50 23 66 87 50 25 56 40 0 27 45 277 46 78 PGSV 3 2 11 16 23 44 45 20 22 174 36 08 21 259 38 03 21 103 36 43 PGSV 3 3 11 19 09 128 32 04 05 266 34 02 01 30...

Page 121: ...inimum recommended GPS information including position velocity and time information and is in compliance with NMEA 0183 tandards version 3 0 Table D9 RMC Output Format S Example PRMC 033341 00 A 3713 870096 N 12148 058706 W 0 03 0 0 180407 0 E D 19 G 0 D 11 ...

Page 122: ...Guide GPVTG This output message reports velocity and course over ground information and is in compliance with NMEA 0183 Standards version 3 0 Table D10 VTG Output Format xample M 0 03 N 0 06 K D 0D E GPVTG 0 0 T D 12 ...

Page 123: ...50 User Guide GPZDA This output message reports date and time information and is in compliance with NMEA 0183 Standards version 3 0 Table D11 ZDA Output Format Example GPZDA 035751 00 18 04 2007 00 00 6B D 13 ...

Page 124: ...s not recognized by the NMEA gover sanctioned message Table D12 SET Output Format This output message reports C Nav proprietary SET solid earth tides PT polar tides and Ocean Loading values It is a C Nav propriet a ics of a standard NMEA string ning body as an officially NCTSET 214040 00 0 060 0 018 0 110 47 Example P D 14 ...

Page 125: ...C Nav2050 User Guide Appendix E Certificates Certificate of Registration E 1 ...

Page 126: ...C Nav2050 User Guide E 2 ...

Page 127: ...C Nav2050 User Guide Certificate of Type Approval E 3 ...

Page 128: ...C Nav2050 User Guide E 4 ...

Page 129: ...C Nav2050 User Guide E 5 ...

Page 130: ...C Nav2050 User Guide Ministry of Transportation of the Russian Federation Certificate of Type Approval E 6 ...

Page 131: ...ntifiers and Modes L band ID SV Name RTG SBAS Geo stationary Position Am 1 Americas Net 1 YES NO 97 65 W EuA 1 Europe Africa Net 1 YES NO 25 E Pac 1 Asia Pacific Net 1 YES NO 109 E Am 2 Americas Net 2 YES NO 142 W EuA 2 Europe Africa Net 2 YES NO 15 5 W Pac 2 Asia Pacific Net 2 YES NO 178 E PRN 120 Inmarsat 3 F2 AOR E NO EGNOS 15 5 W PRN 124 ARTEMIS NO EGNOS 21 5 E PRN 126 Inmarsat 3 F5 IOR W NO E...

Page 132: ...C Nav2050 User Guide F 2 ...

Page 133: ... en rd munic s ment GPS Differential Global Positioning System t CDIS Electronic Chart Display Information System CEF Earth Centered Earth Fixed GNOS European Geostationary Navigation Overlay Service W British Standard Whitworth C A Coarse ion CEP Circular Err obab CDU Control Dis Unit COM Communica CMR Compact Me rem t Reco Db Decibel DCE Data Com ation Equip Deg Degree D DOP Dilution of Precisio...

Page 134: ...ision F High Frequency HOW Hand Over Word Hz Hertz I O Input Output IGN Ignition IMO International Maritime Organization INMARSAT International Maritime Satellite Consortium Ltd INS Inertial Navigation System IODC Issue of Data Clock ITRF International Terrestrial Reference Frame JPL Jet Propulsion Laboratory Kbps Kilobits per second KHz Kilohertz LAN Local Area Network Lat Latitude LCD Liquid Cry...

Page 135: ...27 NAD83 North American Datum 1 NASA National Aeron Administration Nav Navigation NGS National Geodetic S NOAA National Oceanic and At Administration U S P N Part Number PCM Pulse Code Modulation PDOP Positiona PPS Precise Positioning Service prn pseudora PVT Position Velocity Time RAIM Receiver Autonomou Monitoring RHCP Right hand Circular Polarization RINEX Receiver Independent Exchange RMS Root...

