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Novus PICOPOD NR7000, User Manual

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Users manual 

NR7000 

Revision #: 

B 

Date:  

102121 

 

Page  #: 

2 of 24 

www.novuspower.com 

 

 
 
 
 
 
 

 
 

Contents 

 

1.0 Summary .......................................................................................... 3

 

2.0 Inputs / Outputs .............................................................................. 7

 

2.1 GNSS Antenna ............................................................................................... 7

 

2.2 SAMTEC Connector (10-pin MiniMate) ............................................................. 8

 

2.3 PPS (Pin) ....................................................................................................... 8

 

2.4 10 MHz sine (SMA)......................................................................................... 9

 

3.0 Typical Phase Noise ....................................................................... 10

 

4.0 Built-in Test.................................................................................... 11

 

5.0 Power ............................................................................................. 12

 

6.0 GNSS Function ............................................................................... 13

 

7.0 Programming Guide (STATUS Port) .............................................. 15

 

7.1 Status Commands ......................................................................................... 16

 

7.2 Status Strings ($GPNVS)................................................................................ 17

 

8.0 Mechanical ..................................................................................... 18

 

9.0 Performance ................................................................................... 19

 

Technical Specifications ...................................................................................... 19

 

Environmental and Mechanical ............................................................................ 21

 

10.0 LIMITED HARDWARE WARRANTY .............................................. 22

 

11.0 Appendix:  GPS/GNSS Command Reference .............................. 24

 

 
 
 
 
 

 
 

 

Summary of Contents for PICOPOD NR7000

Page 1: ...100 MHz GNSS Locked OCXO Reference with NMEA PPS and Auto Cal All information provided herein is the property of Novus Power Products L L C The information included may be reproduced without the permi...

Page 2: ...3 PPS Pin 8 2 4 10 MHz sine SMA 9 3 0 Typical Phase Noise 10 4 0 Built in Test 11 5 0 Power 12 6 0 GNSS Function 13 7 0 Programming Guide STATUS Port 15 7 1 Status Commands 16 7 2 Status Strings GPNVS...

Page 3: ...levels The RS232 ports can also be configured to operate at logic levels The master timing is from a 26 channel GNSS receiver that supports GPS GLONASS SBAS QZSS By being able to receive data from mul...

Page 4: ...Users manual NR7000 Revision B Date 102121 Page 4 of 24 www novuspower com picoPod 10 MHz Phase Noise picoPod 100 MHz Phase Noise...

Page 5: ...source Local filtering is recommended There is internal filtering but noise on the input power while attenuated can compromise phase noise The input filtering should be near the device using design m...

Page 6: ...ory and in the event of a GNSS loss the saved coefficients are applied to the OCXO This effectively eliminates long term crystal drift Auto Cal normally keeps the reference 10 ppb There are two RS232...

Page 7: ...Antenna SMA female antenna connection Provides internal 3 3VDC power at 45mA max The Novus NA103 pole mount antenna or the Novus NA106 magnetic mount antenna are recommended for optimal performance Th...

Page 8: ...nal auxiliary output configuration This option provides a programmable LVCMOS output that is an n divisor of the internal bus frequency Optional Auxiliary LVCMOS output 2 3 PPS Pin The PPS is a one pu...

Page 9: ...Users manual NR7000 Revision B Date 102121 Page 9 of 24 www novuspower com 2 4 10 MHz sine SMA 8 2 dBm into 50 Ohms...

Page 10: ...te 102121 Page 10 of 24 www novuspower com 3 0 Typical Phase Noise 10MHz Sine Primary Output Offset Frequency Hz Typical dBc Hz 10 102 100 110 1K 140 10K 145 There are optional phase noise performance...

Page 11: ...eet special needs and noise reduction Each supply is monitored and a power failure will be reported through the GPNVS status strings Channel faults are also monitored and reported via serial TX RX The...

Page 12: ...Caution should be exercised when connecting power to the NR7000 The unit is reverse voltage protected with a TVS diode Applying a negative voltage will result in a surge current that can blow the fuse...

