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NAVIOR-24S

™

Appendix B

Navis Standard Interface Protocol BINR

93

NAVIOR-24S ™

Revision

V1.00 20.05.2008

Almanac data

Load/Request Packet 20h

Packet 20h requests the host or loads it with the almanac of one satellite.
When requesting GPS-satellite almanac (i.e. SV No.1), it has following structure:

1 - navigation system

01 – GPS
02 – GLONASS
Data type format - INT8U

2 - SV No

Data type format - INT8U

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Summary of Contents for A.467855.020

Page 1: ...Design Research Lab NAVIS GPS GLONASS Time synchronization OEM Module NAVIOR 24S System Designer Reference Manual...

Page 2: ...ng any information that may be in the customer s possession Furthermore system validation of this product designed by Navis within a larger electronic system remains the responsibility of the customer...

Page 3: ...escription 32 Connectors 33 Digital IO Power Connector 33 Mating Connectors 33 RF Connector 33 Digital IO Power Connector Pin out 34 Power Requirements 35 Prime Power 35 Battery Back up 36 Serial Inte...

Page 4: ...62 Dynamic Limits 62 Re Acquisition 62 NAVIOR 24S GPS GLONASS Receiver interference mask 63 GPS GLONASS Timing 64 Pulse Per Second PPS 65 PPS Output Mode 65 Always Off 65 Always On default 65 Fix Base...

Page 5: ...6 Time scales parameters 128 Time and frequency parameters 130 C BINR Tool kit User s Guide 133 Background 134 System Requirements 134 Running BM_Ctrl 135 Getting started 135 Communicating with the re...

Page 6: ...ings 187 PORZB extended request sentence 188 PORZD RMS of coordinates 189 PORZE GPS data set 190 PORZX receiver configuration 192 Special messages 193 ACFRM Factory Reset request 193 ACCSM Restart req...

Page 7: ...NAVIOR 24S System Designer Reference Manual NAVIOR 24S Revision V1 00 20 05 2008 Performance 216 Interface 217 Accessories 218 G Glossary 220...

Page 8: ...ure IV 6 Receiver Test window with test results 140 Figure IV 7 Software Revision window 141 Figure IV 8 Connection Test confirmation message 142 Figure IV 9 BINR Settings window 143 Figure IV 10 Seri...

Page 9: ...S Revision V1 00 20 05 2008 Figure IV 32 The VISUAL window 207 Figure IV 33 The VISUAL window 208 Figure IV 34 The PROFILE window 209 Figure IV 35 Numeration of X501 connector pins 218 Figure IV 36 NA...

Page 10: ...32 Table II 2 X501 I O Connector Signals 34 Table II 3 Power Requirements 36 Table III 1 Default Protocols and Port Configurations 46 Table IV 1 Default Satellite Mask Settings 56 Table IV 2 NAVIOR 2...

Page 11: ...NAVIOR 24S System Designer Reference Manual NAVIOR 24S Revision V1 00 20 05 2008 Version History Data Version What is News Author 20 05 2008 01 00 Original Prokopyuk...

Page 12: ...12 NAVIOR 24S Revision V1 00 20 05 2008 I Starter Kit Product Overview Starter Kit Receiver Performance Interface Protocols Ordering Starter Kit Components Starter Kit Interface Unit Power Connectors...

Page 13: ...atellite navigation systems according to UTC UTC SU GPS and GLONASS time scale To provide reliable navigation solution at least 4 satellites of any of GPS or GLONASS navigation systems should be obser...

Page 14: ...s 7 15 VDC power and provides regulated 3 3V power to NAVIOR 24S GPS GLONASS receiver and antenna amplifier The motherboard also contains 3 0 V lithium battery that provides back up power to the recei...

Page 15: ...a CMOS level pulse per second PPS output for timing applications or for use as a general purpose synchronization signal The NAVIOR 24S GPS GLONASS receiver acquires a position fix with minimal delay...

Page 16: ...er A NMEA NMEA 0183 is an industry standard protocol common to marine applications NMEA provides direct compatibility with other NMEA capable devices such as chart plotters radars etc The NAVIOR 24S G...

Page 17: ...ering information for the NAVIOR 24S GPS GLONASS module and the associated antennas and cables Table I 1 NAVIOR 24S GPS GLONASS Receiver Ordering Information Products Part Number NAVIOR 24S GPS GLONAS...

Page 18: ...connection to a PC serial port using the serial interface cable provided in the Starter Kit The metal enclosure protects the module and the motherboard for testing outside of the laboratory environmen...

Page 19: ...PS and Power RESET bottom are placed on the front panel The Starter Kit includes AC DC converter for powering the module from AC wall socket The metal enclosure see Figure I 2 Figure I 3 provides two...

Page 20: ...NAVIOR 24S CHAPTER 1 Starter Kit 20 NAVIOR 24S Revision V1 00 20 05 2008 Figure I 2 Starter Kit front panel view...

Page 21: ...NAVIOR 24S CHAPTER 1 Starter Kit 21 NAVIOR 24S Revision V1 00 20 05 2008 Figure I 3 Starter Kit rear panel view...

Page 22: ...lead to a source of DC positive 7 to 15 VDC and pin 14 15 power contacts lead to ground negative 7 to 15 VDC This connection supplies power to both of the receiver and antenna Note The DC power cable...

Page 23: ...e of connector is DB 9F Port COM 1 pin designation is listed in Table I 2 By default port COM 1 is adjusted to BINR protocol an exchange velocity by default is 19200 baud Table I 2 Port COM 1 pin desi...

Page 24: ...nector is DB 9F Port COM 2 pin designation is listed in Table I 3 By default port COM 2 is adjusted to NMEA 0183 protocol an exchange velocity by default is 9600 baud Table I 3 Port COM 2 pin designat...

Page 25: ...422 3 GND Ground signals Not used as power Ground 4 Y_H1S Time mark output positive RS 422 5 Z_H1S Time mark output negative RS 422 6 GND Ground signals Not used as power Ground 7 Reserved 8 Reserved...

