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Chapter 4 SMART7 with SPAN Operation

SMART7 Installation and Operation User Manual v6

Figure 22: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame

In this example, the Euler Angles to rotate from the IMU Body frame (

Figure 20: SMART7-S and SMART7-SI

IMU Body Frame

on page 63) to the Vehicle frame (RBV) are:

X: 0

Y: 180

Z: 0

To reach this answer, keep in mind the following rules:

You must rotate from the IMU Body frame to the Vehicle frame.

You must rotate in the order Z, X, Y. Specifically Z, X', Y"

Positive rotation is defined according to the right hand rule.

The following diagram shows the IMU Body frame of the SMART7-S and the Vehicle frame for the example
installation shown in

Figure 22: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame

above.

Summary of Contents for SMART7

Page 1: ...SMART7 Installation and Operation User Manual SMART7 Installation and Operation User Manual v6 January 2020 ...

Page 2: ... agreement or non dis closure agreement The software may be used or copied only in accordance with the terms of the agreement It is against the law to copy the software on any medium except as specifically allowed in the license or non dis closure agreement No part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and record...

Page 3: ...ication Equipment 28 2 3 1 Serial Ports 28 2 3 2 Wi Fi 29 2 3 3 Ethernet Port 29 2 3 4 CAN Bus Port 30 2 4 Connect I O Signals to a SMART7 30 2 5 Connect Power to the SMART7 30 2 5 1 Fuse for the Power Supply 31 2 5 2 Power Supply Requirements for the SMART7 32 2 6 Check that the SMART Antenna is Working 32 Chapter 3 SMART7 Operation 3 1 Communications with the Receiver 34 3 1 1 Wi Fi Communicatio...

Page 4: ... NovAtel Connect 54 3 12 1 Selecting the Logs to Collect 55 3 12 2 Modify the Logging Parameters 55 3 12 3 Start Collecting Logs 56 3 12 4 Stop Collecting Logs 56 3 12 5 Change the Log File Settings 56 Chapter 4 SMART7 with SPAN Operation 4 1 Fundamentals of GNSS INS 58 4 2 Definition of Reference Frames Within SPAN 59 4 2 1 The Local Level Frame ENU 59 4 2 2 The IMU Body Frame 60 4 2 3 The Vehicl...

Page 5: ... 5 3 5 Disable Wi Fi 87 5 4 ALIGN Over Wi Fi Overview 87 5 4 1 Automatic Wi Fi ALIGN Corrections 87 5 4 2 Manual Set Up for Wi Fi Connection between Master and Rover via ICOM1 89 Chapter 6 Ethernet Configuration 6 1 Required Hardware 91 6 2 Static IP Address Configuration 91 6 2 1 Static IP Address Configuration Receiver 92 6 2 2 Static IP Address Configuration Windows 7 92 6 2 3 Confirming Ethern...

Page 6: ...s 108 9 2 6 Set and Clear Mask for all Status Code Arrays 108 Chapter 10 Troubleshooting 10 1 Examining the RXSTATUS Log 111 10 2 Examining the AUX1 Status Word 114 10 3 High Temperature Environments 115 10 3 1 Indicators of an Error State 115 10 3 2 Recovering from a Temperature Status Error 115 10 3 3 Mitigating High Receiver Temperature 115 10 3 4 Monitoring the Receiver Temperature 115 10 4 Sa...

Page 7: ... 129 11 9 Update the Web UI 130 11 9 1 Update the Web UI Content Using NovAtel Connect 130 11 9 2 Update the Web UI Content Using Web UI 131 APPENDIX A SMART7 Technical Specifications A 1 SMART7 Performance Specifications 133 A 2 SMART7 Mechanical Specifications 136 A 3 SMART7 Environmental and Electrical Specifications 138 A 4 SMART7 Data Communication Specifications 139 A 5 SMART7 Strobe Specifi...

Page 8: ... Frame 60 Figure 19 ALIGN Translation Offset 62 Figure 20 SMART7 S and SMART7 SI IMU Body Frame 63 Figure 21 SMART7 S and SMART7 SI IMU Body Frame with Factory Configured Rotation 64 Figure 22 SMART7 S Installed with Orientation Not Aligned with Vehicle Frame 65 Figure 23 Rear view of SMART7 on a Vehicle Roof Camber 67 Figure 24 Side View of SMART7 on a Vehicle Roof Tilt 67 Figure 25 Top View of S...

Page 9: ...WinLoad s Open Window 121 Figure 37 Open File in WinLoad 121 Figure 38 COM Port Setup 122 Figure 39 SMART7 Dimensions 136 Figure 40 SMART7 S and SMART7 SI Center of Navigation 137 Figure 41 SMART Antenna Interface Cable 141 Figure 42 SMART7 Mounting Plate Dimensions 144 ...

Page 10: ...i Default Configuration 82 Table 16 Default NAME 101 Table 17 Troubleshooting Based on Symptoms 110 Table 18 Resolving a Receiver Error Word 111 Table 19 Resolving an Error in the Receiver Status Word 113 Table 20 Resolving an Error in the AUX1 Status Word 114 Table 21 SMART7 Physical Description 132 Table 22 SMART7 Receiver Performance 133 Table 23 SMART7 S IMU Performance 135 Table 24 SMART7 Env...

Page 11: ...n the user is encouraged to try to correct the interference by one or more of the following measures l Re orient or relocate the SMART7 l Increase the separation between the equipment and the SMART7 l Connect the equipment to an outlet on a circuit different from that to which the SMART7 is connected l Consult the dealer or an experienced Radio TV technician for help The SMART7 has been authorized...

Page 12: ...cts compliance eu declaration of conformity WEEE Notice If you purchased your SMART7 product in Europe please return it to your dealer or supplier at the end of its life The objectives of the European Community s environment policy are in particular to preserve protect and improve the quality of the environment protect human health and utilise natural resources prudently and ration ally Sustainabl...

Page 13: ... Concern SVHC published by the European Chemical Agency ECHA is available at https echa europa eu candidate list table Ethernet Port The Ethernet port is a safety extra low voltage SELV circuit only and is suitable for connection to another SELV circuit Do not connect to Telecommunications Network Voltage TNV circuits ...

Page 14: ...ernational Type Approval Argentina CNC ID C 22910 Australia and New Zealand Brazil 06321 18 02494 China CMITT ID 2018DJ6039 Eurasian Economic Community Armenia Belarus Kazakhstan Kyrgyzstan and Russia Israel Japan Wi Fi SMART7 contains a Wi Fi radio with the following approvals ...

Page 15: ...7 Installation and Operation User Manual v6 15 Korea Wi Fi SMART7 contains a Wi Fi radio with the following approvals Mexico Número de modelo RS 9113 N00 S0C Número de IFT RCPNORS19 0120 Moldova 024 Paraguay Serbia И005 19 ...

Page 16: ... Manual v6 16 South Africa TA 2019 015 APPROVED UAE TRA REGISTERED No ER67054 18 DEALER No DA78636 18 Ukraine Uruguay Este producto contiene módulo WiFi RS9113 N00 S0C Zambia ZMB ZICTA TA 9 40 Conventions The following conventions are used in this manual ...