Page 13: ...it is simply better than nothing The receiver s antenna must have a clear view of the sky to acquire satellite lock Remember it is the location of the antenna that will be given as the position fix I...

Page 14: ...other anomalies mean that the measurement of the signal transit time is in error This effectively is a constant for all satellites since each measurement is made simultaneously on parallel tracking c...

Page 15: ...ect all current settings Table 1 shows a complete list of input commands and descriptions As a general rule a command can be input without or additional value and the unit will respond with the curren...

Page 16: ...munication For PERD commands checksum is always required 1 Enabled 0 Disabled Default 0 CSUM 1 GPNVS NVS n NVS7 1 Enables Disables output of GPNVS strings For NVS n m where n is the GPNVS string ID an...

Page 17: ...Users manual NR7000 Revision B Date 102121 Page 17 of 24 www novuspower com 7 2 Status Strings GPNVS See Appendix C GPNVS String Definitions for detailed explanation of GPNVS status strings...

Page 18: ...Users manual NR7000 Revision B Date 102121 Page 18 of 24 www novuspower com 8 0 Mechanical...

Page 19: ...ked Phase Noise dBc Hz 10 MHz 10 Hz 120 100 Hz 130 1 kHz 140 10 kHz 150 50 MHz 10 Hz 90 100 Hz 115 1 kHz 140 10 kHz 145 100 MHz 10 Hz 80 100 Hz 110 1 kHz 140 10 kHz 145 PPS Amplitude for 1PPS 3 3 Vdc...

Page 20: ...m Start 143 dBm Cold Start 143 dBm Reacquisition 157 dBm With Novus recommended antenna Antenna with LNA Antenna power 3 5 Vdc 35 ma on center conductor factory configurable to 5 Vdc Frequency 1574 16...

Page 21: ...usive of connectors Height 0 9 50 100 MHz 1 1 inches Weight 3 oz This document is copyright October 21 2021 Novus Power Products LLC All rights reserved This document is provided for information purpo...

Page 22: ...spection and testing costs for any item returned by Buyer under this paragraph which is found to be within specifications and or otherwise not the responsibility of NOVUS under the terms and condition...

Page 23: ...FORTH HEREIN FAILS OF ITS ESSENTIAL PURPOSE IN NO EVENT WILL NOVUS BE LIABLE TO YOU FOR ANY SPECIAL CONSEQUENTIAL INDIRECT OR SIMILAR DAMAGES INCLUDING WITHOUT LIMITATION DAMAGES FOR LOSS OF BUSINESS...

Page 24: ...Users manual NR7000 Revision B Date 102121 Page 24 of 24 www novuspower com 11 0 Appendix GPS GNSS Command Reference See Attached...

Page 25: ...GNSS Receiver Communications Specification NMEA 0183 All information provided herein is the proprietary property of Novus Power Products L L C The information included may be reproduced without the pe...

Page 26: ...MAT 17 6 PROPRIETARY NMEA INPUT SENTENCES 18 GNSS SATELLITE SYSTEM CONFIGURATION 4 8 19 FIXMASK SETTING OF POSITIONING AND SATELLITE MASK 4 20 PPS SETTING OF PPS PULSE PER SECOND 4 FORMAT 22 RESTART R...

Page 27: ...PER SECOND PPS 4 FORMAT 44 CRY TPS3 OUTPUT TIME TRANSFER INFO PER SECOND SURVEY TRAIM FORMAT 46 CRZ TPS4 OUTPUT TIME TRANSFER INFO PER SECOND FREQUENCY 3 FORMAT 48 CRM MEASUREMENT DATA OF GPS 50 CRN...

Page 28: ...data NMEA Standard sentence NMEA Proprietary sentence Output data NMEA Standard sentence NMEA Proprietary sentence Note 1 Communication speed can be changed into 4800 9600 19200 38400 57600 or 115200...

Page 29: ...58 2 Serial data output timing 4 The output timing of serial data is synchronous with PPS output timing Serial data is begun to output in the 25ms to 75ms range after PPS is output The time of serial...

Page 30: ...ceeding pages is a wildcard meaning any valid talker ID data field Variable or fixed length fields preceded by delimiter comma Comma s are required even when valid field data are not available i e nul...

