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Foreword

8

GPS/GLONASS Receiver User Manual Rev 1

FOREWORD

CONGRATULATIONS

Congratulations on purchasing your MiLLennium-GLONASS positioning system. The MiLLennium-GLONASS
GPSCard is the latest example of NovAtel’s line of state-of-the-art technology, in an easy-to-integrate single-card
format. Your new MiLLennium-GLONASS GPSCard receiver accepts both GPS and GLONASS input signals
from a GPS/GLONASS L1 antenna. This system also provides real-time kinematic (RTK) capability, with
NovAtel RT-10.

The MiLLennium-GLONASS is a tightly-integrated system that provides a positioning system that meets the
accuracy requirements of many applications on a single hardware platform.

SCOPE

This manual addresses in detail the MiLLennium-GLONASS GPSCard hardware attributes and installation
information. This MiLLennium-GLONASS GPSCard User Manual also describes each of the special commands
and logs that the MiLLennium-GLONASS GPSCard is capable of accepting or outputting. Please consult the
MiLLennium Command Descriptions Manual (NovAtel part number OM-20000041) for other commands and logs
available with your MiLLennium-GLONASS GPSCard.

The MiLLennium-GLONASS GPSCard is also available as part of two stand-alone packaged configurations, the
ProPak II enclosure or the PowerPak II enclosure. A guide to using the ProPak II enclosure may be found on  Page
59, and a guide to using the PowerPak II enclosure may be found on Page 73. 

When you are ready to use your MiLLennium-GLONASS GPSCard for the first time, consult the easy-to-follow
Quick Start chapter that is provided on Page 15.

The focus of this manual is on your perspective for integration, evaluation and operation purposes. It is beyond the
scope of this manual to provide service details. Please consult your local NovAtel dealer for any customer service
problems or inquiries. Should the need arise to contact NovAtel directly please see the Customer Support section
on Page 7.

The standard for measurement throughout this document is metric (SI) units. See Appendix C, Page 54 for help
with any conversions to imperial measurements.

PREREQUISITES

The MiLLennium-GLONASS GPSCard is an OEM product requiring the addition of an enclosure and peripheral
equipment before it can become a fully functional combined GPS/GLONASS receiver. Chapter 3, MiLLennium-
GLONASS GPSCard Installation, Page 17, provides information concerning installation requirements and
considerations.

Содержание MiLLennium OM-20000040

Страница 1: ...OM 20000040 Rev 1 NovAtel Inc OM 20000040 REV 1 MiLLennium GLONASS GPSCard User Manual User Manual...

Страница 2: ...part of this manual may be reproduced or transmitted in any form or by any means electronic or mechanical including photocopying and recording for any purpose without the express written permission o...

Страница 3: ...k Start Steps 15 3 Installation 17 3 1 System Configuration 17 3 2 Minimum Configuration 18 3 3 Anti Static Precautions 18 3 4 Installation Procedure 18 3 4 1 Mounting The Printed Circuit Board 19 3 4...

Страница 4: ...DICES A Anti Static Practices 47 B Technical Specifications 49 C Common Unit Conversions 54 D Functional Overview 56 E ProPak II Enclosure 59 F PowerPak II Enclosure 73 G GLONASS Commands 82 G 1 GLONA...

Страница 5: ...te Orbit Arrangement 12 2 1 NovAtel Coaxial and Serial Cables 15 3 1 Typical System Configuration 17 3 2 Edge view of Connector P1 on the MiLLennium GLONASS 20 3 3 LNA Power Jumper P301 3 Cases 21 4 1...

Страница 6: ...SON V SHIPPING DAMAGE OR VI SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT PRIOR WRITTEN CONSENT FROM NovAtel IN ADDITION THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY NovAtel...

Страница 7: ...403 295 4900 fax 403 295 4901 e mail support novatel ca web site http www novatel ca postal address NovAtel Inc Customer Service Dept 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 CAUTION Handle w...