Page 17: ...formation that supplements or clarifies text A caution that actions operation or configuration may lead to incorrect or improper use of the hardware A warning that actions operation or configuration may result in regulatory noncompliance safety issues or equipment damage ...

Page 18: ...hanged LOG ALMANACB onchanged LOG RAWEPHEMB onchanged LOG GLORAWEPHEMB onchanged LOG TRACKSTATB ontime 1 LOG SATVIS2B ontime 60 LOG BESTPOSB ontime 1 LOG RANGEB ontime 1 LOG RXCONFIGA once LOG ITDETECTSTATUSB onchanged LOG VERSIONA once LOG PORTSTATSB ontime 10 For SPAN systems add the following logs to the above list in the file created on your computer LOG RAWIMUSXB onnew LOG INSUPDATESTATUSB on...

Page 19: ...e problem send a list of the troubleshooting steps taken and the results Contact Information Log a support request with NovAtel Customer Support using one of the following methods Log a Case and Search Knowledge Website www novatel com support Log a Case Search Knowledge and View Your Case History login access required Web Portal https novatelsupport force com community login E mail support novate...

Page 20: ...ntroduction to gnss for an overview of each of the above signal types Once properly powered the SMART7 begins operating as a fully functional GNSS system 1 1 Features and Models The main features of the SMART7 are l an enhanced high performance multi frequency multi constellation receiver l a high performance GNSS multi frequency multi constellation antenna l SBAS l GLIDE l STEADYLINE l a CAN port...

Page 21: ... Hardware Options Figure 1 SMART7 with Ethernet Model Back Do not cover the SMART7 pressure vent The pressure vent must be allowed to breathe ensure proper SMART7 operation 1 2 SMART7 Connectors Overview All SMART7 models use the same connector for power and communication Refer to Table 28 SMART Antenna Interface Cable Connector Pin Out on page 142 for pin outs Figure 2 SMART7 Interface Connector ...

Page 22: ...ulse Per Second Output 6 CAN 13 COM3 RxD 7 CAN 14 Power Positive Source The SMART7 Ethernet model has a M12 D code male connector Figure 3 SMART7 Ethernet Connector model dependent Pin Signal Name 1 Tx 2 Rx 3 Tx 4 Rx Shell Chassis GND Table 3 Ethernet Connector Pin Outs 1 3 SMART7 LEDs The SMART7 has up to three LEDs model dependent to indicate receiver status The following tables provide informat...

Page 23: ...een Slow Flash Configured as an Access Point with at least one client connection Blue Solid Configured as both an Access Point and a Client concurrently Blue Slow Flash Configured as both an Access Point and a Client concurrently with at least one Client connected to the concurrent Access point or with the concurrent Client connected to an Access Point White Solid Configured as a Client While Slow...

Page 24: ... after power on or reset Red Solid Continuous Receiver system error if indicator persists after 30 seconds Red Slow Flash 1 Hz Position quality warning unreliable high error Red Fast Flash 3 Hz Positioning failure unusable Table 7 SMART7 Status LED 1 4 Related Documents and Information After the receiver is set up the Agriculture Commands and Logs Reference Manual becomes the primary source for co...

Page 25: ...ng the SMART7 on the next page for mounting details 2 Connect other GNSS system components using the output lines See SMART Antenna Interface Cable Optional Accessory on page 141 3 Connect the receiver to other GNSS system components such as a computer or data terminal using the communication ports or Wi Fi See Connect the SMART7 to Data Communication Equipment on page 28 4 Connect the interface c...

Page 26: ...unting and Orienting the SMART7 2 2 1 Mounting Mount the SMART7 on a secure stable structure capable of safe operation in the specific environment Ensure the SMART7 has a clear view of the sky l If installing on a vehicle mount the SMART7 on the vehicle roof ideally close to the pivot point of the vehicle The SMART7 must be mounted with the connector facing the rear of the vehicle The SMART7 must ...

Page 27: ...Figure 7 SMART7 and SMART6 Mounting Hole Locations 2 2 4 Mounting Plate An optional SMART7 mounting plate is available to facilitate mounting the SMART7 Refer to SMART7 Mount ing Plate Specifications on page 144 for plate dimensions and mounting hole locations To install the mounting plate 1 Place the SMART7 on the SMART7 mounting plate The alignment pins on the mounting plate seat in the SMART6 a...

Page 28: ...cally attaching the mounting plate to the vehicle using adhesive tape is only used when SMART7 is magnetically mounted to the mounting plate 2 3 Connect the SMART7 to Data Communication Equipment The SMART7 can communicate with other devices in the system such as computers serial Wi Fi or Ethernet ports The SMART7 also has a CAN bus port for communication with other CAN bus compatible devices Wi F...

Page 29: ...ault security key is specific to that SMART7 receiver Windows users Note that your Wi Fi security key is not a PIN If you see an option such as Connect using a security key instead you must click this option to enter your security key 3 Open up a web browser and enter any web address e g novatel com The SMART7 automatically redir ects you to the NovAtel Web User Interface which is hosted on the SM...

Page 30: ...hen the con necting cable must have 120 ohms integrated into the cable between CAN1 and CAN1 in close prox imity to the main 14 Pin interface connector 2 4 Connect I O Signals to a SMART7 The SMART7 has several outputs also referred to as strobes that provide status and synchronization signals l Pulse Per Second PPS output E2 on SMART Antenna Interface cable l Emulated Radar Output E2 on SMART Ant...

Page 31: ... blade ATO Silver Blade Fuse 5 A 32 V or equivalent Littelfuse 0287005 12 V System Fuse mini size blade Mini Blade Fuse 5 A 32 V or equivalent Littelfuse 0297005 24 V System Fuse High Reliability Harsh Environment standard size blade FKS ATO Blade Fuse 5A 80 V or equivalent Littelfuse 166 7000 450 Inline Fuse Holder for standard size blade Waterproof ATO Fuse Holder Littelfuse FHAC0001 Inline Fuse...

Page 32: ...upply must also be current limited to 5 A with an external fuse The amount of power required depends on the number of constellations and signals tracked and the features enabled Refer to SMART Antenna Interface Cable Optional Accessory on page 141 for details about the power cable 2 6 Check that the SMART Antenna is Working After the SMART Antenna is installed and powered up use the following proc...

Page 33: ...Antenna hardware option 3 Check that the Time Status is FINESTEERING which represents that time is fine set and being steered 4 Check the Receiver Status word 02440000 in this example If the lowest bit bit 0 is set the receiver has errors For information about the other digits in Receiver Status word refer to the RXSTATUS log in the Agri culture Commands and Logs Reference Manual ...

Page 34: ...uired for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com novatel connect l Any console command line application To maximize the application of the receiver s capabilities become familiar with the commands and logs described in Agriculture Commands and Logs Reference Manual 3 1 1 Wi Fi Communications Wi Fi capable receivers are configured to run a...