Page 136: ...ed Augmentation Sy SEP Spherical Error Probable SI International System of Units SNR Signal to Noise Ratio SPS Standard Positioning Service SSR Spread Spectrum SV Space Vehicle TDOP Time D UHF Ultra High Fre USB Universa USGS U S Geological Survey UTC Universal Time Coordinated VDOP Vertical Dilution of Precision VHF Very High Frequency WAAS Wide Area Augmentation System Wide Ar System WDOP Weight...

Page 137: ... a precision e pulse out marks exact second intervals It is used for prec timing and to synchronize receivers and acquisition compute yym file year data was collected yyn files see navigation files where yy tw data was collected yyo files year data was collected Absolute Positioning is the ability of a GPS re produce positional values without another reference e degree of conformity calculate Accu...

Page 138: ...ith S A off Average Deviation is a measure of variability in a data set but it is more robust than standard deviation It is electrica nts that are decoded Patch or Microstrip antennas are mo in GPS Antenna Phase Center APC is the point in an antenna where the GPS signal from the s received The height above ground of the measured accurately to ensure accurate GPS The APC t can be calculated by to a...

Page 139: ... turned on Bandwidth is a measure of the width of the frequency spectrum of a signal expressed in Hertz Baseline is the resultant three dimensional vector V between any two stations from which simultaneous GPS data have been collected and processed Generally given in earth centered Cartesian coord where V Base station see reference station Baud Rate bits per second is the number of bits s or recei...

Page 140: ...d mount for survey instruments 1 Mount included C Nav Correction Service is a set of real time global orbit and clock corrections for GPS satellites C Nav equipped receivers are capable of real time decimeter positioning s C A code see Coarse Acquisition code CAN B that uses an asynchronous transmission scheme Oft used for communications in vehicular applications Carrier is a hig one characteristi...

Page 141: ...ian code see Coarse Acquisition code Clock Bias is the difference between GPS Time and UTC Coarse Acquisition code C A or Civilian code is the pseudo random code generated by satellites It is intended for civilian use and the accuracy of readings using this code can be degraded if selec availability S A is introduced by the US Departm Defense Collimate is to physica antenna over a mark COM is the ...

Page 142: ...eived C Nav signal corrections to be applied a the position filtered to optimal performance The convergence period is typically 30 to 45 minutes to achieve decimeter accuracy Cycle Ambiguity see Ambiguity Cycle Slip is a discontinuity in phase resulting from a temporary loss of carrier tracking loop of a GPS receiver Datum A reference datum is a known and constant surface which can be used to desc...

Page 143: ...dicular to the ellipsoid DGPS see Differential GPS Differencing is a techn processing to resolve the integer cycle a reduce a number of error sources including oscillator variations and atmospheric and orbital modeling This technique differences the measurement o carrier beat phase across time frequency receivers satellites or any combination of these The most popular differences are single double...

Page 144: ...ifts to help the receiver smoothly track the GPS signal allowing more precise velocity and position measurement Doppler Shift is the apparent change in frequency o received signal due to the rate between the transmitter and receiv Double Difference between receivers and between satellites is found by differencing the single differenc for one satellite with the single difference satellite where bot...

Page 145: ...onally surveyed oid which has an ximates the earth s tion of e rth s surface generated by rotating an ellipse on its which does not match the earth s geoidal surface closely so GPS altitude measurements can contain large vertical error component ositions usually reference a ge p undulating surface and appro surface more closely to minimize altitude errors Ephemeris is a tabulation of the positions...

Page 146: ...is the distribution of sign amplitudes as a function of frequency of the constituent signal waves Galileo is the navigation satellite system developed and implemented by the European Space Agency the European Union Initial operation is planned for 2008 Geodetic Leveling Network is a network of vertica control or benc accurately as possible and whose horizontal position known only approximately Geo...