Page 26: ...Revision V1 00 20 05 2008 Power P W R is intended for power supply connection from 7 up to 15 VDC The type of connector is DJK 05D The central contact is positive Note The alternative power connection...

Page 27: ...24S Revision V1 00 20 05 2008 Antenna ANT is adjusted to connect an external antenna to NAVIOR 24S The type of connection is R143 324 000 RADIALL male An active antenna power supply with 3 3 VDC nomin...

Page 28: ...her end of the cable to a PC If your PC has a 25 pin communication port a 9 pin to 25 pin adapter may be required for this serial interface connection 2 Connect the antenna cable to the interface unit...

Page 29: ...on the DC power source or plug in the AC DC converter 3 Insert the CD in the computer s CD ROM drive 4 The BM_Ctrl program may be run directly from the CD or it may be copied onto your computer s har...

Page 30: ...ct one end of the serial interface cable to Port COM 2 of the interface unit Connect the other end of the cable to the COM port of your PC 2 Turn on the DC power source or plug in the AC DC converter...

Page 31: ...I Hardware Integration 31 NAVIOR 24S Revision V1 00 20 05 2008 II Hardware Integration General Description Connectors Power Requirements Serial Interface Serial Port Connections Pulse Per Second PPS M...

Page 32: ...following signal as Figure II 1 shows Supports baud rate is from 1200 bps up to 115200bps Figure II 1 Interface of serial port Serial port Port TX Client sends data to the RX signal line of module Po...

Page 33: ...ors The customer must supply his own mating connector to the NAVIOR 24S GPS GLONASS receiver 20 pin 2x10 connector There are several mating connectors available Surface Mount Mating Connector Recommen...

Page 34: ...pin do not connect 7 TXDA Output Serial port A transmit 3 3V TTL CMOS 8 HS_OUT Technological pin do not connect 9 TXDB Output Serial port B transmit 3 3V TTL CMOS 10 RXDA Input Serial Port A receive 3...

Page 35: ...allel And the capacitors should put as closer as possible to the NAVIOR 24S VCC pins The receiver does not require any special power up or down sequencing The receiver power is supplied through pin 1...

Page 36: ...ack up power can last up for three years Pin 19 is recommended to connect to GND if it s not in use Warning If battery power is not present the receiver s power can be turned off and then back on to f...

Page 37: ...OS compatible TTL level serial I O The RX and TX signals on the X501 I O connector are driven directly by the UART on the NAVIOR 24S GPS GLONASS receiver Interfacing these signals directly to a UART i...

Page 38: ...1 00 20 05 2008 Serial Port Connections Figure II 2 shows the Serial port connection Figure II 2 Serial port connection Note If you want to use a synchronous system connect the Reset signal to pin 17...

Page 39: ...edge of the pulse should not be used In its default mode PPS is always on early PPS and is driven by the Real Time Clock RTC until the receiver acquires GPS time from the satellite and is getting fixe...

Page 40: ...pin STATUS it means the absence of reliable 1PPS signal STATUS 0 1 periodic pulse signal a low level with duration 1 sec a high level with duration 1 sec the presence of reliable pulse 1PPS in mode o...

Page 41: ...SS module can be attached to the integrator platform using Surface Mount Mating Connector Recommended surface mount mating connector is Samtec s part number TFM 110 xx S D when xx Lead Style connector...

Page 42: ...l environments NAVIS s active antennas include a preamplifier that filters and amplifies the GPS GLONASS signals before delivery to the receiver NAVIS offers several antennas for use with the NAVIOR 2...

Page 43: ...NAVIOR 24S Revision V1 00 20 05 2008 2 A Maritime GPS GLONASS Antenna without cable and TNC connector A Maritime GPS GLONASS Antenna is ideal for objects when antenna is mounted far away up to 100 me...

Page 44: ...44 NAVIOR 24S Revision V1 00 20 05 2008 III Software Interface Start up Communicating with the NAVIOR 24S GPS GLONASS Receiver Software Tools Port Configuration Port Protocol and Output Options Custo...

Page 45: ...and GLONASS system almanac The first time the receiver is powered up it is searching for satellites from a cold start no almanac While the receiver will begin to compute position solutions within the...

Page 46: ...ROM include both user friendly Windows applications to facilitate communication with the receiver via the NAVIS Standard Interface Port Configuration The NAVIOR 24S GPS GLONASS receiver module has tw...

Page 47: ...the 72h package of BINR protocol is shown on Figure III 1 Figure III 1 The 1PPS temporal diagram and digitizing given out in the 72h package of BINR protocol The 1PPS temporal diagram and digitizing g...

Page 48: ...iver configuration port settings see Appendix Warning The configuration adjustments of ports fulfilled on protocol BINR will not be stored in NVRAM Using protocol NMEA Message PORZB the user may chang...

Page 49: ...edule As a result the offset has remained at 13 seconds The scale of system time of GLONASS is updated simultaneously with planned correction into integer number of seconds of UTC scale The updating o...

Page 50: ...Fix Cold Start Warm Start Satellite Mask Settings Standard Operating Modes Navigation mode Fixed position mode Averaging mode Differential GPS Operating Modes Differential GPS Operatio DGPS On DGPS Of...

Page 51: ...eding to the detailed discussion of the satellite acquisition and tracking process please review the GPS GLONASS satellite message description on the next page The NAVIOR 24S GPS GLONASS receiver sate...

Page 52: ...5 minutes The ephemeris is repeated every 30 seconds The system almanac contains information about each of the satellites in the constellation ionospheric data and special system messages The GPS sys...

Page 53: ...ructurally the data flow is formed as continuously repeated super frames The super frame consists of 5 frames The frame consists of 15 data lines The duration of a super frame is 2 5 min The duration...

Page 54: ...ividual tracking channel to each satellite to search the Doppler range frequency for each satellite in the set If none of the selected satellites is acquired after a predetermined period of time time...

Page 55: ...battery is not used the BINR protocol allows the almanac an initial position and time to be uploaded to the receiver via the serial port to initiate a warm start During a warm start the NAVIOR 24S GP...