Page 35: ...Ethernet Although the receiver can operate at data transfer rates as low as 300 bps this is not recommended For example if several data logs are active that is a significant amount of information needs to be transmitted every second but the bit rate is set too low data overflows the serial port buffers causing an error condition in the receiver status that results in lost data The following ports ...

Page 36: ...ding only Do not connect them to Telephone Network Voltage TNV circuits If intra building connections are required or the OEM7 receiver is installed in an outdoor enclosure a suitably rated Ethernet router or switch should be installed between the receiver Ethernet port and the network connection Issue the SAVEETHERNETDATA ETHA command to ensure port settings are retained after a reset and automat...

Page 37: ...Communicating with the Receiver You can communicate with the receiver using NovAtel Web User Interface NovAtel Connect or a terminal emu lation program Detailed instructions for using NovAtel Connect are available from the Help system built into NovAtel Connect For instructions on using NovAtel Web User Interface refer to the online OEM7 documentation doc s novatel com OEM7 When the receiver is fi...

Page 38: ...ctions can be transmitted from a base station to a rover station to improve position accuracy The base sta tion is the GNSS receiver that acts as the stationary reference The stationary reference has a known position and transmits correction messages to the rover station The rover station is the GNSS receiver that does not know its exact position and requires correction messages from a base statio...

Page 39: ...d 4 Connect a storage device to COM1 user supplied 4 Connect a computer to COM1 for setup and monitoring user supplied To receive corrections a data link between the base station and the rover station is required The base and rover stations can both be NovAtel receivers however NovAtel receivers will work with some other brands Contact Customer Support for further details refer to Customer Support...

Page 40: ...ual for command details 3 3 2 Base Station Configuration At the base station enter the following commands serialconfig port baud parity databits stopbits handshaking break interfacemode port rx_type tx_type responses fix position latitude longitude height enter your own lat long and hgt values log port message trigger period port COM2 refer to Figure 9 Basic Differential Setup on the previous page...

Page 41: ...IG command in the Agriculture Commands and Logs Reference Manual 3 3 3 Rover Station Configuration At the rover station enter the following commands serialconfig port baud parity databits stopbits handshaking break interfacemode port rx_type tx_type responses saveconfig optional The following sections are examples of rover configurations if COM2 was connected to the correction source RTK Automated...

Page 42: ...e must be set to NOVATEL for the receiver to issue logs with an A or B suffix 2 Using the receiver in NOVATEL mode consumes more CPU bandwidth than using the native dif ferential messages as shown in Base Station Configuration on page 40 3 To find information on how to send multiple commands and log requests from a computer search our knowledge database available at www novatel com support At the ...

Page 43: ...2 headingext2b onnew log headinga onnew log gphdt onchanged hdtoutthreshold 1 0 3 5 GLIDE NovAtel s GLIDE is a positioning algorithm for single frequency GPS and GPS GLONASS applications GLIDE produces a smooth position output tuned for applications where time relative accuracy pass to pass is more important than absolute accuracy Because of this it is well suited for agricultural applications Mul...

Page 44: ...enable the PDP filter pdpfilter enable Ensure the PDPFILTER command is used before the PDPMODE command Set the PDP type and kinematic type according to the application For most kinematic applications pdpmode relative dynamic or pdpmode relative auto The rest of the setup is position type and log dependent according to the application See the PSRDIFFSOURCE INTERFACEMODE SERIALCONFIG and other confi...

Page 45: ...tions for position stability and will slowly transition back to the RTK pos itions at a default rate of 0 005 m s or the time specified in the STEADYLINE command Figure 11 STEADYLINE Prefer Accuracy 3 7 Enabling SBAS Positioning OEM7 receivers are capable of SBAS positioning This positioning mode is enabled using the SBASCONTROL command sbascontrol enable auto When the command is entered the OEM7 ...

Page 46: ...WWWISO WWWISO 0 WMC010201AN0004 2017 Sep 20 21 00 04 ENCLOSURE NMNE17200009B REGULATORY US IMUCARD Epson G320N In the example above the receiver serial number is BMHR17090005E To activate a subscription the receiver must be powered and tracking an L Band TerraStar satellite prior to the planned activation time Use the ASSIGNLBANDBEAM command to configure the receiver to track the Ter raStar satell...

Page 47: ...r more information or to disable Multi Constellation Multi Frequency channel configuration see the TERRASTARAUTOCHANCONFIG command If the TerraStar X TerraStar C PRO or RTK ASSIST PRO subscription becomes inactive the receiver will revert to the channel configuration enabled by the receiver model This feature is available on OEM firmware version 7 06 01 and later 3 9 RTK ASSIST RTK ASSIST is a fea...

Page 48: ...ion the position accuracy provided by RTK ASSIST may be lower Additional information about enabling and using RTK ASSIST is available in the RTK ASSIST Applic ation Note available from our website www novatel com assets Documents Bulletins APN 073 RTK ASSIST pdf 3 10 Terrain Compensation The Terrain Compensation feature corrects for errors in position caused by the roll and pitch of the vehicle Th...

Page 49: ...es the roll and pitch angles and corrects the position data before it is forwarded to the user equipment In the example shown in Figure 12 Terrain Com pensation Roll above the roll angle is 10 degrees so the position correction that needs to be applied is 61 cm In the example shown in Figure 13 Terrain Compensation Pitch above the pitch angle is 8 degrees so the pos ition error that needs to be ap...

Page 50: ...ing SMART Antennas l SMART7 l SMART7 I l SMART7 W l SMART2 TB 3 10 1 Configuring Terrain Compensation To fully install and set up Terrain Compensation 1 Mount the SMART Antenna on the vehicle 2 Measure and set the height of the SMART Antenna from the ground to the bottom of the antenna 3 Level the tilt sensor 4 Save the Terrain Compensation configuration data Mount the SMART Antenna The SMART Ante...

Page 51: ...T Antenna Orientation The SMART Antenna must be rigidly secured to the vehicle to minimize errors due to vibration and motion Set the SMART Antenna Height and Enable Terrain Compensation The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard packed and level surface The measurement should be made in meters from the ground to the bottom of the ...

Page 52: ...to enable Terrain Compensation and set the SMART Antenna height to 3 5 meters enter the fol lowing command TILTFILTER ENABLE 3 5 For more information refer to the TILTFILTER command Changes in tire pressure over time can potentially cause errors in Terrain Compensation This is because the height of vehicle can vary with tire pressure Leveling the Terrain Compensation Sensor The vehicle must be par...

Page 53: ...mand is an alternative to using the TILTFILTER and TILTZERO commands Either method will successfully configure the Terrain Compensation feature Setting the SMART Antenna Height The height measurement should be made while the vehicle has the correct tire pressure and is parked on a hard packed and level surface The measurement should be made from the ground to the bottom of the SMART Antenna connec...

Page 54: ...sensor is a digital pulse the fre quency of which is proportional to the vehicle s ground speed This is often used in agricultural applications such as planting and spraying The SMART Antenna eliminates the need for separate ground sensing radar equipment by converting the GPS derived velocity to a proportional frequency output The following emulated radar signal parameters can be configured by th...