Страница 8: ...Lennium GLONASS GPSCard The MiLLennium GLONASS GPSCard is also available as part of two stand alone packaged configurations the ProPak II enclosure or the PowerPak II enclosure A guide to using the Pr...

Страница 9: ...e the receiver must track five satellites representing the same four previous unknowns as well as the GPS GLONASS time offset With the availability of combined GPS GLONASS receivers users have access...

Страница 10: ...ment All these parts operate together to provide accurate three dimensional positioning timing and velocity data to users worldwide 1 3 1 THE SPACE SEGMENT The space segment is composed of the NAVSTAR...

Страница 11: ...a minimum of four satellites to obtain accurate position velocity and timing measurements 1 4 GLONASS SYSTEM DESIGN As with GPS the GLONASS system uses a satellite constellation to ideally provide a...

Страница 12: ...ence to radio astronomers and mobile communication service providers The Russians consequently agreed to reduce the number of frequencies used by the satellites and to gradually change the L1 frequenc...

Страница 13: ...at this date 13 seconds The GPS week consists of 604800 seconds where 000000 seconds is at Saturday midnight Each week at this time UTC the week number increments by one and the seconds into the week...

Страница 14: ...ors Time reference 2 UTC SU UTC USNO Position reference geodatic datum 3 PZ 90 WGS 84 NOTES 1 Each satellite in the full 24 satellite GLONASS constellation is assigned an antipodal frequency Such a sy...

Страница 15: ...e Installation Page 59 5 Connect a power supply to the MiLLennium GLONASS The ProPak II enclosure is supplied with a LEMO to cigarette lighter power adapter cable If an alternative power source is pre...

Страница 16: ...GPSCard Page 24 7 Select View Command Console and then View ASCII Records from the menu You may also open other visual displays from the View menu at any stage See Getting Started Page 25 8 If high ac...

Страница 17: ...system configuration is shown in Figure 3 1 Figure 3 1 Typical System Configuration Reference Description Reference Description 1 ProPak II enclosure PowerPak II enclosure 8 Optional LNA DC power 1 p...

Страница 18: ...nium GLONASS GPSCard from the ESD protective plastic clamshell follow accepted standard anti static practices Failure to do so may cause damage to the card When you remove the MiLLennium GLONASS GPSCa...

Страница 19: ...werPak II Enclosure Page 73 in the chapters following are ideal They are enclosure kits that come complete with mounting and wiring interfaces and allow immediate operation of the MiLLennium GLONASS T...

Страница 20: ...B 20A 20B N C 21B VARF 3B Reserved for future use 22B PPS 4B External LNA power 23B Measure out 5A 6A 13A 14A 26B 27B 30B 32B Factory use 24B Mark in 8A DTR 1 25B Status 9A TXD1 28B Reset in 9B CTS1 2...

Страница 21: ...and Table H 2 Page 96 for receiver self test status codes Figure 3 3 LNA Power Jumper P301 3 Cases Reference Description 1 Pin 1 2 Pin 2 3 Pin 3 4 Case 1 No power to LNA 5 Case 2 Internal power source...

Страница 22: ...NASS GPSCard is capable of communications in EIA RS232C serial data format via two ports COM1 and COM2 See Figure 3 2 Page 20 for data connections COM1 pins 7 11 A B COM2 pins 15 19 A B Each port has...

Страница 23: ...t appendix in the MiLLennium Command Descriptions Manual mount the antenna on a secure stable structure capable of safe operation in the specific environment 3 4 6 1 Antenna Cable Considerations An ap...

Страница 24: ...onal External Oscillator 9 Power not available with ProPak II enclosure 10 Command Source or 4 Clock Reference Station 5 GPSCard ProPak II or 11 Data Logger or PowerPak II enclosure Remote Station 6 M...

Страница 25: ...X and GND lines to be used handshaking is not required although it can optionally be used Ensure that the terminal s communications set up matches the MiLLennium GLONASS GPSCard RS232C protocol 4 2 3...

Страница 26: ...B D and RVSA B data output logs please refer to the MiLLennium Command Descriptions Manual If a persistent error develops please contact your local NovAtel dealer first If the problem is still unresol...