Page 56: ...ite masks observed by the NAVIOR 24S GPS GLONASS receiver are listed in Table IV 1 These masks serve as the screening criteria for satellites used in fix computations and ensure that position solution...

Page 57: ...y obscured by buildings and terrain Constellation switches can cause noticeable jumps in the position output Since worldwide GPS GLONASS satellite coverage is generally excellent it is not usually nec...

Page 58: ...ion task Switching to the one of these modes executes by operator command PASET message of NMEA protocol See Appendix C for details Averaging mode Averaging mode is intended for use in stall position...

Page 59: ...GNSS On must be set for accepting and decoding RTCM 104 data and for setting the necessary adjustments of selected port All necessary adjustments are executed on protocol BINR 0Bh or Soft Tools BM_Ctr...

Page 60: ...atellite geometry satellite clock errors and receiver clock errors Effective models for atmospheric distortion of satellite signals have been developed to minimize the impact of tropospheric and ionos...

Page 61: ...mence output of position velocity and time information This information is output over serial communication channel in either the BINR or NMEA protocol as determined by the settings of the receiver Th...

Page 62: ...3 Speed 500 m s Altitude 18 000 m Note The NAVIOR 24S GPS GLONASS Receiver firmware contains an algorithm that allows either the speed limit or altitude limit to be exceeded but not both This allows t...

Page 63: ...IOR 24S GPS GLONASS Receiver interference mask NAVIOR 24S GPS GLONASS Receiver with antenna M102 provides interference mask immunity shown on Figure IV 1 160 140 120 100 80 60 40 20 0 1315 1525 1562 1...

Page 64: ...as a highly accurate stand alone time source GPS GLONASS receivers are used to synchronize distant clocks in communication or data networks This synchronization is possible since all GPS GLONASS sate...

Page 65: ...ode can be controlled by BINR command packet D7h The following PPS modes are supported Always Off When the Always Off mode is selected the PPS output remains low at all times Disabling the PPS output...

Page 66: ...s the result of antenna cable length and propagation delay of the PPS output signal The delay compensation parameter can be set in nanoseconds using BINR packet D7h Note that the current firmware vers...

Page 67: ...ied GPS GLONASS satellite signals feed line connector through the antenna and passes them to the RF down converter A highly stable crystal reference oscillator operating at 10 0 MHz is used by the dow...

Page 68: ...pecially in the NAVIS navigation receivers This protocol is based on the transmission of packets of information between the user equipment and the unit Each packet includes an identification code 1 by...

Page 69: ...M port uses as communication line for BINR protocol Connection is based on the null modem chart used only 3 lines receive transmit and common GND The next COM port settings required for normal operati...

Page 70: ...y value excepting ETX and DLE The bytes in the data string can have any value To prevent confusion with the frame sequences DLE ID and DLE ETX every DLE byte in the data string is preceded by an extra...

Page 71: ...767 INT32U 32 0 4 294 967 295 INT32S 32 2 147 483 648 2 147 483 647 FP32 32 3 4 10 38 3 4 1038 FP64 64 1 7 10 308 1 7 10308 FP80 80 3 4 10 4932 3 4 104932 Integer data types with sign are present in...

Page 72: ...control characters This Appendix describes in detail the format of the transmitted data the packet identification codes and all available information over the output channel to allow the user to choos...

Page 73: ...d number of DLE bytes Used data types Multiple byte numbers follow the ANSI IEEE Std 754 IEEE Standard see Table IV 4 Table IV 4 Data types format Data type Dimension bits Values range INT8U 8 0 255 I...

Page 74: ...the range from 4800 up to 115200 bauds 1 port number 00 current port 01 port No1 02 port No2 Data type format INT8U 2 rate of exchange C0 12 00 00 4800 b s 80 25 00 00 9600 b s 40 38 00 00 14400 b s...

Page 75: ...No2 Data type format INT8U 2 rate of exchange C0 12 00 00 4800 b s 80 25 00 00 9600 b s 40 38 00 00 14400 b s 00 4B 00 00 19200 b s 00 96 00 00 38400 b s C0 DA 00 00 56000 b s 00 E1 00 00 57600 b s 0...

Page 76: ...ndix B Navis Standard Interface Protocol BINR 76 NAVIOR 24S Revision V1 00 20 05 2008 Check connection Request Packet 26h Request packet 26h provides control of the external communication It has follo...

Page 77: ...B Navis Standard Interface Protocol BINR 77 NAVIOR 24S Revision V1 00 20 05 2008 Answer Packet 54h A single transmission of packet 54h confirms the availability of the external communication It has f...

Page 78: ...estart receiver Packet 01h Restart command Packet 01h fulfills the forced system restart either with NVRAM data deletion or without data deletion 1 constant data of the package Data type format INT8 2...

Page 79: ...s Standard Interface Protocol BINR 79 NAVIOR 24S Revision V1 00 20 05 2008 SW version info Request Packet 1Bh Packet 1Bh requests SW version Packet 70h is the get packet Packet 1Bh contains no data an...

Page 80: ...ng structure 1 receiver channels quantity Data type format INT8U 2 SW version and receiver ID data length 21 byte Data type format INT8U 3 receiver reference number data length 4 byte Data type format...

Page 81: ...evision V1 00 20 05 2008 Receiver test Start Request Packet 11h Packet 11h enables the receiver testing or repetition of test results transmission The test is performed each time you turn the receiver...

Page 82: ...t confirmation of test starting 02 at test results Data type format INT8U 2 Test results data length 8 bit if the get type 1 is 00 then 0 bit CPU 1 bit RAM 2 bit ROM 3 bit Interruption 7 bit Antenna i...

Page 83: ...ven below The package data size is from 0 up to 5 bytes 1 data type 01 coordinate system set 02 work SNS set 03 mask setting Data type format INT8U 2 coordinate system code 00 WGS 84 Reference ellipso...