Page 55: ...To add logs 1 Click the Add Log button The Add Logs dialog box opens 2 Click the check box for each log you want to add The logs are listed alphabetically and are organized on tabs by category If the log name is known enter the log name or a portion of the log name in the search box The search starts as soon as text is entered The search works within the selected tab so if the log is not found cli...

Page 56: ... a communication port is selected ensure that a device to receive the log is connected to that port The filename and directory used when collecting to a file is configured in the Settings dialog box Refer to Change the Log File Settings below 3 12 3 Start Collecting Logs To start collecting logs 1 Ensure that the logs you want to collect are shown on the Logging Control Window 2 Click the Start Re...

Page 57: ... Connect to generate a unique name for each logging session ensure the Auto check box is selected NovAtel Connect will generate a new file for each logging session The file is named with the product serial number PSN and the time when the logging session started Hold Type Enable or disable Hold on the logs started using the Logging Control Window When the Hold Type is set to No the logs started us...

Page 58: ...tions GNSS positioning requires line of sight view to at least four satellites simultaneously If these criteria are met differential GNSS positioning can be accurate to within a few centimeters If however some or all of the satellite signals are blocked the accuracy of the position reported by GNSS degrades substantially or may not be available at all In general an INS uses forces and rotations me...

Page 59: ... solution drift even when too few satellites are available for a full GNSS solution For more information about GNSS and INS refer to www novatel com an introduction to gnss 4 2 Definition of Reference Frames Within SPAN The reference frames that are most frequently used throughout the SPAN documentation are the following l The Local Level Frame ENU below l The IMU Body Frame on the next page l The...

Page 60: ...xis points out the front of the vehicle in the direction of travel l x axis completes the right handed system out the right hand side of the vehicle when facing forward Figure 18 Vehicle Frame 4 2 4 The User Output Frame The user output frame is an arbitrary frame which can be optionally defined to transfer inertial output to a more useful position or reference frame By default SPAN position and v...

Page 61: ...d relative to the Vehicle frame The X Y and Z axes of the IMU Body frame are indicated on the SMART7 mechanical drawings See SMART7 Mechanical Specifications on page 136 The translational offsets from the IMU to the GNSS antenna are required for all SPAN systems Since the IMU and GNSS antenna are inside the SMART7 enclosure the IMU to antenna offset is configured at the factory No additional trans...

Page 62: ...in the IMU Body frame However in some systems the IMU Body frame may not be known precisely For these cases the SETINSTRANSLATION command has an option that allows the offsets to be entered relative to the Vehicle frame In these cases the rotation from the IMU Body frame to the Vehicle frame RBV is used to rotate offsets into the default IMU Body frame as required To achieve the best results this ...

Page 63: ...the factory An IMU Body frame to Vehicle frame calibration routine should be run to on all SMART7 installations whether an IMU Body frame to Vehicle frame rotation is required or not See Body to Vehicle Frame Rotation Calibration Routine on page 76 or Multi Line Body to Vehicle Frame Rotation Calibration Routine on page 77 for more information This calibration routine should be done each time the ...

Page 64: ...ON RBV 180 0 90 Figure 21 SMART7 S and SMART7 SI IMU Body Frame with Factory Configured Rotation If SMART7 S is not installed with the front of the SMART7 S facing the direction of vehicle travel a different set of rotations must be entered using the SETINSROTATION RBV command Rotational Offsets Example Consider a SMART7 S installed as shown in the following diagram In this installation the factor...

Page 65: ... to the Vehicle frame RBV are l X 0 l Y 180 l Z 0 To reach this answer keep in mind the following rules l You must rotate from the IMU Body frame to the Vehicle frame l You must rotate in the order Z X Y Specifically Z X Y l Positive rotation is defined according to the right hand rule The following diagram shows the IMU Body frame of the SMART7 S and the Vehicle frame for the example installation...

Page 66: ...mmand For this example the command to enter the rotations for the previous example is SETINSROTATION RBV 0 180 0 4 3 3 Importance of RBV Calibration For the SMART7 to provide the best performance the rotation offset of the IMU body to the Vehicle frame RBV should be known as accurately as possible Since constraints happen at the vehicle level any error in the offset will translate into worse perfo...

Page 67: ...peration SMART7 Installation and Operation User Manual v6 67 Figure 23 Rear view of SMART7 on a Vehicle Roof Camber Figure 24 Side View of SMART7 on a Vehicle Roof Tilt Figure 25 Top View of SMART7 on a Vehicle SMART7 Misalignment ...

Page 68: ...configured 4 4 1 Minimum Recommended Configuration When configuring your SMART7 SPAN system for first time use the following is the minimum amount of inform ation required to ensure proper operation of a SPAN system Required Information Required Command IMU to vehicle frame rotation SETINSROTATION RBV While this is the minimum amount of information required additional information is typically need...

Page 69: ...n between the IMU Body frame and the Vehicle frame is not precisely known enter an approximate rotation to the nearest 45 degrees The precise offset can be estimated by carrying out the Body to Vehicle Frame Rotation Calibration Routine on page 76 SPAN Configuration with NovAtel Connect NovAtel Connect provides a wizard that takes you through the steps required to configure a SPAN system For infor...

Page 70: ...NS state is inactive 1 INS_ALIGNING INS is in alignment mode 2 INS_HIGH_ VARIANCE The INS solution uncertainty contains outliers and the solution may be outside specifications The solution is still valid but you should monitor the solution uncertainty in the INSSTDEV log It may be encountered during times when GNSS is absent or poor 3 INS_ SOLUTION_ GOOD The INS solution is in navigation mode and ...

Page 71: ...atus field reports INITIALIZING_BIASES 6 After the bias estimate is complete the coarse alignment routing starts Bias estimates will be refined and a static alignment completed if IMU quality allows During this period the INS Status field reports INS_ ALIGNING 7 If static coarse alignment is not possible or is locked out by command the system will require an external azimuth input either from vehi...

Page 72: ...IGN solution to rapidly per form an alignment NVM Seeded Alignment SPAN can use the alignment information from a previous power up to quickly perform an alignment For inform ation about enabling and using an NVM Seeded Alignment refer to INS Seed Fast INS Initialization below Manual Alignment If the initial azimuth of the system is known it can be entered manually using the SETINITAZIMUTH command ...

Page 73: ...ificantly from the seed position 10 meters position and 10 degrees in roll and pitch If a valid error model is present in the seed data from NVM this will always be used even if the system is not sta tionary or exceeded the movement thresholds INJECT Option Advanced Users Only There is an advanced option available to skip the second and third validation steps described in the boot up section above...

Page 74: ...awaiting GNSS 100 0x04 NVM Seed Injected includes error model data 101 0x05 NVM Seed data ignored due to a user commanded filter reset or configuration change 110 0x06 NVM Seed error model data injected Table 12 NVM Seed Indication 4 5 3 Navigation Mode Once the alignment routine has successfully completed SPAN enters navigation mode SPAN computes the solution by accumulating velocity and rotation...

