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Novatel SMART-MR10-GENERIC Скачать руководство пользователя страница 43

Operation

Chapter 3

SMART-MR10 User Manual Rev 0B

43

separate ground-sensing radar equipment by converting the GPS-derived velocity to proportional
frequency output. The following emulated radar signal parameters can be configured by the customer:

•

Frequency Step: Specifies how the frequency output relates to the vehicle speed.

•

Signal Update Rate: Specifies how often the frequency output is updated to match the vehicle
speed.

•

Response Mode: Specifies how quickly changes in velocity are reflected in the frequency output.
Setting a slower response mode reduces spikes (noise) in the velocity but increases latency.
Setting a higher response mode reduces latency, but may result in noisier frequency output. Refer
to

Appendix B.6, PDPFILTER Enable, disable or reset the PDP filter

more detailed information.

Once it is configured using the RADARCFG command (see page 84), Emulated Radar (ER) data is
output through the SMART-MR10 cable (see

) and the RADARSIGNAL log (see

3.7

Recommended Configuration

The following command is recommended to enable CAN:

setcanname 305

The following command is recommended to enable SBAS(WAAS/EGNOS/MSAS) corrections:

sbascontrol enable

The following commands are recommended to enable

GL1DE

:

pdpfilter enable

pdpmode relative auto

NovAtel has registered manufactured ID code 305 with J1939. When complete, your configuration
can be saved with the SAVECONFIG command. Refer to the

OEMV Family Firmware Reference

Manual

for further details on these commands.

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Содержание SMART-MR10-GENERIC

Страница 1: ...OM 20000130 Rev 0B SMART MR10 User Manual...

Страница 2: ...thorized representative of NovAtel Inc The information contained within this manual is believed to be true and correct at the time of publication ALIGN GL1DE Narrow Correlator NovAtel OEMV and RT 20 a...

Страница 3: ...ER 30 2 2 4 Controller Area Network CAN 30 3 Operation 32 3 1 Communications with the Receiver 32 3 1 1 Serial Port Default Settings 32 3 1 2 Communicating Using a Remote Terminal 33 3 1 3 Communicat...

Страница 4: ...Using Bluetooth 61 5 5 Stop Communicating with SMART MR10 Using Bluetooth 63 A Technical Specifications 64 SMART MR10 Receiver Performance 64 SMART MR10 Specifications 65 B Commands 73 Syntax Conventi...

Страница 5: ...MR10 Evaluation Cable Pinouts 69 8 SMART MR10 Streamlined Cable Pinouts 71 9 SMART MR10 Mating Connectors 72 10 Recommended Fuses 72 11 Commonly Used SMART MR10 Commands in Alphabetical Order 73 12 CO...

Страница 6: ...and Line Arguments 52 11 Main Screen of WinLoad 55 12 WinLoad s Open Dialog 56 13 Open File in WinLoad 56 14 COM Port Setup 57 15 Searching for Card 57 16 Authorization Code Dialog 57 17 Upgrade Proce...

Страница 7: ...Software No right is con veyed by this Agreement for the use directly indirectly by implication or otherwise by Licensee of the name of NovAtel or of any trade names or nomenclature used by NovAtel o...

Страница 8: ...t it will be error free The Software is furnished AS IS and without warranty as to the performance or results you may obtain by using the Software The entire risk as to the results and performance of...

Страница 9: ...sdiction of the courts of the Province of Alberta 10 Customer Support For Software UPDATES and UPGRADES and regular customer support contact the NovAtel GPS Hotline at 1 800 NOVATEL U S or Canada only...

Страница 10: ...to Purchaser upon delivery to carrier Goods are provided solely for incorporation into the Purchaser s end product and shall not be onward delivered except as incorporated in the Purchaser s end prod...

Страница 11: ...rating and maintenance procedures ii defects errors or nonconformities in the Products due to modifications alterations additions or changes not made in accordance with NovAtel s specifications or aut...