Страница 27: ...fer to the description of the SAVECONFIG command in the MiLLennium Command Descriptions Manual for more information Use the ETSA log to monitor the channel tracking status Use the SATA log to observe...

Страница 28: ...Open HyperTerminal will send the file to the MiLLennium GLONASS GPSCard The above example initializes the GPSCard with origin and destination waypoint coordinates and sets the magnetic variation corre...

Страница 29: ...mands Otherwise successful entry of a command is verified by receipt of the COM port prompt i e COM1 or COM2 The syntax for a command can contain optional parameters OPT1 OPT2 OPT2 may only be used if...

Страница 30: ...anacs 4 5 1 1 GPS Almanac VS GLONASS Almanac The GPSCard s standard features include GPS and GLONASS almanac data collection Following a cold start power on or system reset the GPSCard will begin a sk...

Страница 31: ...EMEMBER When connecting two GPSCard COM ports together the MESSAGES command option should be set to OFF to prevent inter card chatter The GPSCard can log current almanac data to a PC connected to its...

Страница 32: ...ossible It is generated from a GPSCard ALMA log and is accepted by any GPSCard as the following format IONA 1 0244548320770265E 008 1 4901161193847656E 008 5 960464477539061E 008 1 192092895507812E 00...

Страница 33: ...F73577261624278777 F5B5A525C7354527C4060777B4843637C7F555F6A784155597D7F6763507B77496E7F7A6A426F55 5C4C604F4E7F467F5A787F6B5F69506C6D6A4C 2B NOTE The RTCM commands allow the user to intermix different...

Страница 34: ...S specific logs refer to the MiLLennium Command Descriptions Manual For details on GLONASS specific logs see Page 88 4 6 2 OUTPUT LOGGING The MiLLennium GLONASS GPSCard provides versatility in your lo...

Страница 35: ...refer to the UNLOG Command MiLLennium Command Descriptions Manual CONTINUOUSLY Will log the data all the time The GPSCard will generate a new log when the output buffer associated with the chosen por...

Страница 36: ...ceded by an asterisk and followed by a line termination using the carriage return and line feed characters e g xx CR LF This 8 bit value is an exclusive OR XOR of all bytes in the log excluding the id...

Страница 37: ...nding to the specified character int 4 32 The size of a signed or unsigned int item is the standard size of an integer on a particular machine On a 32 bit processor such as the NovAtel GPSCard the int...

Страница 38: ...hours minutes seconds decimal 2 fixed digits of hours 2 fixed digits of minutes 2 fixed digits of seconds and variable number of digits for decimal fraction of seconds Leading zeros always included f...

Страница 39: ...S GPSCard receivers at unknown locations The stationary receiver known as the reference receiver broadcasts various messages which can be received by the various remote receivers Internally the remote...

Страница 40: ...e at a slower rate than GPS after about 30 seconds The following sets of commands will enable PSR differential positioning for two MiLLennium GLONASS GPSCard receivers assuming a radio link has been p...

Страница 41: ...llows RTCA Type 7 subtype N protocol as well It is recommended that the observation information be sent at 2 second intervals while the reference station information be sent at 10 second intervals The...

Страница 42: ...information PRTKA B best low latency position RPSA A base station position and health RTKA B matched observation position RTKOA B RTK position filter parameters The RTKA B position solution is based o...

Страница 43: ...successfully isolated then the reject code for that satellite will be set to BAD INTEGRITY and the satellite will be removed from subsequent processing for 30 minutes If operating in RTK mode the RTK...

Страница 44: ...er performance model at the same firmware revision level e g upgrading from a MiLLennium GLONASS Standard rev 7 46 to a MiLLennium GLONASS RT 10 rev 7 46 you can use the AUTH special command from a te...

Страница 45: ...mware Files To proceed with your program update you must first acquire the latest firmware revision You will need a file with a name such as OEMXYZ EXE where XYZ is the firmware revision level This fi...