Page 84: ...ONASS 01 only GPS 02 only GLONASS 0A GPS GLONASS SBAS 0B GPS SBAS 0C reserved for future GLONASS SBAS Data type format INT8U Mask setting 1 mask setting Data type format INT8U 2 elevation mask Data ty...

Page 85: ...2 Reserved Data type format INT8U 3 Coordinate system 00 WGS 84 Reference ellipsoid WGS 84 01 Parametri Zemli 1990 PZ 90 or in English translation Parameters of the Earth 1990 PE 90 Reference ellipso...

Page 86: ...ype format INT8U 5 reserved Data type format INT8U 6 maximal RMS Data type format INT16U 7 reserved Data type format FP32 Note Get packet 51h provides the current operation parameters The default sett...

Page 87: ...operation parameters a PVT solution rate b 1PPS control c signal delay in antenna cable d operation mode e SNS priority PVT solution rate The host provides repeated PVT solution update 1Hz default 2Hz...

Page 88: ...onization with GPS 2A 1PPS synchronization with GLONASS 3A 1PPS synchronization with UTC 4A 1PPS synchronization with UTC SU Data type format INT8U 3 time format deviation in reference to the UTC 00 d...

Page 89: ...f solution 2D enabled disabled satellite acceptance accepted refused It has following structure 1 data type operation mode Data type format INT8U Bit No Description 0 0 to enable RAIM 1 to disable RAI...

Page 90: ...em For example below GLONASS channels 11 GPS channels 11 SBAS channels 2 The packet has following structure 1 data type SNS priority Data type format INT8U 2 the number of GLONASS channels on default...

Page 91: ...NAVIOR 24S Appendix B Navis Standard Interface Protocol BINR 91 NAVIOR 24S Revision V1 00 20 05 2008 Get Packet E7h Get packet E7h repeats the inserted data...

Page 92: ...ppendix B Navis Standard Interface Protocol BINR 92 NAVIOR 24S Revision V1 00 20 05 2008 Disable transmission of all data Disable command Packet 0Eh Packet 0Eh is used for clearing the list of transmi...

Page 93: ...0 05 2008 Almanac data Load Request Packet 20h Packet 20h requests the host or loads it with the almanac of one satellite When requesting GPS satellite almanac i e SV No 1 it has following structure 1...

Page 94: ...ve 01 GPS 02 GLONASS Data type format INT8U 2 SV No 1 32 Data type format INT8U 3 satellite health data 0 healthy Data type format INT8U 4 SV No 1 32 Data type format INT8U 5 orbit eccentricity Data t...

Page 95: ...e reference time radians Data type format FP32 12 time correction msec Data type format FP32 13 time correction polynomial factor msec msec Data type format FP32 14 the upper part area12 to enable com...

Page 96: ...lite health data 00 healthy Data type format INT8U 4 satellite frequency letter Data type format INT8U 5 satellite time format deviation from the GLONASS format msec Data type format FP32 6 ascending...

Page 97: ...is Standard Interface Protocol BINR 97 NAVIOR 24S Revision V1 00 20 05 2008 12 correction to the mean value of Draconian period msec circuit2 Data type format FP32 13 day No within a 4 year time perio...

Page 98: ...have following structure 1 00 disable ephemeris transmission 01 request all available ephemeris and their updates Data type format INT8U Packet 19h requesting the ephemeris of the GPS satellite Vesse...

Page 99: ...ery hour for the GPS 1 SNS system GPS in the example above 01 GPS 02 GLONASS Data type format INT8U 2 SV No 1 32 Data type format INT8U 3 sine correction of orbit radius m Data type format FP32 4 diff...

Page 100: ...format FP32 14 dip angle rad Data type format FP64 15 cosine correction of orbit radius m Data type format FP32 16 ascending node perigee angle rad Data type format FP64 17 rate of exchange of right...

Page 101: ...SNS system GLONASS in the example above 01 GPS 02 GLONASS Data type format INT8U 2 SV No 1 24 Data type format INT8U 3 letter Data type format INT8S 4 X coordinates m Data type format FP64 5 Y coordin...

Page 102: ...sec Data type format FP64 12 Az acceleration m msec Data type format FP64 13 time domain in current day msec Data type format FP64 14 relative deviation of carrier frequency value of a signal Data typ...

Page 103: ...the involved GPS GLONASS satellites and accepts or refuses use of a satellite for the task processing 1 satellite system Data type format INT8U 2 SV No 1 32 for GPS 1 24 for GLONASS Data type format I...

Page 104: ...Satellite using confirmation Get packet 47h provides data for 32 GPS satellites and 24 GLONASS satellites 1 satellite system Data type format INT8U 2 SV No 1 32 for GPS 1 24 for GLONASS Data type form...

Page 105: ...ol BINR 105 NAVIOR 24S Revision V1 00 20 05 2008 Visible satellites Request Packet 24h Packet 24h requests the visible satellites data 1 00 disable packet transmission from 01 to 255 setting transmiss...

Page 106: ...or each visible satellite It is also provided satellite SNR which are tracked during the time of packet transmission 1 navigation system format Data type format INT8U 2 SV No Data type format INT8U 3...

Page 107: ...00 20 05 2008 Receiver channels measurements Request Packet D4h Packet D4h enables disables transmission of E4h packet which contains measurements data of all receiver channels 1 00 disable packet tra...

Page 108: ...ment interval msec Data type format INT16U 2 time format 00 timer 01 GLONASS 02 GPS 03 SBAS 04 UTC Data type format INT8U 3 weekend time msec Data type format FP64 GPS week Data type format INT16S 5 G...

Page 109: ...2008 8 GLONASS letter Data type format INT8S 9 SNR Data type format INT8U 10 indication of pseudo range measurements availability Data type format INT8U 11 pseudo range data msec Data type format FP6...

Page 110: ...ion V1 00 20 05 2008 Used satellites DOP Request Packet 21h Packet21h requests number of involved to PVT GPS and GLOASS satellites It also requests values of HDOP VDOP 1 00 disable packet transmission...