Page 75: ...ormat Note that the position velocity and attitude are available together in the INSPVA log INSPVAS log and INSPVAX log The inertial solution is available up to a rate of 200 Hz Data can be requested at a specific synchronous time interval asynchronously matching the IMU output rate or can be triggered by the mark input trigger at rates up to 200 Hz The GNSS only solution is still available throug...

Page 76: ...ng data 4 5 5 Body to Vehicle Frame Rotation Calibration Routine Kinematic alignment requires that the rotational offset between the vehicle and IMU Body frame RBV is known If the angles are simple that is a simple rotation about one axis the values can easily be entered manually through the SETINSROTATION RBV command If the rotational offset is more complex that is rotation is about 2 or 3 axis t...

Page 77: ... procedure refer to the OEM7 Commands and Logs Reference Manual 4 5 6 Multi Line Body to Vehicle Frame Rotation Calibration Routine The single pass Body to Vehicle frame offset calibration feature assumes flat ground when estimating the roll off sets between the IMU Body and Vehicle frames as this component of the rotational offset is difficult to observe through typical ground vehicle motion In p...

Page 78: ...he optional standard deviation target omitted INSCALIBRATE RBV NEW 5 Start to move the vehicle Drive a straight course at a vehicle speed greater than 5 m s 18 km hr A dis tance of approximately 250 meters is recommended To monitor the calibration log INSCALSTATUS using the ONCHANGED trigger 6 When the end of the available distance is reached stop the vehicle Halt the ongoing calibration by sendin...

Page 79: ... Logs Reference Manual 4 6 Azimuth Sources on a SPAN System The SPAN system use three different methods to calculate the azimuth l Course Over Ground l Inertial Azimuth l ALIGN Azimuth 4 6 1 Course Over Ground The course over ground azimuth is determined using the position delta between two position solutions computed by the OEM7 receiver This is the simplest way to compute an azimuth and is done ...

Page 80: ...only solution BESTVEL NovAtel Course Over Ground From the best system solution which could be either GNSS or INS GPHDT NMEA ALIGN GPVTG NMEA Course Over Ground From the best system solution which could be either GNSS or INS HEADING2 NovAtel ALIGN INSATT INSATTS INSATTX NovAtel Inertial INSPVA INSPVAS INSPVAX NovAtel Inertial INSSPD NovAtel Course Over Ground Computed using the INS solution only PA...

Page 81: ...ng Galileo l GALINAVEPHEMERIS ONCHANGED if using Galileo l BDSEPHEMERIS ONCHANGED if using BeiDou l INSCONFIGB ONCHANGED l RAWIMUSXB ONNEW l HEADING2B ONNEW if using ALIGN dual antenna solution Post processing is performed through the Waypoint Inertial Explorer software package available from the NovAtel Waypoint Products Group Visit our Web site at www novatel com for details The highest rate tha...

Page 82: ...skey are printed on a label located by the connectors of the unit The SSID is SM7 Receiver PSN e g SM7 ABCDEF12345678E Once a Wi Fi connection is established open a browser and navigate to the receiver s URL which is 192 168 19 1 by default The receiver WebUI homepage opens In addition it is possible to connect to an ICOM port by establishing a terminal connection to the receiver s IP address usin...

Page 83: ...Concurrent on page 85 The term passkey and password are the same 5 2 1 Enable the Wi Fi Access Point By default the SMART7 is an Access Point 1 Start a command line interface CLI session with the receiver Use a Ethernet or Serial COM port connection 2 Use the WIFIMODE command to enable the Wi Fi transceiver as an AP WIFIMODE AP 3 Use the SAVECONFIG command to store the change in Non Volative Memor...

Page 84: ...aiting for it to report CONNECTED_TO_AP LOG WIFISTATUS ONCHANGED The access points in range can be monitored by entering this command LOG WIFINETLIST ONCHANGED A SMART7 operating as a client can be configured to automatically connect to one of several Access Points which may or may not be another receiver This functionality is similar to what is provided by Smart phones which automatically connect...

Page 85: ...when the receiver is restarted If the Access Point chosen by the Concurrent Client is using a channel different than the one used by the Con current Access Point the Wi Fi module will be rebooted and configured to use the channel of the chosen access point Any clients connected to the Concurrent Mode Access Point will lose their connection and may or may not automatically reconnect If the access p...

Page 86: ...l not change until the Wi Fi transceiver has been restarted 3 Use the WIFIMODE command to restart the Wi Fi transceiver WIFIMODE AP 4 Use the SAVECONFIG command to store the change in Non Volative Memory This ensures the new passkey is kept when the receiver is restarted 5 3 2 Change the SSID Use the WIFIAPSSID command to change the default SSID if required WIFIAPSSID ssid Issue the SAVECONFIG com...

Page 87: ...ess and netmask are kept when the receiver is restarted 5 3 5 Disable Wi Fi 1 Start a CLI session with the receiver Use a Ethernet or Serial COM port connection 2 Use the WIFIMODE command to disable the Wi Fi transceiver WIFIMODE OFF 3 Use the SAVECONFIG command to store the change in Non Volative Memory This ensures the changes are kept when the receiver is restarted 5 4 ALIGN Over Wi Fi Overview...

Page 88: ...TCONFIG com mand is in range If interface_mode is omitted it is assumed that the ALIGN MASTER Access Point is already con figured to transmit the desired corrections over the specified ICOM port Note that up to four rovers can be associated to the same Master each using a different ICOM port Example Enable Wi Fi ALIGN corrections using receiver SM7 NMND17190003B as the Master Using a serial port c...

Page 89: ...ts of the following steps 1 Establish a Wi Fi connection from the Rover Client to the Master Access Point 2 Establish a TCP connection between the ICOM port to be used for ALIGN corrections and the Access Point 3 Configure the interface of the ICOM port to accept ALIGN corrections In the following examples the ALIGN Rover is configured as a Wi Fi Client connecting to the Master s Access Point The ...

Page 90: ...er s Access Point using a static IP address on the same subnet as the Master 192 168 19 42 in this example The Master s IP address 192 168 19 1 by default is used as both the gateway and DNS server wifinetconfig 1 enable PwrPak7 NMND17190003B 12345678 static 192 168 19 42 255 255 255 0 192 168 19 1 192 168 19 1 wifimode client icomconfig icom1 tcp 192 168 19 1 3001 interfacemode icom1 novatelx nov...

Page 91: ...TA command Refer to the Agriculture Commands and Logs Reference Manual 6 1 Required Hardware The following hardware is required to set up an Ethernet interface to an OEM7 receiver l a user supplied computer with an available Ethernet or serial l a GNSS antenna l an Ethernet capable OEM7 receiver l an RS 232 null modem cable l one or two CAT5 Ethernet cables l a user supplied Ethernet network hub o...