Страница 12: ...RODUCTS OR USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER ENVIRONMENTAL CONDITIONS NOT CONFORMING TO NOVATEL S SPECIFICATIONS OR FAILURE TO FOLLOW PRESCRIBED INSTALLA TION OPERATING AND MAINTENANCE P...

Страница 13: ...his equipment does cause harmful interference to radio or television reception which can be determined turning the equipment off and on the user is encouraged to try to correct the interference by one...

Страница 14: ...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...

Страница 15: ...the WinLoad program to upgrade your OEMV receiver Contact Information Contact your local NovAtel dealer first for more information To locate a dealer in your area or if the problem is not resolved co...

Страница 16: ...This manual describes the SMART MR10 specific commands and logs seeCommands starting on Page 73 and Logs starting on Page 91 Other supplementary manuals available on the accompanying CD and on our Web...

Страница 17: ...re output as hexadecimal numbers and must be converted to binary format and in some cases then also to decimal For an example of this type of conversion please refer to the RANGE log in the OEMV Famil...

Страница 18: ...Based Augmentation Systems including WAAS EGNOS and MSAS DGPS OmniSTAR VBS HP XP CDGPS NovAtel GL1DE RT 20 RT 2 and RT 2L For more information about the above refer to the NovAtel web site at http ww...

Страница 19: ...Rugged water and dust tight enclosure consisting of a cast aluminum base and plastic radome Bluetooth Three 3 daylight viewable status LED indicators Range of installation options including a quick r...

Страница 20: ...ASS RT 2 corrections and raw data code positions and DGPS OmniSTAR HP XP VBS CDGPS SBAS 20 Hz SMART MR10 L1L2 GPS RT 2 corrections and raw data code positions and DGPS OmniSTAR HP XP VBS CDGPS SBAS 20...

Страница 21: ...for COM and power connections Use a serial COM connection to communicate with the receiver first A fused power supply user supplied or other user equipment 2 1 1 SMART MR10 Setup To connect and power...

Страница 22: ...SIGGND1 4 CAN1 16 MKI 5 TXD2 17 PPS 6 RXD2 18 ER 7 TXD1 19 MODEa a The SMART MR10 is RS 232 RS 422 selectable through pin 19 MODE as shown in Table 3 8 RTS1 AUXTX 20 RESERVED 9 SIGGND2 21 RESERVED 10...

Страница 23: ...lling the PC Utilities Once the SMART MR10 is connected to the PC laptop and a power supply install NovAtel s PC Utilities These include CDU a graphical user interface program 1 Start up the PC laptop...

Страница 24: ...ecifications The SMART MR10 cable provides power in with a BATT label and power ground with a BATT label bare wires for connections from the SMART MR10 to a 12 to 24V vehicular power system or equival...

Страница 25: ...mounting the SMART MR10 receiver Universal mounting plate NovAtel part number 70023085 shown in Figure 4 on page 25 Mounting plate with AG GPS 262 layout NovAtel part number 70023086 shown in Figure...

Страница 26: ...26 SMART MR10 User Manual Rev 0B Chapter 2 Installation and Setup Figure 5 SMART MR10 AG GPS 262 Layout Mounting Plate 70023086...

Страница 27: ...Installation and Setup Chapter2 SMART MR10 User Manual Rev 0B 27 Figure 6 SMART MR10 Pole Mount 70023087 All measurements are in millimetres unless specified otherwise INSERT...

Страница 28: ...7 on page 69 for more information 2 2 Additional Features and Information This section contains information on additional features of the SMART MR10 which may affect the overall design of your receive...

Страница 29: ...2b 3 710 3 002 2009 dec 30 11 20 58 db_userappauto smartag 0 1 100 2010 jan 25 17 32 44 userinfo no bt com1 If the yellow LED is flashing but does not progress to solid yellow within one minute then i...

Страница 30: ...inus 0 5V minimum and logic low of 0 5V maximum with a rise and fall time of less than 1 ms Its output references signal GND and provides logic low output until its speed is greater than 1 km hr ER ca...