Page 111: ...R 111 NAVIOR 24S Revision V1 00 20 05 2008 Get Packet 60h Get packet 60h has following structure 1 number of GPS satellites Data type format INT8U 2 number of GLONASS satellites Data type format INT8U...

Page 112: ...contains status data for all receiver channels Packet 17h has following structure 1 channel number 0 23 number of channels Data type format INT8U 2 satellite system 01 GPS 02 GLONASS 03 SBAS Data typ...

Page 113: ...04 SBAS 05 GLONASS BT 06 GLONASS BT L2 Data type format INT8U 2 SV No for GPS and SBAS letter for GLONASS 1 32 for GPS 120 138 for SBAS 7 13 letter for GLONASS INT8S Data type format INT8U 3 signal n...

Page 114: ...Revision V1 00 20 05 2008 PVT solution Request Packet 27h Packet 27h requests a single or repeated transmission of status vector data It has following structure 1 00 to disable packet transmission fr...

Page 115: ...PVT 1 latitude radians Data type format FP64 2 longitude radians Data type format FP64 3 altitude m Data type format FP64 4 2D RMS m Data type format FP32 5 time of week msec Data type format FP80 6 G...

Page 116: ...The correction is positive for the East longitude and negative for the West one For request information about local time packet 23h doesn t contain any data and has following structure For setting the...

Page 117: ...t 46h has following structure 1 time of week sec Data type format FP32 2 day 1 31 Data type format INT8U 3 month 1 12 Data type format INT8U 4 year Data type format INT16U 5 local time correction hour...

Page 118: ...smission FF transmission temp from 01 to 255 in hexadecimal system Data type format INT8U 2 00 disable internal statistic01 enable internal statistic Data type format INT8U 3 00 use previous data of s...

Page 119: ...interval of using PVT in the statistical processing sec Data type format INT8U 3 number of observations processed by statistical processing Data type format INT16U 4 latitude statistical value radian...

Page 120: ...24S Revision V1 00 20 05 2008 Antenna coordinates Set Request Packet 0Fh 1 data type entering antenna coordinates for Fix mode Data type format INT8U 2 latitude radians Data type format FP64 3 longitu...

Page 121: ...Data type format INT8U 2 rate of exchange C0 12 00 00 4800 b s 80 25 00 00 9600 b s 40 38 00 00 14400 b s 00 4B 00 00 19200 b s 00 96 00 00 38400 b s C0 DA 00 00 56000 b s 00 E1 00 00 57600 b s 00 C2...

Page 122: ...1025 is a first week The difference between GPS board time and UTC time LEAP Second GPS is a variable It has no settings for cold start and is set to 13 sec for the warm start as per 20 Oct 2005 To se...

Page 123: ...VIOR 24S Revision V1 00 20 05 2008 Time scales dada Request Packet 2Bh Packet 2Bh requests the time difference of the GPS GLONASS and UTC UTC SU 1 00 disable packet transmission from 01 to 255 transmi...

Page 124: ...eek Data type format INT16U 7 DN day Data type format INT16U 8 tLSF sec Data type format INT16S 9 validity status indicator of the GPS UTC formats correlation i e the combination 255 indicates the val...

Page 125: ...0 20 05 2008 Time label scale settings Set Packet 1Ch Packet is applied in the time time frequency referenced equipment It sets the time format of the 1PPS signal and has following structure 1 the sca...

Page 126: ...ode for mobile objects 02 average position mode In this mode coordinates are averaged within 24h and the computed values are used for switching to the fix mode operation mode with known antenna coordi...

Page 127: ...cket 73h Get packet 73h is not provided for the data type reference clock correction settings and has following structure 1 mode of operation with coordinates 00 navigation mode 01 fix position mode 0...

Page 128: ...e Protocol BINR 128 NAVIOR 24S Revision V1 00 20 05 2008 Time scales parameters Request Packet 1Eh Packet 1Eh requests the differences between the internal time scale and GLONASS GPS UTC SU UTC It doe...

Page 129: ...een GLONASS and the hardware don t include 3 hours between Moscow winter time and Greenwich msec Data type format FP80 3 time scale difference between GPS and UTC msec Data type format FP80 4 time sca...

Page 130: ...parameters packet 1Fh doesn t contain any data and has following structure Note Prior to transmission of time correlation parameters please set the time mark parameters in packet D7h Requesting a repe...

Page 131: ...following structure 1 time of week msec Data type format FP80 2 GPS week No Data type format INT16S 3 time scale format 00 GLONASS 01 GPS 02 UTC SU 03 UTC Data type format INT8U 4 current relative fre...

Page 132: ...NAVIOR 24S Appendix B Navis Standard Interface Protocol BINR 132 NAVIOR 24S Revision V1 00 20 05 2008 8 hardware status data bytes Data type format INT16U...

Page 133: ...unicating with the receiver BINR Tool Receiver Test Software Revision Connection Test BINR Settings Serial Port Settings Main Preferences SVs Tracked Heading and Speed DOPs info Local Timezone SVs in...

Page 134: ...uide 134 NAVIOR 24S Revision V1 00 20 05 2008 Background BM_Ctrl is a software used to communicate to and control NAVIS GPS GLONASS receivers via BINR protocol System Requirements You need a PC runnin...

Page 135: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 135 NAVIOR 24S Revision V1 00 20 05 2008 Running BM_Ctrl Getting started Figure IV 2 shows the Main Window of BM_Ctrl Figure IV 2 Main Window...

Page 136: ...chose whether to use checksum or not Logging checkbox activates logging when checked Click the OK button to confirm your settings When the Start button in the Main Window is clicked BM_Ctrl establish...

Page 137: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 137 NAVIOR 24S Revision V1 00 20 05 2008 Figure IV 4 The Main Window after connection has been successfully established...

Page 138: ...l indicators show connection activity between PC and the receiver Transmission errors field shows a number of errors occurred when receiving data from the receiver Request packet checkboxes become ena...