Page 31: ...ngth fields preceded by delimiter comma Layout is maker definable checksum field 8 bits data between and excluding and are XORed and the resultant value is converted to 2 bytes of hexadecimal letters...

Page 32: ...ill be output every second The sentences can be independently enabled and disabled using the PERDCFG NMEAOUT and or PERDAPI CROUT command described later in this document as well as use differing tran...

Page 33: ...g 1 Valid fix 2 DGPS positioning 00 12 1 8 Horizontal dilution of precision HDOP 0 0 50 0 Note A null field is output while positioning is interrupted 9 Altitude above below mean sea level geoid 10 Un...

Page 34: ...North South 00 0000 59 9999 N or S 3 4 Longitude ddd degree 000 180 mm mmmm minute 00 0000 59 9999 5 a East West UTC hh hour E or W 00 23 mm minute 00 59 ss sss second 00 000 59 999 6 Status 6 A or V...

Page 35: ...ning 00 32 8 Horizontal dilution of precision HDOP 0 0 50 0 Note A null field is output while positioning is interrupted 9 Altitude above below mean sea level geoid 10 Geoidal height 11 Age of differe...

Page 36: ...n a Example GNGSA A 3 09 15 26 05 24 21 08 02 29 28 18 10 0 8 0 5 0 5 1 33 GNGSA A 3 79 69 68 84 85 80 70 83 0 8 0 5 0 5 2 30 2D 3D Auto switching mode 3D fix Satellite used 09 15 26 05 24 21 08 02 29...

Page 37: ...161 40 50 47 163 44 1 67 GPGSV 4 4 14 42 48 171 44 93 65 191 48 1 60 GLGSV 3 1 09 79 66 099 50 69 55 019 53 80 33 176 46 68 28 088 45 1 76 GLGSV 3 2 09 70 25 315 46 78 24 031 42 85 18 293 44 84 16 24...

Page 38: ...Users manual Appendix A Revision A Date 07 14 15 Page 14 of 58 Satellite number from 93 to 99 indicates QZSS 193 to 199...

Page 39: ...00 59 9999 a North South N or S 5 6 Longitude ddd degree 000 180 mm mmmm minute 00 0000 59 9999 a East West E or W 7 Speed kts 8 True Course degree 9 Date dd date mm month yy last two digits of the ye...

Page 40: ...Date 07 14 15 Page 16 of 58 Example GNRMC 012344 000 A 3442 8266 N 13520 1233 E 0 00 0 00 191132 D V 0B UTC 01 23 44 000 Differential 34 deg 42 8266 min N 135 deg 20 1233 min E Speed 0 0 kts True Cour...

Page 41: ...oning System Mode Indication A D or N A Autonomous D Differential N Data Invalid Example GNVTG 0 00 T M 0 00 N 0 00 K D 26 True Course 0 00 degrees Speed 0 00 kts 0 00 km h Mode Differential ZDA Time...

Page 42: ...Users manual Appendix A Revision A Date 07 14 15 Page 18 of 58 6 Proprietary NMEA Input Sentences These sentences are input commands for the protocol of this receiver...

Page 43: ...an be set to 0 or 2 for each satellite system User can also set SBAS mode to 1 Mode 0 means to disable the system Mode 1 means to enable tracking only do not use in position fix etc Mode 2 means to en...

Page 44: ...ites indicated by this field are not used in the position fix calculation Lowest order bit means SV 01 Highest order bit means SV 32 4 8 Prohibit SVs GLONASS 28BIT HEX 0 GLONASS Satellite number mask...

Page 45: ...S BIT9 SVID 9 GLONASS mask GLONASS BIT1 SVID 65 SBAS mask SBAS BIT18 SVID 50 Notes It is applied not only to First Fix or the time of a positioning return but to all thepositioning It is omissible aft...

Page 46: ...o 1 0 PPS output interval 0 1PPS A pulse is output per second 1 PP2S A pulse is output per two seconds 5 pulse width 1 to 500 200 PPS pulse width ms 6 cable delay 100000 to 100000 0 PPS cable delay ns...