Страница 31: ...and is entered and after a SAVECONFIG the CAN module is activated immediately on all subsequent start ups The module supports the following NMEA2000 Parameter Group Messages PGN PGN 129029 GNSSPositio...

Страница 32: ...ates with your PC laptop or terminal via an RS 232 serial port For communication to occur both the receiver and the operator interface have to be configured properly The receiver s COM1 COM2 and AUX d...

Страница 33: ...mmunications software package that emulates a terminal can be used to establish bidirectional communications with the receiver for example HyperTerminal or our own graphic user interface GUI program C...

Страница 34: ...o data is transmitted from the COM ports except for the port prompt The console window displays a port name COM1 if connected to COM1 port or COM2 if connected to COM2 port Any of the above prompts in...

Страница 35: ...nce of OK If a command is entered incorrectly the receiver responds with INVALID MESSAGE ID or a more detailed message WARNING Ensure the Control Panel s Power Settings on your PC laptop are not set t...

Страница 36: ...for more information In most cases you need to provide a data link between the base station and rover station two NovAtel receivers in order to receive corrections The application of SBAS corrections...

Страница 37: ...TCM V2 3 interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 enter your own lat lon hgt log com2 rtcm3 ontime 10 log com2 rtcm22 ontime 10 1 log com2 rtcm1819 ontime 1 log...

Страница 38: ...s CMR interfacemode com2 none cmr off fix position 51 11358042 114 04358013 1059 4105 enter your own lat lon hgt log com2 cmrobs ontime 1 log com2 cmrgloobs ontime 1 log com2 cmrref ontime 10 log com2...

Страница 39: ...ize it is recommended that you use the standard form of RTCA RTCM RTCMV3 or CMR corrections as shown in the base and rover examples above This requires using the INTERFACEMODE command to dedicate one...

Страница 40: ...describes the various message formats in more detail Information on how to send multiple commands and log requests using DOS or Windows can be found on our Web site at http www novatel com support kno...

Страница 41: ...nt infrastructure and different GEOs EGNOS and ESTB broadcast two different signals The ESTB is broadcast on PRN pseudorandom number 126 and EGNOS is broadcast on PRNs 120 and 124 Due to the experimen...

Страница 42: ...ormation on GL1DE Refer also to application note APN 038 Pseudorange Delta Phase PDP and GL1DE Filters at www novatel com support applicationnotes htm 3 5 ALIGN 3 5 1 ALIGN Heading Master and Remote C...

Страница 43: ...result in noisier frequency output Refer to Appendix B 6 PDPFILTER Enable disable or reset the PDP filter starting on page 84 for more detailed information Once it is configured using the RADARCFG com...

Страница 44: ...nly to select where you would like the applications installed on your PC It is strongly recommended that you close all applications before installing CDU and Convert You must close any applications th...

Страница 45: ...ws the CDU windows from the View menu and their descriptions Most windows have a popup menu accessible by right clicking on the window with the mouse They provide a way to customize the window by chan...

Страница 46: ...ick on a satellite to display information on that satellite When a valid position has been achieved dilution of precision DOP values can be viewed in the DOP window Open this window by selecting Const...

Страница 47: ...irection dial is a compass that displays the direction of motion of the receiver over ground and its elevation both in degrees The white arrow indicates the elevation value on the vertical scale down...

Страница 48: ...height HDOP Horizontal DOP Uncertainty of the two dimensional parameters latitude longitude VDOP Vertical DOP Uncertainty of the height TDOP Time DOP Uncertainty of the clock offset Console Window Thi...

Страница 49: ...w select ASCII Messages Window from the View menu or select its button in the Window Toolbar Wizards Several wizards are available if you have the necessary receiver model to assist with various recei...

Страница 50: ...reening particular logs out of large data files in either ASCII or Binary formats Figure 9 Convert4 Screen Examples 4 3 1 RINEX Format The Receiver Independent Exchange RINEX1 format is a broadly acce...