Page 139: ...Appendix C BINR Tool kit User s Guide 139 NAVIOR 24S Revision V1 00 20 05 2008 BINR Tool Receiver Test Checking the checkbox brings up a window containing two buttons Figure IV 5 Figure IV 5 Receiver...

Page 140: ...0 NAVIOR 24S Revision V1 00 20 05 2008 Clicking the Show results button shows previous test results Figure IV 6 Clicking the Run tests button starts testing When testing is over its results are shown...

Page 141: ...0 20 05 2008 Software Revision Request packet for software version is sent to the receiver upon checking the checkbox Information from response packet containing number of receiver channels device id...

Page 142: ...ide 142 NAVIOR 24S Revision V1 00 20 05 2008 Connection Test A connection test is run upon checking the checkbox If the connection to the receiver is up a confirmation message is shown Figure IV 8 Fig...

Page 143: ...A dialog window containing BINR setting pops up upon checking the checkbox Figure IV 9 BINR Settings window You may change settings in the right part of the window while their current status is shown...

Page 144: ...button will activate settings you have set The settings are CRC mode Whether a CRC checksum should be calculated for BINR packets Height Geoid Display altitude above Mean Sea Level MSL Ellipsoid Disp...

Page 145: ...Serial Port Settings window You may use Serial Port Settings window to request settings of one the receiver s COM ports and to apply your own settings by clicking buttons Request Settings and Apply Se...

Page 146: ...S Revision V1 00 20 05 2008 After clicking Apply Settings button a confirmation message will appear Figure IV 11 Port settings confirmation message Once requested or applied the settings are displayed...

Page 147: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 147 NAVIOR 24S Revision V1 00 20 05 2008 Main Preferences Figure IV 12 Main Preferences window Figure IV 12 Shows the Main Preferences window...

Page 148: ...ined and user defined data o SNS Satellite Navigation System SNS o Masks This includes elevation mask and a maximal RMS value for which a position solution is still valid o Filtering factor Once a spe...

Page 149: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 149 NAVIOR 24S Revision V1 00 20 05 2008 Figure IV 13 Changing Masks in the Main Preferences window...

Page 150: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 150 NAVIOR 24S Revision V1 00 20 05 2008 SVs Tracked Figure IV 14 shows the SVs Tracked window Figure IV 14 SVs tracked window...

Page 151: ...d GLONASS satellites You have to select specific SNS from the SNS drop down list box to change tracking status of a satellite The satellite number should be provided in the SV number field You can eit...

Page 152: ...15 Heading and Speed window Automatic update of displayed data is set by default with update rate of 1 per second Update rate can be changed by entering an integer value into the Update Rate field Au...

Page 153: ...ion solution and HDOP VDOP and PDOP values are displayed Figure IV 16 DOPs info window Automatic update of displayed data is set by default with update rate of 1 per second Update rate can be changed...

Page 154: ...NAVIOR 24S Appendix C BINR Tool kit User s Guide 154 NAVIOR 24S Revision V1 00 20 05 2008 Local Timezone Figure IV 17 shows the Local time zone window Figure IV 17 Local Timezone window...

Page 155: ...fset from GMT Those data can be requested by clicking the Request button Check the Change checkbox to enable offset input fields Clicking the Apply button will set the offset and will update the Respo...

Page 156: ...le in the left part of the window contains the following information o SNS SNS the SV belongs to o SVn Fn SV number and frequency number Frequency number makes sense only in case of GLONASS SV Otherwi...

Page 157: ...two is not available yet an error message is shown Automatic update of displayed data is set by default with update rate of 1 per second Update rate can be changed by entering an integer value into t...

Page 158: ...tatus is a bit mask mad of following values 0x01 position solution was successfully calculated 0x02 2D solution 0x08 differential augmentations were used 0x10 solution is RAIM validated 0x20 different...

Page 159: ...Position fix coordinates date time speed and heading are displayed in the window Automatic update of displayed data is set by default with update rate of 1 per second Update rate can be changed by ent...

Page 160: ...x from the last position solution When a position solution can t be calculated e g insufficient satellites the extrapolated solution will be calculated based on the last position solution coordinates...

Page 161: ...OR 24S Appendix C BINR Tool kit User s Guide 161 NAVIOR 24S Revision V1 00 20 05 2008 Receiver Channels Info Figure IV 23 shows the Extrapolated Position window Figure IV 23 Receiver Channels Info win...

Page 162: ...ault Broken channel o Status A bit mask of measurements status See table below o PR Pseudo range modulo 1 msec o PD Pseudo Doppler Table IV 5 The status bit mask is composed of the following bits Bit...

Page 163: ...displayed data is set by default with update rate of 1 per second Update rate can be changed by entering an integer value into Update Rate field Automatic update can be switched off by unchecking Aut...

Page 164: ...ow Ionospheric parameters transmitted by GPS satellites are displayed in this window Automatic update of displayed data is set by default with update rate of 1 per second Update rate can be changed by...

Page 165: ...ectively are displayed in this window For detailed description of those parameters please refer to GPS Interface Control Document and GLONASS Control Document Automatic update of displayed data is set...

Page 166: ...0 20 05 2008 Cancel All Response Packets You will be asked for a confirmation after clicking the Cancel All Response Packet button in the Main Window Figure IV 26 A confirmation request Clicking yes w...

Page 167: ...ype clicking the Cancel All Response Packet button in the Main Window Options are o Factory restart This will erase any saved in the device s EPROM data almanac ephemeris position fix etc settings the...

Page 168: ...ace and the data format The NMEA 0183 protocol was originally established to allow marine navigation equipment to share information Since it is a well established industry standard NMEA 0183 has also...

Page 169: ...s listeners The table below lists the standard characteristics of the NMEA 0183 data transmissions Table IV 6 NMEA 0183 Standard Characteristics Signal Characteristic NMEA Standard Baud Rate 9600 Data...

Page 170: ...ves as a checksum delimiter CS The checksum field contains two ASCII characters which indicate the hexadecimal value of the checksum CR LF The carriage return CR and line feed LF combination terminate...

Page 171: ...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 Longitude yyyyy yyy...