Page 47: ...ment of PPS by TIMEALIGN command The default is UTC USNO As for details please refer to the page of TIMEALIGN command The condition of PPS synchronization is the follow 1 GPS alignment 2 UTC USNO alig...

Page 48: ...Notes 4 As for the differences depending on the restart mode please refer to the page of Backup of the Receiver Parameters for BBRAM The data which is stored by FLASHBACKUP command in Flash is not cle...

Page 49: ...conditions User needs not to set initial time because time is decided by satellite navigation data As for GPS week rollover timing and GT 87 week rollover timing please refer to the follow event date...

Page 50: ...Format PERDAPI TIMEZONE sign hour minute hh CR LF 1 2 3 4 Num Contents Range Default Remark 1 TIMEZONE Command Name 2 sign 0 to 1 0 GMT sign 0 shows positive 1 shows negative 3 hour 0 to 23 0 GMT Hour...

Page 51: ...the threshold value is 0 it is not used 5 latitude 1 90 to 90 0 Latitude for hold position in TO mode degree A positive number means the north latitude and a negative number means the south latitude...

Page 52: ...Users manual Appendix A Revision A Date 07 14 15 Page 28 of 58 Fixed position 37 78700 degrees north 122 45100 degrees west Altitude 31 5 m...

Page 53: ...are configured the position mode changes to Position hold mode when either is fulfilled When the threshold value is 0 it is not used The displayed position may differ a little from the configured posi...

Page 54: ...Users manual Appendix A Revision A Date 07 14 15 Page 30 of 58 J The condition of survey is satisfied Position mode is always started by time only mode if TO mode by this condition and power off Keep...

Page 55: ...le from GCLK PPS edge Example PERDAPI FREQ 1 10000000 47 Mode output Frequency 10MHz Notes It is omissible after the 4th field The response which is inserted current value to each field is obtained by...

Page 56: ...leap second is kept as user setting Example PERDAPI DEFLS 16 AUTO 27 Default leap second 16 second this value is updated automatically Notes It is omissible after the 3rd field This value is used befo...

Page 57: ...arameter In Glonass only mode correct default leap second is needed to output correct time 2 UTC USNO alignment Leap second is applied to output time PPS is output in synchronization with GPS before t...

Page 58: ...is required 1 OK UTC USNO alignment OK OK OK UTC SU alignment OK OK OK PPS GPS only fix setting GLONASS only fix setting GPS GLONASS setting GPS alignment OK OK OK UTC USNO alignment OK NG OK UTC SU...

Page 59: ...two ways to backup data 1 BBRAM BBRAM is RAM which is available to store data as long as backup current is impressed GT 87 can store ephemeris data almanac data and configuration which user sets by co...

Page 60: ...the sentence sec 0 The sentence s is are stopped N M 1 Sentence s is are output every event occurred 0 The sentence s is are stopped Example PERDAPI CROUT W 1 4E CRW TPS1 sentence is output every seco...

Page 61: ...he value is 0 the sentence is output only once After that the sentence is stopped Example PERDCFG NMEAOUT GGA 2 57 Interval 2 seconds PERDCFG NMEAOUT GSV 0 56 GSV sentence is output only once After th...

Page 62: ...manual Appendix A Revision A Date 07 14 15 Page 38 of 58 In case of using low baud rate please adjust size of output sentence by NMEAOUT command and CROUT command to output all sentence within one se...

Page 63: ...RSION Software Version Format 1 Num Contents Range Default Remark 1 VERSION Command Name Example PERDSYS VERSION 2C GPIO General Purpose Input output Format 1 Num Contents Range Default Remark 1 GPIO...

Page 64: ...fault Remark 1 command First field of received command 2 sequence 1 to 255 0 The number of times successful for the reception It is added 1 whenever it succeeds in command reception and 0 to 255 is re...

Page 65: ...p second and applies it 4 update date 14 byte fixed length 00000000000000 Leap second update schedule year month day hour minute second This date indicates zero when no leap second update schedule 5 p...

Page 66: ...Users manual Appendix A Revision A Date 07 14 15 Page 42 of 58 Pps status present pps is sync with UTC USNO...