Страница 46: ...reliably support Loader will verify and save your selections in a file named LOADER SET and return to the main menu screen 4 From the main screen select Program Card 5 Select the disk drive e g A B C...

Страница 47: ...cept in a static controlled location A static controlled environment and correct static control procedures are required at both repair stations and maintenance areas ESD sensitive devices must be hand...

Страница 48: ...from the frame and place it on a static controlled surface grounded floor or table mat 2 Remove the replacement circuit board from the static shielding bag or clamshell and insert it into the equipmen...

Страница 49: ...MILLENNIUM GLONASS GPSCARD Table B 1 MiLLennium GLONASS GPSCard Specifications PHYSICAL Size 100 00 x 179 27 x 18 09 mm with connectors Eurocard format Weight 175 grams MECHANICAL DRAWINGS Figure B 1...

Страница 50: ...chnical Specifications 50 GPS GLONASS Receiver User Manual Rev 1 Figure B 2 L1 L1 Series Side End Views Table B 1 MiLLennium GLONASS GPSCard Specifications All dimensions in millimeters followed by in...

Страница 51: ...max Power 7 5 W typ 9 2 W max POWER DATA CONNECTOR ON THE MILLENNIUM GLONASS GPSCARD Connector 64 pin 0 1 DIN 41612 Type B male right angle EXTERNAL CLOCK INPUT ON THE MILLENNIUM GLONASS GPSCARD Conne...

Страница 52: ...efault Signals supported TX RX RTS CTS DTR DSR DCD Electrical format EIA RS232C Standard INPUT OUTPUT STROBES VARF Output A programmable variable frequency output ranging from 0 15 Hz 5 MHz refer to t...

Страница 53: ...COM 2 19 DCD2 Data Carrier Detected for COM 2 N C 20 N C VARF Output Variable frequency pulse train normally high active low Pulse width 100 ns 6 55 ms Frequency range 0 15 Hz 5 MHz 21 GND Digital Gro...

Страница 54: ...lsius 32 1 pound 0 4536 kilogram kg C 5 HEXADECIMAL TO BINARY CONVERSION C 6 GPS TIME OF WEEK TO WEEK AND TIME OF DAY EXAMPLE Day 5 Thursday 22 hours 0 minutes 0 seconds into Friday C 1 DISTANCE C 2 V...

Страница 55: ...l days 9159 days Deduct 5 days Jan 1 5 1980 9154 days GPS Week 9154 x 86400 seconds per day 790905600 seconds 604800 sec per week Every 1023 weeks the week rolls over to 0 283 weeks Seconds into week...

Страница 56: ...ONASS antenna or user supplied 15 Signal Processor 5 Optional user supplied LNA power 16 32 bit CPU 0 30 VDC 17 System I O 6 User supplied power 5 VDC 18 LNA 7 Optional external oscillator 5 or 10 MHz...

Страница 57: ...power is fed to the antenna through the same coaxial cables used for the RF signals D 1 4 RADIO FREQUENCY RF SECTION The MiLLennium GLONASS GPSCard receives partially filtered and amplified GPS and G...

Страница 58: ...t is also routed to the signal processors where it provides a trigger for the measurement collection Variable frequency VARF output a user programmable variable frequency pulse train not available in...

Страница 59: ...together with user supplied data communications equipment and a power supply the ProPak II enclosure will be ready for the most demanding applications E 1 1 FEATURES The ProPak II enclosure comes with...

Страница 60: ...nd Cap On the rear end cap there are connections for the I O strobe signals COM1 and COM2 serial ports power input and an RF input from the GPS GLONASS antenna There is an LED above each serial port c...

Страница 61: ...25 V DC 0 90 mA current limit 200 20 mA VIBRATION Random Profile The MiLLennium GLONASS GPSCard will acquire and track satellites while undergoing vibration levels as shown below This assumes that it...

Страница 62: ...ommunications only Connect the output of the optional power converter to the input power jack of the ProPak II Figure E 4 Typical ProPak II Enclosure Installation Configuration Reference Description R...