Page 147: ...res the distance from a p satellites from a constellation of 24 NAVSTAR satellite orbiting the earth at a very high altitude approximately 20 200km These distances are used to calculate the point s position GPS Time is a measure of time GPS time is base UTC but does not add periodic leap seconds to correct for changes in the earth s period of rotation As of April 2008 GPS time is 14 seconds ahead ...

Page 148: ...ny value transmitted by the satellite during the preceding seven days Kalman Filtering is a linear system in which the mean squared error between the desired output and the actual output is minimized when the input is a random signal generated by white noise The Kalman filte at a target to remov good estimate of the location of the target at the prese time filtering at a future time prediction or ...

Page 149: ...ar measurement from the plane of the equator to a line from the center of the earth to the point of interest Often abbreviated as Lat Least Squares A technique used on data sets that attempts to find the number that provides the best fit to the data It do so by minimizing the sum of the squares of the residuals which are the difference between the estimated best fit and the data point squared It i...

Page 150: ...ntrol segment to monitor and control satellite clock and orbital parameters Corrections are uploaded to each satellite at least once per day See Control Segment Multipath is a phenomenon whereby GPS signals from a satellite arrive at an antenna having traversed different paths The signal traversing the longer path may have been reflected off one or more objects the ground a vehicle boat building o...

Page 151: ...tion YYo files one of the three f make up the RINEX file format Where YY indica last two digits of the year the data was collected An observation file contains raw GPS position information P code is the extremely long pseudo random co generated by a GPS satellite It is intended for us by the U S military so it can be encrypted to Y code and then denies unauthorized users access Parity is a method ...

Page 152: ...centage of a portion of a wave e g a sine wav For example a complete wavelength Position is the latitude longitude and altitude of a point An estimate of error is often associated with a position Position Dilution of Precision PDOP is a measure of the magnitude of Dilution of Position DOP errors in the x y and z coordinates Post processing is a method of differential data correction which compares...

Page 153: ...e A projected coordinate sys includes the information needed to transform locations expressed as latitude values to x y coordinates Projections cause distortion in one or more of these spatial properties distance area shape and direction Protected code see P code Pseudo Random Noise prn is a sequence of data that appears to be randomly distributed but can be exactly reproduced Each GPS satellite t...

Page 154: ...can be determined if you know the ranges from the receiver to at least four GPS satellites Geometrically there can only be one point in space which is th from each of four known points Real Time GIPSY RTG is a processing technique developed provide a single set of real time global corrections for the GPS satellites Real Time Kinematic R yields very accurate 3D position fixes immediately real time ...

Page 155: ...ed to discriminate satellite signals GPS signals are RHCP Root Mean Square RMS is a measurement of precision also applicable for horizontal stations Probability for RMS is 68 3 meaning that if 100 observations are made 68 of t root mean square 1 standard deviation Rover is any mobile GPS receiver and field comput collecting data in the field A roving receiver s positio can be differentially correc...

Page 156: ...ch as 100 meters Signal to Noise Ratio SNR is a measure of a satellite s signal strength Single Difference between receivers is the instantaneous difference in the co phase measurements made at two receivers simultaneous observing the same signal Single frequency is a type of receiver that only uses the L1 GPS signal T ionospheric effects The C Nav1010 is a single frequency receiver Space Segment ...

Page 157: ... Mean Square 2dRMS is a measurement that varies in its probability from 95 4 t 98 2 meaning that if 100 observations are taken between 95 and 98 of those observations will be within the 2dRMS where approximation 2ơ Universal Time Coordinated UTC a time standa maintained by the US Naval Observatory based on local solar mean time at the Greenwich meridian GPS time is based on UTC User Segment is the...

Page 158: ...ode is the name given to encrypted P code when the U S Department of Defense uses selective availability Z count Word is the GPS satellite clock time at the leading edge of the data subframe of the transmitted GPS message G 26 ...