Page 67: ...Before first fix After first fix After taking confirmed leap second GPS RTC GPS GPS UTC USNO RTC GPS UTC UTC SU RTC GPS UTC About leap second which is used to adjust output time alignment Before first...

Page 68: ...than estimated accuracy threshold 4 period 0 to 1 1byte 0 1PPS output interval 0 1PPS A pulse is output per second 1 PP2S A pulse is output per two seconds 5 pulse width 001 to 500 3byte 200 1PPS puls...

Page 69: ...tput every second PERDAPI CROUT X 0 40 stops outputting this command Output Values of period pulse width polarity are switched by pps type LEGACY or GCLK PPS estimated accuracy means estimated differe...

Page 70: ...55 3byte 000 3 Sigma threshold m which changes automatically to position fixed 5 time 0 to 999999 6byte 000000 Current update times of survey position sec It is not updated at the time of positioning...

Page 71: ...ioning mode Survey mode calculation continuously 2 Survey sigma 3 m Survey sigma threshold 1 m Survey time 2205 seconds Survey time threshold 86400 seconds TRAIM solution OK 0 TRAIM status OK 0 Remove...

Page 72: ...urate 1 GCLK PPS and GCLK frequency are accurate 5 e 999999 to 999999 7byte Phase delay between LEGACY and GCLK PPS no dimensional 6 de 999999 to 999999 7byte Amount of change of phase delay no dimens...

Page 73: ...15 Page 49 of 58 PERDCRZ TPS4 1 1 0 000000 000000 000000 000000 000000 000000 0x15 0000 57 Freq mode warm up Freq status output GCLK accuracy accurate Notes This command is output every second PERDAP...

Page 74: ...s 4 system 1 GNSS system ID 1 GPS 5 svid 1 to 99 Satellite number 6 reserve 1 to 3 Reserve field 7 snr 0 to 55 Signal to Noise Ration dB Hz 8 adr 32bit Accumulated Doppler Range Cycles LSB 6 9 doppfre...

Page 75: ...a no parirt included Example PERDCRN 1 7 8B0B349809AC00424A2471C5FF9F27BB10C82EB5884CC987FFA50C0BF2A8 0C Notes For each GPS satellite decoding data this string is output once every 6 seconds For GPS t...

Page 76: ...eld Example PERDSYS VERSION OPUS7_SFLASH_ES2_64P ENP622A1226410F QUERY N A 1A Notes Character string of the device and version is free format GPIO General Purpose Input output Format 1 2 Num Contents...

Page 77: ...ION ON 19015 19 015 7C Notes This string is sent when certain events occur This is for eRide useonly ANTSEL Antenna selecting 1 Format 1 2 3 Num Contents Range Default Remark 1 ANTSEL Command Name 2 r...

Page 78: ...sent when certain events occur This is for eRide useonly MSG Event Driven Message 1 Format 1 2 Num Contents Range Default Remark 1 key Alphanumeric event indicator 2 string Description of event Exampl...

Page 79: ...YES YES NO YES 3 Altitude YES YES YES NO YES 3 Ephemeris Ephemeris data YES NO NO NO YES 2 Almanac Almanac data YES YES NO NO YES Chart Backup of the receiver parameter of command COMMAND NAME PARAMET...

Page 80: ...Chart Backup of the configure parameter of command COMMAND NAME PARAMETER HOT WARM COLD FACTORY POWER OFF ON UART1 Baud rate of UART1 YES YES YES YES NO NMEAOUT NMEA output interval YES YES YES YES N...

Page 81: ...rding to the terms and conditions of this document if a repair to your NOVUS product is required during the limited warranty period Our obligation at NOVUS is limited to repair or replace products whi...

Page 82: ...Y ANY OTHER PARTY EXCLUDED DAMAGES SHALL INCLUDE BUT ARE NOT LIMITED TO COSTS OF REMOVAL AND INSTALLATION LOSSES SUSTAINED AS THE RESULT OF INJURY TO ANY PERSON OR DAMAGE TO PROPERTY EXCLUSIVE REMEDIE...

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