Страница 63: ...vided with the ProPak II enclosure see Section E 3 2 1 Page 64 to facilitate mounting it to a surface The mounting kit includes the following materials four self tapping screws 10 16 x 1 2 LG two wood...

Страница 64: ...he jacket insulation is cut away slightly from the end but the insulation on each wire is intact The Input Output Strobes section of Table B 1 Page 52 contains descriptions of each of the I O strobes...

Страница 65: ...LEMO 8 pin plug female 11 8 conductor wireE 3 3 2 Serial Data Cables LEMO Pin Number Pin Description Wire Color Code Pin 1 VARF variable frequency Brown Pin 2 1 PPS one pulse per second Black Pin 3 M...

Страница 66: ...in plug 13 DE9P male connector 14 10 conductor wire LEMO Pin Number RS232C Signal Wire Color Code DE9P Pin Number Pin 1 DCD Brown Pin 1 Pin 2 RXD Black Pin 2 Pin 3 TXD Red Pin 3 Pin 4 DTR Orange Pin 4...

Страница 67: ...9S female connector 14 10 conductor wire LEMO Pin Number RS232C Signal Wire Color Code DE9S Pin Number Pin 1 DCD Brown Pin 4 Pin 2 RXD Black Pin 3 Pin 3 TXD Red Pin 2 Pin 4 DTR Orange Pin 6 Pin 5 GND...

Страница 68: ...01016331 Optional 4 pin LEMO socket connector to auto ranging AC DC converter and AC power cord NovAtel part number GPS APRO Optional 33 5 cm or 75 cm 4 pin LEMO plug to 4 pin LEMO plug connector Nov...

Страница 69: ...E 3 3 3 4 Straight Power Cable In 33 5 cm and 75 cm lengths NovAtel part numbers 01016724 and 01016725 respectively Reference Description 5 Red marker at top of connector 6 LEMO 4 pin plug 7 LEMO 4 p...

Страница 70: ...etween the two lemo connectors and it is easily opened with a flat head screwdriver enabling you to quickly gain access to and change the fuse The life of this type of battery is typically between one...

Страница 71: ...Absorbed electrolyte sealed lead acid in flame retardant case Dimensions Height 94 mm 3 70 in Length 151 mm 5 95 in Width 64 5 mm 2 54 in Weight Approx 2270 g 5 0 lb Voltage 12 V DC typical Rated Capa...

Страница 72: ...w proper ventilation of the battery during recharging The battery must be charged while being in an upright position If the battery is accidentally broken and electrolyte sulfuric acid leaks out wipe...

Страница 73: ...tenna single frequency Model C005 C015 or C030 5 15 or 30 m lengths coaxial cable to connect the GPS GLONASS antenna to the PowerPak II enclosure Cigarette lighter adaptor Optional AC DC power convert...

Страница 74: ...LONASS antenna Figure F 2 PowerPak II Enclosure Front Panel F 1 3 PCB INTERCONNECT BACK PLANE The interconnect back plane is a printed circuit board vertically mounted directly behind the PowerPak II...

Страница 75: ...n condensing RF INPUT LNA POWER OUTPUT Connector TNC connector RF Input GPS 1575 42 MHz GLONASS 1602 1615 5 MHz Power Output to LNA 4 25 5 25 V DC 90mA max VIBRATION Random Profile The MiLLennium GLON...

Страница 76: ...the input jack of the PowerPak II Figure F 3 Typical PowerPak II Enclosure Installation Configuration Reference Description Reference Description 1 PowerPak II enclosure 6 Y type null modem data cable...

Страница 77: ...ted from the PowerPak II before you attempt to remove the front panel Use the wrist strap to properly discharge static build up before handling the printed circuit boards Use anti static precautions w...

Страница 78: ...k plane PCB 17 Antenna cable 6 Ground wire with connector 18 Power fuse 7 Rear bumper 19 Power card 8 External oscillator cable 20 Internal antenna cable right angled SMB connector 9 Panel screw 4 pla...