Page 172: ...int and associated decimal fraction are optional if full resolution is not required example 73 10 73 1 073 1 73 Fixed HEX hh Fixed length HEX numbers only MSB on the left Information Fields Changeable...

Page 173: ...of their format In all sentences except for ZDA the generation of time and date with allowance of entered correction of a local time is supposed The customer coordinates are transmitted in a selected...

Page 174: ...e messages listed in Table IV 8 Table IV 8 NAVIOR 24S GPS GLONASS Receiver NMEA Messages Message Description DTM indicator of the geodesic system GGA place on GPS GLL coordinate of a place GPQ request...

Page 175: ...rol Message PAMOD Receiver Operation mode request Message PASET Receiver Operation mode set Message Notes 1 Under GPS the NAVSTAR and GLONASS systems are implied numbers of GLONASS satellites have off...

Page 176: ...ive sentence The request for single transfer of the new sentences xx code of the transmitter transmitting the request can be anyone PORZB extended interrogative sentence Cancellation every before tran...

Page 177: ...m is offset from the position in the reference datum in the directions indicated _ _ local datum ref datum P P offset _ local datum P position in the used local geodetic datum _ ref datum P reference...

Page 178: ...atitude N North or S South yyyyy yyy a Longitude E East or W West x GPS Quality Indicator 0 fix not available or invalid 1 GPS SPS mode fix valid 2 DGPS mode fix valid uu Number of Satellites in Use v...

Page 179: ...on fix and the status Format GPGLL llll lll a yyyyy yyy a hhmmss ss A i CR LF Field Format llll lll a Latitude N North or S South yyyyy yyy a Longitude E East or W West hhmmss ss UTC of position when...

Page 180: ...0 05 2008 GPQ request sentence GPQ request for single generation of the require sentence Format xxGPQ ccc CR LF Field Format ccc Name of the required sentence For the accepted sentences three last cha...

Page 181: ...o operate in 2D or 3D mode A Automatic allowed automatically switch 2D 3D x Current Mode 1 fix not available 2 2D 3 3D xx 12 fields PRN numbers of the satellites used in the position solution null for...

Page 182: ...and the number of each message respectively Format GPGSV x x xx xx xx xxx xx xx xx xxx xx xx xx xxx xx xx xx xxx xx CR LF Field Format x Total number of GSV messages 1 to 9 x Message number 1 to 9 xx...

Page 183: ...d when data is temporarily unavailable Format GPRMC hhmmss ss A llll ll a yyyyy yy a x x x x ddmmyy x x a i CR LF Field Format hhmmss ss UTC of Position Fix when UTC offset has been decoded by the rec...

Page 184: ...tual course COG and speed SOG relative to the ground Format GPVTG x x T x x M x x N x x K i CR LF Field Format x x T Course degrees true x x M Course degrees magnetic x x N Speed knots x x K Speed km...

Page 185: ...eiver xx Day 01 to 31 xx Month 01 to 12 xxxx Year xx Local zone hours 00h to 13 hours unused xx Local zone minutes 00 to 59 unused CR LF 2 ASCII control characters Note Fields with local zone hours an...

Page 186: ...S local time corrections Format PKON1 s g r1 r2 hhmm z CR LF Field Format s Coordinate system The list of available coordinate systems is shown in the table below g Set up of the working satellite nav...

Page 187: ...receiver inspects received data and transmits PORZA reply sentence with new COM port settings and only then receiver switch to new settings Format PORZA p xxxxx a CR LF Field Format p Number of chang...

Page 188: ...list of the transmitted sentences or to supplement it The sentence for clearing of a list of the transmitted sentences has format PORZB hh The sentence for adding new sentences to the list of transmi...

Page 189: ...05 2008 PORZD RMS of coordinates The sentence contains coordinates authenticity data and estimation of position accuracy Format PORZD a xxx x CR LF Field Format a authenticity of coordinates A authent...

Page 190: ...s transmitted instead of a longitude significance Y displaced on 500000 meters plus number of a zone increased on 1000000 Fields defining southern or northern latitude N S and east or western longitud...

Page 191: ...ata is transmitted as characters A authentic or V unauthentic The speed is generated relatively to the ground and is expressed in knots 1 852 km hour Traveling angle angle between a direction of a vec...

Page 192: ...dinate systems is shown in the table below g Current satellite navigation system 0 GLONASS GPS 1 GPS 2 GLONASS r1 Reserve field p The state of differential corrections generation mode It can be 0 is s...

Page 193: ...Factory Reset request This message resets the receiver to factory defaults Format ACFRM CR LF This message is used to Factory reset the receiver The receiver invalidates the current settings and all p...

Page 194: ...This message performs receiver restart Format ACCSM CR LF This message is used to force the receiver restart Almanac ephemeris and position in the receiver are not invalidated means kept The receiver...

Page 195: ...ER mmmm hhhhhhhh ffff CR LF Field Format Details mmmm 4 ASCII characters Manufactures code hhhhhhhh 8 ASCII characters Hardware version info ffff 4 decimal digits Firmware version number CR LF 2 ASCII...

Page 196: ...VIOR 24S Appendix D NMEA 0183 Communication Interface 196 NAVIOR 24S Revision V1 00 20 05 2008 ARVER HW FW version request This message requests the message ARVER described below once Format ARVER CR...

Page 197: ...digits GPS week number since 6 Jan 1980 ssssss 6 decimal digits GPS seconds in current week CR LF 2 ASCII control characters Message repeated every second The time value contained in the message shall...

Page 198: ...1 with known antenna position time solution 2 average based on statistical processing of antenna coordinates tttt quantity of average processing steps in minutes max value is 1440 24 hour ddmm mmmm N...

Page 199: ...ion 1 with known antenna position time solution 2 average based on statistical processing of antenna coordinates tttt quantity of average processing steps in minutes max value is 1440 24 hour ddmm mmm...

Page 200: ...l P software I time label mode S second T aligned time scale G GLONASS N GPS U UTC S UTS SU CF indicator of time label correction 0 no corrected if no zero value 2ms xxx time label duration in microse...