Страница 51: ...vert4 sets this to zero t file type o for the observation and n for the navigation file Selecting the RINEX field see Figure 9 Convert4 Screen Examples on page 50 in the Convert4 To section causes the...

Страница 52: ...ile is the same as the input file when converting to ASCII or binary formats The file extension however is altered to indicate the format of the data asc for ASCII bin for binary When converting to RI...

Страница 53: ...nd with the issued auth code If you are upgrading to a higher firmware revision level you will need to transfer new program firmware to the OEMV family receiver using the WinLoad utility program As Wi...

Страница 54: ...Transferring Firmware Files To proceed with your program upgrade you must first acquire the latest firmware revision You will need a file with a name such as OEMXXXX EXE where XXXX is the firmware rev...

Страница 55: ...e file where XXXX program version level for example 1001 hex Using the WinLoad Utility WinLoad is a Windows based program used to download firmware to OEMV family cards The main screen is shown in Fig...

Страница 56: ...selected your file the name should appear in the main display area and in the title bar see Figure 13 below Figure 13 Open File in WinLoad Communications Settings To set the communications port and ba...

Страница 57: ...ed in main display area see Figure 13 Open File in WinLoad on page 56 4 Click on the Write Flash button to download the firmware 5 Power down and then power up the receiver when Searching for card app...

Страница 58: ...58 SMART MR10 User Manual Rev 0B Chapter 4 PCUtilities Figure 17 Upgrade Process Complete 7 Close WinLoad This completes the procedure required to upgrade an OEMV family receiver...

Страница 59: ...default is enabled If the SMART MR10 is turned off or power is removed then turned back on the Bluetooth mode is returned to the state it was in before power down as long as the SAVECONFIG command wa...

Страница 60: ...the white Bluetooth icon If the Bluetooth icon is red as shown in Figure 21 the Bluetooth installation on your PC laptop is incorrect and you should return to step 1 Figure 21 Bluetooth Error Red 5 3...

Страница 61: ...od window as shown in Figure 22 The PC laptop searches for available services If Bluetooth is working properly a COM port service appears 2 Double click the COM3 icon To use the serial COM port the SM...

Страница 62: ...ecified in the Bluetooth configuration utility In the above example the terminal program must be configured to connect through COM21 5 Configure the port settings as follows 9600 bps no parity 8 data...

Страница 63: ...Entire Bluetooth Neighborhood folder as shown in Figure 22 on page 61 3 Double click the SMART MR10 device icon in the Entire Bluetooth Neighborhood window The PC laptop searches for available service...

Страница 64: ...rces Export licensing restricts operation to a maximum velocity of 515 metres per second Autonomous L1 1 5 m Autonomous L1 L2 1 2 m SBASa 0 6 m CDGPS 0 6 m DGPS 0 4 m OmniSTAR VBS 0 6 m XP 0 15 m HP 0...

Страница 65: ...1898 Compliant Emulated Radar Output High Supply Voltage 0 5V Minimum Low 0 5 V Maximum Load 3K Ohm Minimum PPS Output 3 3 V CMOS Logic Compatible MKI Input 3 3 V CMOS Logic 5 V Tolerant Mode Pin 0 to...

Страница 66: ...l Specifications a When tracking GPS satellites b See also the Notice section of this manual starting on Page 13 DIMENSIONS Notes 1 All dimensions are in millimetres 2 Mounting holes are labelled acco...

Страница 67: ...Technical Specifications Appendix A SMART MR10 User Manual Rev 0B 67 Note All dimensions are in millimetres Antenna Phase Centre...

Страница 68: ...f more than 36 V Two DB 9 connectors One of these is normally connected to a PC laptop serial RS 232 communication port and another to a modem or radio transmitter to propagate differential correction...