Страница 79: ...werPak II there is a retaining nut it threads onto the socket to keep the plug from accidentally being pulled out A replaceable 3 amp fuse is built into the assembly which is inserted into the cigaret...

Страница 80: ...re Refer to section F 4 1 1 for instructions to connect the MiLLennium GLONASS GPSCard or the PowerPak II to an External Oscillator The external oscillator can be either 5 MHz or 10 MHz The MiLLennium...

Страница 81: ...Osc input port SMB male jack on the front panel of the PowerPak II NOTE For optimal results power down the PowerPak II before connecting or disconnecting the external oscillator Once the external osci...

Страница 82: ...4 This command allows the user to input the Helmert transformation relating the GLONASS PZ90 reference frame to the GPS WGS 84 reference frame The Helmert transformation is defined as Here x y z is th...

Страница 83: ...ee following table PARAMETER DESCRIPTION x Origin offset in x direction m y Origin offset in y direction m z Origin offset in z direction m s Scale factor given in parts per million ppm final linear s...

Страница 84: ...sign 14 120043 is the same as entering the command assign 14 120000 where 14 is the channel 12 is the frequency and 6 is the slot number Assigning two GLONASS satellites with the same frequency but di...

Страница 85: ...to be based on that datum except PXYA B which is always based on WGS84 Syntax Example datum tokyo Sets the system datum to Tokyo NOTE The actual datum name must be entered in this command as listed in...

Страница 86: ...ill cause the bearing field of the NAVA B log see Page 102 to report bearing in degrees Magnetic The magnetic variation correction is also reported in the GPRMC and GPVTG logs The MiLLennium GLONASS G...

Страница 87: ...the left of the great circle line track A positive track offset value no sign required indicates the offset track is to the right of the great circle line track looking from origin to destination See...

Страница 88: ...output as a log CALA B CALA Structure Example CALA 4 480377 2 FFFFFF00 1 070 0 041 1 029 0 041 1 054 0 043 0 646 0 041 0 735 0 041 0 526 0 040 0 456 0 039 0 520 0 040 0 148 0 040 0 469 0 039 0 156 0...

Страница 89: ...alth TlambdaN LambadN deltal ecc argperig deltaT deltaTD tau xx CR LF Field Field Description Example 1 GALA Log Header GALA 2 Week GPS Week in weeks 991 3 Seconds GPS Time in seconds 496470 59 4 Week...

Страница 90: ...GLONASS time in GPS format 4 integer weeks 24 5 Reference time GLONASS time in GPS format 8 double seconds 28 6 Slot number 4 integer ordinal 36 7 Frequency 4 integer ordinal 40 8 Health 4 integer 44...

Страница 91: ...st this difference in the navigation message This log will also contain information from the GLONASS navigation data relating GLONASS time to UTC GCLA Structure Time Status Example GCLA 994 149871 00...

Страница 92: ...ds 16 4 Leap seconds plus three hour Moscow time offset 4 integer seconds 24 5 Fractional offset calculated by filter 8 double meters 28 6 Variance of fractional offset 8 double metres 2 36 7 Calendar...

Страница 93: ...l number corresponding to ephemeris reference time 83 10 Health Ephemeris Health 0 GOOD 1 BAD 0 11 PosX X coordinate for satellite at reference time PZ90 in meters 2 102581933593754E 007 12 PosY Y coo...

Страница 94: ...eger ordinal 44 9 Issue 15 min reference 4 integer 900s 48 10 Health 4 integer 52 11 X position PZ90 8 double meters 56 12 Y position PZ90 8 double meters 64 13 Z position PZ90 8 double meters 72 14 X...

Страница 95: ...the antenna signal is good 1 or bad 0 This bit is an OR condition of the antenna If the signal from the antenna is good then the status is good 1 If the antenna signal is bad then the status is bad 0...

Страница 96: ...0040 7 COM 2 1 good 0 bad 00000080 8 WEEK 1 not set 0 set 00000100 9 NO COARSETIME 1 not set 0 set 00000200 10 NO FINETIME 1 not set 0 set 00000400 11 PRIMARY JAMMER 1 present 0 normal 00000800 12 BUF...