Page 201: ...E NMEA Tool kit User s Guide Storeggs Purposes and functions STOREGIS provides accumulating statistical processing and storing of NMEA sentences It also provides visualizing sentences System Requrieme...

Page 202: ...ol kit User s Guide 202 NAVIOR 24S Revision V1 00 20 05 2008 Running STOREGIS Starting STOREGIS Run STOREGIS exe to start the software Once started STOREGIS shows its Main Window Figure IV 28 Figure I...

Page 203: ...tences The START STOP button starts stops data processing Note NMEA is the only available data format now 3 The FILE groupbox contains information about the size of processed data in kB port errors Po...

Page 204: ...altitude rms2D expected planar RMS m HDOP current Horizontal Delusion of Precision VDOP current Vertical Delusion of Precision GPS a number of GPS satellites used in calculating position solution GLN...

Page 205: ...ver position statistics m rmsH altitude RMS calculated over position statistics rmsV speed RMS calculated over position statistics m Nall a number of solutions in statistics N a number of solution ove...

Page 206: ...Tool kit User s Guide 206 NAVIOR 24S Revision V1 00 20 05 2008 The KINEMATIC window Figure IV 31 The KINEMATIC window The KINEMATIC Figure IV 31 displays the following information Speed current speed...

Page 207: ...w Figure IV 32 displays current position graphical chart and the following information Bfix user defined chart s centre s reference latitude Lfix user defined chart s centre s reference longitude Hfix...

Page 208: ...itude Set Statistic set Bfix and Lfix to the averaged coordinates Set Current set Bfix and Lfix to the current coordinates Clicking anywhere in the chart with a left mouse button will set that point a...

Page 209: ...NAVIOR 24S Revision V1 00 20 05 2008 The PROFILE window Figure IV 34 The PROFILE window The height profile is graphically displayed in the PROFILE window Figure IV 34 The following input fields are p...

Page 210: ...establish a connection with the receiver Message Ready is displayed in the titlebar once the connection is successfully established Receiver ID is also displayed in the titlebar if it is available De...

Page 211: ...TYPE groupbox NMEA only now select a file by clicking the filename button check desired checkboxes in the ADD groupbox click the START button adjust processing speed by clicking the buttons click the...

Page 212: ...n the titlebar are 1 Ready Unknown Device STOREGIS is ready the receiver ID is unavailable 2 Ready DeviceID STOREGIS is ready the receiver ID is known 3 Device not found No receiver detected 4 Wait wa...

Page 213: ...ion V1 00 20 05 2008 STOREGIS Preferences All STOREGIS preferences are saved on exit All user defined preferences and input values will be restored next time you run STOREGIS All preferences are saved...

Page 214: ...NAVIOR 24S Appendix F Specifications and Mechanical Drawings 214 NAVIOR 24S Revision V1 00 20 05 2008 F Specifications and Mechanical Drawings NAVIOR 24S GPS GLONASS Receiver Specifications...

Page 215: ...05 2008 NAVIOR 24S GPS GLONASS Receiver Specifications Key Features 24 channel simultaneous operation power consumption less than 1550 mW 470 mA 3 3 V Antenna open and short circuit detection and prot...

Page 216: ...receiver Update Rate BINR 1 Hz NMEA 1 Hz Accuracy Horizontal 5 meters 50 9 meters 90 Altitude 9 meters 50 12 meters 90 Velocity 0 1 m sec PPS static 50 nanoseconds Acquisition Autonomous Operation in...

Page 217: ...104 NMEA according to Appendix D Electrical Prime Power 3 20 VDC to 3 45 VDC 3 3 V typ Power consumption less than 1550 mW 470 mA 3 3V Backup Power 2 0 VDC to 3 6 VDC 3 0V typ Ripple Noise Max 40mV p...

Page 218: ...n a durable metal enclosure AC DC power converter GPS GLONASS antenna serial interface cable software toolkit and manual on CD ROM Antenna Transition Cable MMCX RF cable for connecting antennas with M...

Page 219: ...fications and Mechanical Drawings 219 NAVIOR 24S Revision V1 00 20 05 2008 4 15 1 1 3 2 15 9 20 19 1 2 501 5 max 5 max 1 6 0 1 50 75 38 71 0 2 2 0 46 1 8 4 2 2 2 Figure IV 36 NAVIOR 24S GPS GLONASS Re...

Page 220: ...ed by the receiver to compute the elevation angle azimuth angle and estimated Doppler of the satellites Each satellite broadcasts the almanac for all the satellites in the system ASCII American Standa...

Page 221: ...fects of SA by using differential GPS carrier The radio signal on which information is carried The carrier can be sensed to determine the presence of a signal channel Either a single frequency or a pa...

Page 222: ...etween receivers satellites and epochs Although many combinations are possible the present convention for differential processing of GPS GLONASS phase measurements is to take differences between recei...

Page 223: ...with spheroid Two quantities define an ellipsoid these are usually given as the length of the semimajor axis a and the flattening f a b a where b is the length of the semiminor axis ephemeris A set o...

Page 224: ...ion position velocity and time solutions GPS signals are available world wide 24 hours a day in all weather conditions This system also includes 5 monitor ground stations 1 master control ground stati...

Page 225: ...ion of time masks See satellite masks maximum PDOP A measure of the maximum Position Dilution of Precision PDOP that is acceptable in order for the GPS processor to determine a location solution see P...

Page 226: ...er to the distance radio signals can travel before they must be received or repeated due to loss of signal strength the curvature of the earth and the noise introduced because of moisture in the air s...

Page 227: ...me by which unauthorized users of GPS will have their accuracy limited to 100 meters 2D RMS horizontal and 156 meters 2D RMS vertical SEP Spherical Error Probability The radius of a sphere such that 5...

Page 228: ...e Vehicle GPS satellite Synchronous communication A method of sending digital data in which the bits come at fixed rather than random times and are synchronized to a clock URA Satellite user range acc...

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