Page 92: ...P port number used for the connection by entering ICOMCONFIG ICOM1 TCP 2000 5 Assign the receiver IP address subnet mask and default gateway by entering IPCONFIG ETHA STATIC 192 168 74 10 255 255 255 0 192 168 74 1 The command assigns the following values to the OEM7 receiver IP address 192 168 74 10 Subnet mask 255 255 255 0 Gateway 192 168 74 1 These settings are examples only The settings appro...

Page 93: ...us window appears 9 Click the Close button 10 Proceed to Confirming Ethernet Setup below 6 2 3 Confirming Ethernet Setup 1 Connect the computer to the OEM7 receiver using an Ethernet cross over cable See Figure 27 Cross Over Ethernet Cable Configuration OEM7 Receiver on page 91 2 Connect to the receiver using NovAtel Connect or any third party terminal program that supports TCP IP con nections Use...

Page 94: ...e latest NovAtel Connect software and documentation from www novatel com novatel connect 3 Enable the Ethernet port by entering ETHCONFIG ETHA AUTO AUTO AUTO AUTO 4 Obtain the IP address assigned to the OEM7 receiver by the DHCP server LOG IPSTATUS ONCE Make a note of the IP address returned with this log 5 Assign the TCP IP port number by entering ICOMCONFIG ICOM1 TCP 2000 6 Confirm the port numb...

Page 95: ... greater is required for OEM7 receivers Download the latest NovAtel Connect software and documentation from www novatel com novatel connect 3 Connect the power cables to both of the OEM7 receivers and apply power to the receivers 4 Connect the Ethernet cables to the Ethernet ports on both OEM7 receivers 5 Establish an Ethernet connection either static or dynamic configurations Refer to Static IP A...

Page 96: ...ghput For high data rate Ethernet logging using TCP IP disable Windows Delayed Ack Algorithm DAA for complete data logging If you do not disable DAA there will be data gaps due to the Windows Ethernet buffer If done incorrectly changing the Windows Registry may impair the operation of the computer Editing the Windows Registry is for advanced Microsoft Windows users only NovAtel Inc is not able to ...

Page 97: ...ull list of NTRIP casters refer to the following link http www rtcm ntrip org home 7 1 NTRIP Configuration Over Ethernet The following procedure describes how to configure a NovAtel base and a NovAtel rover through a third party NTRIP caster This configuration is recommended for optimal RTK performance 1 Establish a connection to the receiver using either NovAtel Connect or another terminal progra...

Page 98: ...arine Electronics Association NMEA strings are required to be sent from the rover back to the RTK network For example if connected to the VRS mount point the rover is required to send its position to the network in a standard NMEA GGA message This is achieved by issuing the following commands LOG NCOMx GPGGA ONTIME 5 until data is received by the caster For more information about Network RTK optio...

Page 99: ...i status on the receiver LOG WIFISTATUS ONCHANGED 3 Set the Wi Fi mode WIFIMODE CLIENT or WIFIMODE CONCURRENT 4 Check for available Wi Fi access points LOG WIFINETLIST 5 Establish a connection with a Wi Fi access point WIFINETCONFIG 1 ENABLE access point name password 6 Enable the receiver as an NTRIP client NTRIPCONFIG NCOM1 CLIENT V2 endpoint mountpoint username password Refer to the NTRIPCONFIG...

Page 100: ...MEA2000 Parameter Group Messages PGN over the CAN bus l PGN 126992 System Time l PGN 129025 GNSS Position Rapid Update l PGN 129026 COG SOG Rapid Update l PGN 129027 Position Delta High Precision Rapid Update l PGN 129029 GNSS Position l PGN 129551 GNSS Differential Signal The following commands and logs are used for CAN configuration l CANCONFIG command controls the CAN transceiver hardware and p...

Page 101: ...2 Use the CANCONFIG command to place the receiver on bus 3 Optionally use the J1939STATUS log to monitor CAN status on the receiver 8 2 1 Configuration Notes l The J1939CONFIG and CANCONFIG commands can be entered in any order After the CANCONFIG com mand is used to place the receiver on the CAN bus J1939CONFIG commands take effect immediately Until then J1939CONFIG can be entered many times to ch...

Page 102: ...CANCONFIG CAN1 ON 5 SAVECONFIG J1939STATUS NODE1 DISABLED 0 0xFE J1939STATUS NODE1 CLAIMING 1 address J1939STATUS NODE1 CLAIMED attempt count address 8 2 4 Example of Detecting an Address Claim Failure and Reconfiguring 1 LOG J1939STATUS ONCHANGED 2 J1939CONFIG NODE1 CAN1 addresses 3 CANCONFIG CAN1 ON J1939STATUS NODE1 DISABLED 0 0xFE J1939STATUS NODE1 CLAIMING 1 address J1939STATUS NODE1 FAILED a...

Page 103: ...ess Claim procedure will be executed again based on parameters specified in the J1939CONFIG command 8 3 NMEA2000 Logging OEM7 receivers support both a subset of the standard NMEA2000 PGNs as well as NovAtel proprietary PGNs All NMEA2000 logs are configured using the LOG command where the COM port is a CAN port CCOM The CCOM port must be associated with a J1939 node using the CCOMCONFIG command If ...

Page 104: ... Node 1 CCOMCONFIG CCOM2 NODE1 J1939 61184 6 0x1c 2 INTERFACEMODE CCOM2 NONE RTCMV3 OFF 8 5 NovAtel Messages Over CAN Standard NovAtel messages commands logs responses can be sent and received on the CAN Bus using CAN ports CCOM To reduce CAN Bus loading NovAtel messages are sent using NovAtel standard binary format over J1939 default The CCOM port requires special configuration and has the follow...

Page 105: ...nfiguration on OEM6 On OEM6 receivers the SETCANNAME command with minimal parameters could be used to configure CAN SETCANNAME 305 Once entered a limited address claim procedure would take place and NMEA2000 logs would be generated auto matically at a fixed logging rate and fixed CAN port bit rate 8 6 2 Configuration on OEM7 To configure an OEM7 receiver to log the same commands and use the same l...

Page 106: ...rrected the receiver must be reset to resume normal oper ation 9 1 RXSTATUSEVENT Log The RXSTATUSEVENT log is used to output event messages as indicated in the RXSTATUS log On start up the OEM7 receiver is set to log RXSTATUSEVENTA ONNEW on all ports You can remove this message using the UNLOG command Refer to the RXSTATUSEVENT log in the Agriculture Commands and Logs Reference Manual for log and ...

Page 107: ...eiver can be configured to generate event messages triggered by status conditions Receiver Error words automatically generate event messages These event messages are output in the RXSTATUSEVENT log see also Set and Clear Mask for all Status Code Arrays on the next page The error word is the first field after the log header in the RXSTATUS log as shown in the example in Figure 33 Location of Receiv...

Page 108: ...us and its associated priority mask bits are set 9 2 5 Auxiliary Status Codes The auxiliary status codes are only in the RXSTATUS log The four arrays that represent the auxiliary status codes indicate the receiver state for information purposes only The events represented by these bits typically do not cause receiver performance degradation The priority mask for the auxiliary codes does not put th...