Страница 97: ...igh power jamming signal causing interference If this bit is continuously set clear and you cannot identify an external cause for the failed test please contact NovAtel Customer Service When set to 1...

Страница 98: ...ormal range Failure of this test could be the result of various possibilities such as bad antenna LNA excessive loss in the antenna cable faulty RF downconverter or a pulsating or high power jamming s...

Страница 99: ...range measurement processing Priority processing goes to the tracking loops Note 2 Primary refers to GPS satellites and Secondary refers to GLONASS satellites Table H 3 Channel Tracking Status 26 25 2...

Страница 100: ...ed by ephemeris data 2 Old ephemeris due to data not being updated during last 3 hours 3 Eccentric anomaly error during computation of the satellite s position 4 True anomaly error during computation...

Страница 101: ...2 2E14 1640 0 52 283 0 000 17750 3 21307036 11 16 7 2E24 278 8 52 620 0 000 10495 6 20256363 18 16 26 2E34 2706 7 45 828 0 000 12436 2 23949547 80 16 8 2E44 3819 7 41 938 0 000 404 3 24858796 71 16 9...

Страница 102: ...xample NAVA 640 333115 00 6399 6305 88 017 6396 9734 184 3929 657 51514 000 0 1 11 CR LF NOTE All distances and angles are calculated using Vincenty s long line geodetic equations that operate on the...

Страница 103: ...ic bearing J True bearing AB True bearing 70 AB Magnetic bearing True MAGVAR correction 70 20 50 H 2 3 POSA B COMPUTED POSITION This log will contain the last valid best available position and time ca...

Страница 104: ...ee Table H 8 Page 111 2 See Table H 10 Page 112 3 See Table H 9 Page 112 Example PRTKA 993 597206 00 0 000 12 0 0 51 11633600370 114 03830984516 1072 4348 16 2712 61 14 3281 8 8081 24 7753 0 8 1 45 0...

Страница 105: ...ON TABLE 56 RCCA DATUM WGS84 15 RCCA USERDATUM 6378137 000 298 257223563 0 000 0 000 0 000 0 000 0 000 0 000 0 000 6A RCCA SETNAV DISABLE 5C RCCA MAGVAR 0 000 30 000 02 RCCA DYNAMICS AIR 4F RCCA UNASS...

Страница 106: ...ipath errors or atmospheric delays RGEA and RGEB contain all of the new extended channel tracking status bits see Table H 3 Page 99 while RGED contains only the lowest 24 bits NOTE In the RGED log the...

Страница 107: ...ECTED_ADR RGED_ADR MAX_VALUE ADR_ROLLS where ADR has units of cycles WAVELENGTH 0 1902936727984 for GPS L1 5 6 Only bits 0 23 are represented in the RGED log Data Bit s from first to last Length bits...

Страница 108: ...logs will change only when a reference observation changes If the log is being output at a fixed rate and the differential data is interrupted then the RTKA B logs will continue to be output at the s...

Страница 109: ...0138 0 0124 0 0 0000 1 7 21 6 0 001199 23 6 0 005461 31 6 0 009608 9 6 0 001963 15 6 0 000208 29 6 0 005643 25 6 0 004366 60 CR LF H 2 10 RVSA B RECEIVER STATUS This log conveys various status parame...

Страница 110: ...satellite is below the mask angle The GLONASS PRN fields use the convention given for the RGEA B log SATA Structure NOTES 1 See Table H 8 Page 111 2 See Table H 4 Page 100 3 GLONASS PRN FREQUENCY 1000...

Страница 111: ...e Table H 7 below Example VLHA 991 489504 00 0 500 0 000 0 099 56 492 0 139 0 3 3B CR LF Table H 7 Velocity Status Table H 8 GPSCard Solution Status VLHA week seconds velocity time tag latency age of...