Page 159: ...xvi xvii xviii xxvii Calculated Range D CAN Bus 1 4 2 8 A Cancel code 7 5 vii viii 2 9 3 11 3 13 3 15 4 1 4 6 4 8 4 9 4 10 A 5 A 6 B 1 B 4 C 4 C 6 G 7 G 5 C Monitor iii v vii 4 1 4 2 4 9 CMR CMR 1 1 G 9 C Nav ii v vii viii xv xvii xviii xxiii xxvi xxvii 1 1 1 3 1 5 1 7 1 8 1 9 1 10 1 11 2 4 2 5 2 6 2 7 2 8 2 9 2 11 2 1 2 13 3 3 3 4 3 5 3 4 11 5 1 5 2 A 1 A 5 A 6 B 1 B 4 C 1 C 4 C 5 C 6 D 14 F 1 G ...

Page 160: ...15 A 1 F 1 G 6 G 8 G 9 G 10 G 11 G 12 G 22 G 23 G 25 C Setup iii v vii 4 1 4 2 4 9 D Coaxial cable COCOM COM1 i 2 5 3 14 3 15 3 16 3 17 4 2 COM2 C C Datum xx 1 9 G 10 G 25 DCE xx 2 5 2 6 3 15 G 1 G 10 G 11 Differential positioning 2 13 DTE xx 2 5 G 1 G 11 Dual Data Cable i 1 3 3 16 3 17 3 18 Dual frequency 1 1 G 12 E EGNOSxxv 1 1 1 5 1 7 1 8 1 9 1 11 A 5 A 6 F 1 G 1 G 14 G 23 Electrical power 2 1 ...

Page 161: ...G 14 G 15 G 16 G 17 G 18 G 19 G 21 G 22 G 23 G 24 G 25 G 26 Hardware installation 3 1 Heading 1 6 I Impedance 2 8 3 8 B 1 B 4 In line electrical surge suppressor 3 11 lation 2 4 3 3 3 7 lation Mount Adaptor 2 4 Iso Iso L L11 3 1 7 1 8 1 10 3 3 4 5 A 1 B 1 F 1 G 12 G 16 G 18 G 19 G 24 L21 3 1 7 1 8 1 10 3 3 A 1 B 1 G 12 G 16 G 17 G 18 G 19 G 24 band antenna ii iv 1 8 3 7 3 10 3 13 Ds ii 2 12 2 13 M...

Page 162: ...D NMEA i xx xxiv 1 6 3 15 4 2 A 2 A 5 D 1 D 6 D 8 D 9 D D 11 D 12 D 13 D 14 AA 1 7 1 8 G 3 4 D 5 10 NO O Obstructions 3 3 Oscillation 3 3 P Performance xviii xix 1 1 1 7 1 8 3 1 3 2 3 3 3 4 3 9 4 1 B Polarization B 1 B 4 G 3 G 23 R 3 B 6 G 10 Position 1 5 1 6 1 7 1 10 4 5 A 6 F 1 G 3 G 20 Power cable ii 1 3 2 1 2 2 2 3 5 1 Power cord ii Pre Amplifier B 1 B 4 Proprietary Data 1 6 A 5 PVT 1 5 1 10 2...

Page 163: ...anac 1 6 SBAS xxv 1 1 1 5 1 9 A 1 F 1 G 4 G 23 lective availability xviii Serial cable i iii 2 5 3 15 StarUtil 2 11 3 14 4 1 4 2 4 3 4 6 4 7 4 8 ption vi vii viii xvii C 4 C 5 F 1 Satellite Calculator xxiii Satellite Ephemeris 1 6 Satellite Locator 3 3 F 1 Se Serial Number xv C 5 Shock isolators 3 12 Signal to noise ratio 1 11 Solid Earth Tide 1 7 Subscri T Technical Reference Manual xxiii 1 6 1 7...

Page 164: ...C Nav2050 User Guide V Velocity 1 5 1 6 1 10 4 5 G 3 Voltage 2 8 A 6 B 1 B 4 VueStar 1 8 W WAAS xxv 1 1 1 5 1 7 1 8 1 9 1 11 A 5 A 6 F 1 G 4 G 23 G 25 WinZip xxvii 4 8 4 10 H 6 ...

Page 165: ...NOTES ...

Page 166: ......

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