Page 109: ...tion User Manual v6 109 not have any associated mask words Any bit set in the error word results in a RXSTATUSEVENT log broad cast unless unlogged Refer also to the RXSTATUS log in the Agriculture Commands and Logs Reference Manual for a more detailed description ...

Page 110: ...r cannot establish communication Check the serial cables and ports Replace if faulty See CAN Bus on page 100 Refer also to the SERIALCONFIG command The receiver is not tracking satellites Ensure that the antenna has an unobstructed view of the sky from horizon to horizon Check the RXSTATUS error states See Examining the RXSTATUS Log on the next page If the receiver is in error mode it does not tra...

Page 111: ...atel com OEM7 Move the GNSS antenna away from the source of the interference signal If the interference mitigation feature is enabled on the receiver configure a filter within the Interference Toolkit to filter out the interference signal The receiver s Automatic Gain Control AGC is not working properly See the jamming symptom in this table For information about the commands and logs in this secti...

Page 112: ...aptured using the RXSTATUS log 10 Possible hardware or environmental condition If you cannot resolve the problem contact Customer Support on page 18 11 Possible hardware or environmental condition If you cannot resolve the problem contact Customer Support on page 18 Also check the Auxiliary 2 Status word to determine which PLL is in error 12 14 Reserved 15 Issue a FRESET command and power cycle th...

Page 113: ...eived this bit will be set to 0 19 None This bit only indicates if the receiver has calculated a position 20 None This bit is a status bit indicating if the receiver s position has been manually fixed and does not represent a problem Refer also to the FIX command 21 None This bit indicates if c lock steering has been manually disabled Refer also to the FRESET command 22 None This bit only indicate...

Page 114: ...e Agriculture Commands and Logs Refer ence Manual 10 2 Examining the AUX1 Status Word Table 20 Resolving an Error in the AUX1 Status Word below provides actions to take when your receiver has an error flag in the AUX1 status word Bit Set Action to Resolve 0 2 Jammer detected 3 None This bit indicates that Position Averaging is ON 4 6 Jammer detected 7 Reserved bit 8 10 Reserved bits 11 Reserved bi...

Page 115: ...ndicate an error condition in the Receiver Error word of the log l All logs output have Bit 0 set in the Receiver Status word of the log header To determine the cause of the error log the RXSTATUS log and check the Receiver Error word If Bit 9 is set it is a Temperature Status error For information about reading the Error Word refer to Error Word on page 107 10 3 2 Recovering from a Temperature St...

Page 116: ... 14434 10 58 424915314 100 Temperature 0x01 0 000122100 200 3 296703339 600 5 169230938 700 1 192307711 800 3 300366402 f00 1 833943844 1100 5 159462929 1500 1 555555582 1700 58 485961914 1600 Temperature 0x16 Pay attention to the reading and the boundary limit status Refer to Table HWMONITOR Status Table in the HWMONITOR log section for a description of the Bound ary Limit Status 4 Use the sugges...

Page 117: ...o detect when an unexpected reset has occurred during the boot process If a Reset Loop is detected the Reset Loop Detected bit is set in the RXSTATUS log This bit is only a warning and the receiver may still be able to operate correctly The receiver will allow several unexpected resets to occur before triggering the Safe Mode Error at which point the receiver will not track GNSS satellites 10 4 2 ...

Page 118: ...are shex file l WinLoad software utility 11 1 Firmware Updates and Model Upgrades A local NovAtel dealer can provide all the information needed to upgrade or update a receiver Refer to www novatel com where to buy for contact information or contact sales novatel com or support novatel com directly 11 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to...

Page 119: ...page 123 Auth codes work with any signed firmware image Therefore if a receiver has an auth code for the old version of firmware that same auth code will work for the new version of firmware provided both images are digitally signed by NovAtel Signed firmware images are distributed in shex files The new download package includes a signed firmware file type that uses an extension designated as shex...

Page 120: ...ram howto txt Instructions on how to use the WinLoad utility whatsnew rtf Information on the changes made in the firmware since the last revision x x shex Firmware version upgrade file where x x defines the product name and release e g OM7MR0200RN0000 shex NovAtel Software License Agreement rtf License agreement for the firmware NovAtel has an online video tutorial that explains firmware updating ...

Page 121: ...T7 Installation and Operation User Manual v6 121 Figure 36 WinLoad s Open Window When a file is selected the filename appears in the main WinLoad display area and in the title bar Figure 37 Open File in WinLoad below Figure 37 Open File in WinLoad ...

Page 122: ...f the Authorization Code window appears enter the auth code and click OK See Authorization Code on page 119 for further information about the Authorization Code 6 The receiver finishes the download and then resets The process is complete when Done appears in the main display area 7 Close WinLoad If loading a firmware that is currently installed on an OEM7 receiver i e reloading the same version of...

Page 123: ...he firmware file to the device s local drive before uploading 2 Use a Wi Fi capable device such as a laptop tablet or smart phone to connect to the receiver s Wi Fi access point The SSID and password for the receiver Wi Fi are on a label on the receiver Alternately connect the receiver to a computer using an Ethernet connection 3 Open a web browser and enter any web address for example novatel com...

Page 124: ...FTLOADSETUP Send configuration information to the receiver for the SoftLoad process This command is not required when working with a shex file Log Description SOFTLOADSTATUS Provides status updates for the ongoing SoftLoad process Each command and log can be used in abbreviated ASCII ASCII or binary format with the exception of SOFTLOADDATA which should only be used in binary format File Types Fir...

Page 125: ...Packaging data parsed from multiple S3 records into a binary SOFTLOADDATA command can result in improved firmware update times as each S3 record contains only a small number of bytes of firmware data A single SOFTLOADDATA command can package up to 4096 bytes of firmware data from multiple S3 records whereas a single SOFTLOADSREC command contains a maximum of 28 bytes of firm ware data from a singl...

Page 126: ...nd must be processed before sending the next command so as to determ ine if the command was accepted or rejected and to wait for the receiver to complete the operation Responses to SoftLoad commands are guaranteed to be output from the receiver within a specific time which varies by command Refer to specific SoftLoad command Agriculture Commands and Logs Reference Manual for more information on re...

Page 127: ...OADCOMMIT command was received by the receiver 7 Send the auth code for the newly downloaded image using the AUTH command This is only required if there is not already a signature auth code on the receiver as signature auth codes are maintained through a SoftLoad update See Authorization Code on page 119 for details on Auth Codes AUTH ADD_DOWNLOAD AUTH CODE 8 Reset the receiver using any of the fo...

Page 128: ...SOFTLOADSTATUS log Any status enum value greater than the ERROR status indicates an error has occurred during the SoftLoad update In the event of an error the SoftLoad update should be restarted by issuing a SOFTLOADRESET com mand or normal operation can be restored by resetting the receiver In rare cases after a SoftLoad error the boot code may not be able to determine which is the latest firmwar...