Страница 69: ...TINNED LEAD SIGNAL NAME 1 PWR PWR 2 PWR PWR 3 CAN CAN 4 CAN CAN 5 2 TXD2 6 3 RXD2 7 2 TXD1 8 2 RTS1 AUXTX TXD3 9 SIGGND2 SIGGND2 10 RESERVED 11 RESERVED 12 RESERVED 13 RESERVED 14 CHASSIS GROUNDa a Pi...

Страница 70: ...for 5A with an operating voltage of more than 36 V Two DB 9 connectors One of these is normally connected to a PC laptop serial RS 232 communication port and the other to a modem or radio transmitter...

Страница 71: ...UB TINNED LEAD SIGNAL NAME 1 PWR PWR 2 PWR PWR 3 RESERVED 4 RESERVED 5 2 TXD2 6 3 RXD2 7 2 TXD1 8 RESERVED 9 SIGGND2 SIGGND2 10 RESERVED 11 RESERVED 12 RESERVED 13 RESERVED 14 CHASSIS GROUNDa a Pin 14...

Страница 72: ...water sealed type produced by Tyco The following part numbers pertain to the mating connector required to make connections to the SMART MR10 These numbers are provided for information only and are not...

Страница 73: ...ample you could type either RESET or reset 4 Except where noted either a space or a comma can separate commands and their required entries For example you could type either fix position 51 11358042 11...

Страница 74: ...ge ID 8205 BTCONTROL switch Factory Default The Bluetooth module is enabled by default Example 1 to disable Bluetooth btcontrol disable Example 2 to enable Bluetooth btcontrol enable 1 If users want t...

Страница 75: ...Family Firmware Reference Manual Baud rates higher than 115 200 bps are not supported by standard PC hardware Special PC hardware may be required for higher rates including 230400 bps 460800 bps and 9...

Страница 76: ...a This table lists the commonly used SMART MR10 COM ports For a complete list of COM ports refer to the COM Serial Port Identifiers table in the COM command section of the OEMV Family Firmware Refere...

Страница 77: ...bps baud 300 600 900 1200 2400 4800 9600 19200 38400 57600 115200 or 230400 Communication baud rate bps Bauds of 460800 and 921600 are also available on COM1 of OEMV 2 based products ULong 4 H 4 4 pa...

Страница 78: ...nary Bytes Binary Offset 1 FRESET header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary respectively H 0 2 target See...

Страница 79: ...he receiver responds with an Insufficient Resources error Each COM port serial and USB already has RXSTATUSEVENT log associated with it This means that with 3 serial ports and no USB ports 7 logs are...

Страница 80: ...meter is set so that logging is not disrupted by the UNLOGALL command To send a log only one time the trigger option can be ignored Abbreviated ASCII Example 2 log com1 bestpos once 0 000000 0 000000...

Страница 81: ...ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the current message default ONMARK Output when a pulse is detected on...

Страница 82: ...tual ports for USB port 1 USB2_ALL e 14 All virtual ports for USB port 2 USB3_ALL f 15 All virtual ports for USB port 3 AUX_ALL 10 16 All virtual ports for the AUX port b XCOM3_ALL 11 17 All virtual C...

Страница 83: ...ort 1 virtual port 0 USB1_1 5a1 1441 USB port 1 virtual port 1 USB1_31 5bf 1471 USB port 1 virtual port 31 USB2 6a0 1696 USB port 2 virtual port 0 USB2_31 6bf 1727 USB port 2 virtual port 31 USB3 7a0...

Страница 84: ...1DE filter works best with CDGPS or WAAS The PDP filter is smoother than a least squares fit but is still noisy in places The GL1DE filter produces a very smooth solution with consistent rather than a...

Страница 85: ...reviated ASCII Syntax Message ID 970 pdpmode mode dynamics Factory Default pdpmode normal auto ASCII Example pdpmode relative dynamic Field Field Type ASCII Value Binary Value Description Binary Forma...