Страница 112: ...12 DGLONASS with uncorrected GPS Higher numbers are reserved for future use State Description 0 Floating ambiguity solution converged 1 Floating ambiguity solution not yet converged 2 Modeling refere...

Страница 113: ...rs are reserved for future use RTK Status Definition 1 Good narrowlane solution 2 Good widelane solution 4 Good L1 L2 converged float solution 8 Good L1 L2 unconverged float solution 16 Good L1 conver...

Страница 114: ...nutes It contains orbital parameter approximations for all satellites GPS to universal time conversion parameters and single frequency ionospheric model parameters Analog A type of transmission charac...

Страница 115: ...clock s indicated time and true universal time Clock Offset Constant difference in the time reading between two clocks Coarse Acquisition C A Code a spread spectrum direct sequence code that is used p...

Страница 116: ...based on current satellite geometry The lower the value the greater the confidence in the solution DOP can be expressed in the following forms GDOP estimated uncertainty for all parameters latitude l...

Страница 117: ...field a field in which the number of characters is fixed For data fields such fields are shown in the sentence definitions with no decimal point Other fields which fall into this category are the addr...

Страница 118: ...f the FIX HEIGHT command has been invoked The lower the HDOP value the greater the confidence in the solution HTDOP Horizontal position and Time Dilution of Precision A numerical value expressing the...

Страница 119: ...ngle the minimum GPS satellite elevation angle permitted by a particular receiver design Satellites below this angle will not be used in the position solution For GLONASS the mask angle is 9 degrees M...

Страница 120: ...pseudorandom codes Typically a particular satellite will keep its PRN and hence its code assignment indefinitely or at least for a long period of time It is commonly used as a way to label a particul...

Страница 121: ...es containing eight satellites each Satellite elevation the angle of the satellite above the horizon Selected waypoint the waypoint currently selected to be the point toward which the vessel is travel...

Страница 122: ...bearing bearing relative to true north compass bearing corrected for compass error True heading heading relative to true north Two dimensional coverage hours the number of hours per day with three or...

Страница 123: ...oint a reference point on a track Wide Lane a particular integer ambiguity value on one carrier phase range measurement or double difference carrier phase observation when the difference of the L1 and...

Страница 124: ...LONASS GLObal NAvigation Satellite System GMT Greenwich Mean Time GND Ground GPS Global Positioning System HDOP Horizontal Dilution Of Precision HEX Hexadecimal HTDOP Horizontal position and Time Dilu...

Страница 125: ...dard Positioning Service SV Space Vehicle SVN Space Vehicle Number TCXO Temperature Compensated Crystal Oscillator TDOP Time Dilution Of Precision TTFF Time To First Fix TTL Transistor Transistor Logi...

Страница 126: ...4 pin socket and an AC power cord GPS APRO Optional power cable assembly LEMO 4 pin plug to LEMO 4 pin plug 33 5 cm length 75 cm length 01016724 01016725 Universal ProPak Mounting Bracket 70015024 Op...

Страница 127: ...99 100 101 106 116 120 121 tracking 95 100 101 channels 101 116 120 121 chatter 31 checksum 33 36 115 117 119 clock 11 13 17 51 53 56 97 99 106 116 117 120 offset 13 120 coaxial cable 15 17 18 23 57...

Страница 128: ...119 120 L band 10 LED 17 58 60 LNA 17 20 21 22 51 53 56 57 61 75 84 97 98 124 longitude 10 116 117 119 120 loop control 57 M magnetic variation 86 119 mark 52 mark input 53 mask angle 119 master contr...

Страница 129: ...114 115 117 118 119 120 121 122 segment control 10 11 segment space 10 11 segment user 10 11 self test 21 58 84 95 97 98 124 serial cable 65 66 67 126 software version 110 space segment 10 11 Space Ve...

Страница 130: ...NovAtel Inc 1120 68 Avenue NE Calgary Alberta Canada T2E 8S5 GPS Hotline 1 800 NOVATEL Canada U S only GPS Fax 403 295 4901 E mail support novatel ca Web site http www novatel ca Recyclable Printed i...

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