Page 129: ...tain the new auth code from NovAtel Sales or your local NovAtel dealer 2 Use a Wi Fi capable device such as a laptop tablet or smart phone to connect to the receiver s Wi Fi access point The SSID and password for the receiver Wi Fi are on a label on the receiver 3 Open a web browser and enter any web address for example novatel com do not include https 4 Click or tap the Cog button 5 Click or tap ...

Page 130: ...nd reopened using the Device menu 11 9 Update the Web UI The Web UI is hosted on the OEM7 receiver To update the Web UI a new Web UI software package is loaded onto the receiver This section applies only to receivers that support the Web UI such as the PwrPak7 SMART7 or Eth ernet capable OEM7 receivers 11 9 1 Update the Web UI Content Using NovAtel Connect To update the Web UI on the receiver 1 Ob...

Page 131: ...ng 2 Use a Wi Fi capable device such as a laptop tablet or smart phone to connect to the receiver s Wi Fi access point The SSID and password for the receiver Wi Fi are on a label on the receiver 3 Open a web browser and enter any web address for example novatel com do not include https 4 Click or tap the Cog button 5 Click or tap the Update button 6 In the Web UI panel click or tap the CHOOSE FILE...

Page 132: ... to the SMART7 and SMART7 S See the following sections for more information about the SMART7 l SMART7 Performance Specifications on the next page l SMART7 Mechanical Specifications on page 136 l SMART7 Environmental and Electrical Specifications on page 138 l SMART7 Data Communication Specifications on page 139 l SMART7 Strobe Specifications on page 140 For information about the cable available fo...

Page 133: ...MS values are based on Horizontal position accuracy Performance specifications are subject to GNSS system characteristics Signal in Space SIS operational degradation ionospheric and tropospheric conditions satellite geometry baseline length multipath effects and the presence of intentional or unintentional interference sources 2GPS only 3TerraStar subscriptions are available from NovAtel or TerraS...

Page 134: ...5a 3 cm 0 75 mm E5b 3 cm 0 75 mm E5 AltBoc 3 cm 0 75 mm BeiDou B1I 4 cm 0 5 mm B1C 3 cm 0 5 mm B2I 4 cm 0 5 mm B2a 3 cm 0 5 mm Channel Configuration 555 Channels Signals Tracked GPS L1 C A L2P L2C GPS optional L1C L5 GLONASS L1 C A L2 C A L2P GLONASS optional L3 CDMA BeiDou optional B1I B1C B2I B2a Galileo optional E1 E5 AltBOC E5a E5b SBAS L1 SBAS optional L5 QZSS L1 C A L2C QZSS optional L1C L5 ...

Page 135: ... RMS Velocity Accuracy2 0 03 m s RMS The IMU performance specifications apply to the SMART7 S and SMART7 SI only Gyroscope Performance Input Rate max 150 second Bias Repeatability 0 5 second Bias Instability 3 5 hour Angular Random Walk 0 1 hour Accelerometer Performance Accelerometer Range 5 g Bias Repeatability 15 mg Bias Instability 0 1 mg Velocity Random Walk 0 05 m s hour Attitude Accuracy RM...

Page 136: ... Installation and Operation User Manual v6 136 A 2 SMART7 Mechanical Specifications l Figure 39 SMART7 Dimensions below l Figure 40 SMART7 S and SMART7 SI Center of Navigation on the next page Figure 39 SMART7 Dimensions Dimensions are in millimeters ...

Page 137: ...APPENDIX A SMART7 Technical Specifications SMART7 Installation and Operation User Manual v6 137 Figure 40 SMART7 S and SMART7 SI Center of Navigation ...

Page 138: ...EC 60950 22 8 2 ISO 9022 9 Method 20 Severity Degree 03 Salt Fog IEC 60068 2 11 Sand and Dust MIL STD 810G CH1 Method 510 5 Random Vibration MIL STD 810G CH1 Method 514 7 Table 24 SMART7 Environmental Specifications Voltage 7 to 30 VDC Power Consumption 4 W typical value for GPS L1 L2 These are typical values using serial ports without interference mitigation These val ues can change with the numb...

Page 139: ...AN Bus Electrical Format ISO 11898 2 Data rates 1 Mbps maximum CAN Bus throughput is determined by slowest device on the bus SMART7 port 14 Pin Tyco Ampseal ETHERNET Physical layer 10BASE T 100BASE TX SMART7 port M12 D code male Wi Fi Access Point Security WPA2 Encryption AES Wi Fi Client Point Security OPEN WPA WPA2 Encryption TKIP AES CCMP Table 26 Data Communications Interfaces 1Data rates high...

Page 140: ...xt page for pin out details Strobes Input Output Comment Emulated Radar ER Output 0VDC to VBATT Use the RADARCONFIG command to configure ER Emulated Radar pulses are output through the SMART Antenna Interface Cable Optional Accessory on the next page and the RADARSTATUS log PPS Output 3 3V CMOS A time synchronization output This is a pulse where the leading edge is synchronized to receiver calcula...

Page 141: ...the SMART Antenna 14 pin Tyco Ampseal connector The exposed wires BATT and BATT can then be connected to a vehicular power circuit or equivalent protected by a 5 A slow blow fuse user supplied The following SMART Antennas use this cable l SMART7 l SMART7 with RELAY7 l SMART2 Figure 41 SMART Antenna Interface Cable This cable is also used when the RELAY7 is connected to the SMART7 When the RELAY7 i...

Page 142: ...KI PPS RLYO2 E2 12 PPS PWR RET GND E1 9 BATT PWR INPUT E1 14 BATT Table 28 SMART Antenna Interface Cable Connector Pin Out CAN SAE J1939 ISO 11783 ISO 11898 Compatible PPS Output 3 3 V CMOS Logic Compatible Ground Speed Output High Supply Voltage Maximum Low 1 5 V Maximum Load 3K Ohm Minimum Table 29 14 Pin Interface Connector A 6 1 SMART Antenna Custom Cable Recommendation To create a custom cabl...

Page 143: ...echnical Specifications SMART7 Installation and Operation User Manual v6 143 Connector Description Commercial Part Number J1 AMP Seal 14 pin Plug 776273 1 14 pin TYCO connector kit NovAtel 01020132 Table 30 I O Connector ...

Page 144: ...n and Operation User Manual v6 144 A 7 SMART7 Mounting Plate Specifications The optional SMART7 mounting plate is NovAtel part number 1020089 Figure 42 SMART7 Mounting Plate Dimensions Refer to Mounting and Orienting the SMART7 on page 26 for installation details ...

Page 145: ...t your local NovAtel dealer or NovAtel Customer Support Hardware Option Part Number Description SMART7 SMART7 W Wi Fi SMART7 I Wi Fi and Ethernet SMART7 S SPAN SMART7 SI SPAN Wi Fi and Ethernet 01020089 SMART7 Mounting Plate Kit 01019944 SMART7 Interface Cable Table 31 SMART7 Hardware Options Option Description RELAY7 400 RTK Radio for use with SMART7 403 473 MHz RELAY7 900 RTK Radio for use with ...

Page 146: ...SMART7 Installation and Operation User Manual v6 146 ...

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