Страница 86: ...e 4 Enum none H 3 freq_step Frequency step per kilometre per hour Range 26 11 28 12 or 36 11 default 36 11 8 Double Hz kph H 4 4 update_rate Specify how often to update radar output Range 1 2 5 10 20...

Страница 87: ...isable 26 11 1 1 2 Example 2 to set the frequency step to 36 11 Hz kph update rate to 1 Hz and no smoothing radarcfg enable 36 11 1 1 2 Mode Description 2000 2000 ms The time period over which to smoo...

Страница 88: ...field is used to set the number of seconds the receiver is to wait before resetting Abbreviated ASCII Syntax Message ID 18 reset delay Example reset 120 The RESET command can be used to erase any unsa...

Страница 89: ...AUTO mode it does not track satellites from other systems This is because systems such as WAAS EGNOS and MSAS do not share broadcast information and have no way of knowing each other are there The tes...

Страница 90: ...OEMV receivers work with SBAS systems including EGNOS Europe MSAS Japan and WAAS North America System Types ASCII Binary Description NONE 0 Don t use any SBAS satellites AUTO 1 Automatically determine...

Страница 91: ...able NMEA standard logs is described in more detail in its own section of Chapter 3 of the OEMV Family Firmware Reference Manual The steps for configuring the receiver output through the command line...

Страница 92: ...llows 1 In the Logging control window click Logging to one or more of the receiver s serial ports The Add Log window displays 2 Beside Select list select Complete List or NMEA List 3 Beside Log to fil...

Страница 93: ...is log contains position and Emulated Radar ER signal information Message ID 8193 Log Type Asynch Recommended Input log radarsignala onchanged ASCII Example 1 stationary SMART MR10 RADARSIGNALA COM1 0...

Страница 94: ...H 3 vel type Velocity type see Table 19 Position or Velocity Type on Page 95 Enum 4 H 4 4 speed Speed over ground m s Double 8 H 8 4 varf freq External VARF output frequency Hz Double 8 H 16 5 radar...

Страница 95: ...eous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without...

Страница 96: ...13 INTEGRITY_WARNING Large residuals make position unreliable 14 17 Reserved for SPAN capable receivers 18 PENDING When a FIX POSITION command is entered the receiver computes its own position and de...

Страница 97: ...COM1 0 94 5 UNKNOWN 0 156 357 004c0001 3681 5010 3 GPSCARD N1GA DHC09401037 MCAGTP 1 00 22B 3 710 3 002 2009 Nov 30 11 08 19 DB_USERAPPAUTO SmartAg 0 1 100 2009 Nov 27 13 22 29 USERINFO LMX9830 0212...

Страница 98: ...ww novatel com Part Description NovAtel Part SMART MR10 01018518 Full connectivity cable 23 pin socket to 3 DB 9 connectors twisted CAN I O pair and other bare wire connectors see SMART MR10 Evaluatio...

Страница 99: ...rface 68 serial 32 streamlined 70 warranty 12 CAN See Controller Area Network CDU software 44 80 98 CMR 39 cold start 64 COM command 75 COM port 80 command CDU 34 communication 32 error message 35 exa...

Страница 100: ...figuration note 39 corrections 35 68 70 operation 35 serial cable 68 70 directional communication 33 distance exceeded 96 dynamics 85 E echo 77 EGNOS 41 EGNOS European SBAS 90 e mail 15 Emulated Radar...

Страница 101: ...n logs 92 O operation 32 optionality 17 outages 84 output connector 65 convention 17 log 79 81 status 33 34 syntax 73 overload 79 P parity 32 76 77 PC power settings 80 period 79 81 port Bluetooth 61...

Страница 102: ...luetooth 59 SMART MR10 models 20 smooth 84 standby mode PC 80 static mode 85 status receiver 79 streamlined cable 70 support 12 15 syntax 73 T technical specifications 64 time 79 81 transmit 77 trigge...

Страница 103: ...Index SMART MR10 User Manual Rev 0B 103...

Страница 104: ...OM 20000130 Rev 0B 2010 05 12...

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