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SMART6 User Manual Rev 3

C.2.1

RADARSIGNAL ER Signal and Position Information

This log contains position and Emulated Radar (ER) signal information.

Message ID:

8193

Log Type:

Asynch

Recommended Input:

log radarsignala onchanged

ASCII Example 1 (stationary SMART6):

#radarsignala,com1,0,61.5,finesteering,1501,248381.628,00000000,8a1c,3723

;sol_computed,waas,0.0139,0.00,0.00*f0d580ca

ASCII Example 2 (moving SMART6):

#radarsignala,com1,0,42.5,finesteering,1428,206179.600,00000000,baa8,3349

;sol_computed,waas,0.3315,2,0.3152,473.97,29.62*c1479c20

Field

Field type

Data Description

Format

Binary

Bytes

Binary

Offset

RADARSIGNAL

header

Log header

sol status

Solution status, see

Table 14, Solution Status

page 74

Enum

vel type

Velocity type, see

Table 13, Position or Velocity

Type

on page 74

Enum

H+4

speed

Speed over ground (m/s)

Double 8

H+8

varf freq

External VARF output frequency (Hz)

Double 8

H+16

radar freq

Radar signal frequency (Hz) as output by the

Emulated Radar Out signal. See

Double 8

H+24

xxxx

32-bit CRC (ASCII and Binary only)

Hex

H+32

[CR][LF]

Sentence terminator (ASCII only)

Содержание SMART6

Страница 1: ...SMART6 User Manual OM 20000150 Rev 3 August 2014...

Страница 2: ...e 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 disclosure agreement T...

Страница 3: ...2 1 Starting the Receiver 22 3 2 2 Communicating with the Receiver Using NovAtel Connect 22 3 3 Transmitting and Receiving Corrections 23 3 3 1 Base Station Configuration 25 3 3 2 Rover Station Config...

Страница 4: ...T6 Connector and Cable Requirements 56 B Commands 58 B 1 Syntax Conventions 58 B 2 BTCONTROL Enable Disable Bluetooth wireless technology 59 B 3 COM Configure COM Port 60 B 4 FRESET Clear Selected Dat...

Страница 5: ...ng Limit Example 30 15 Steadyline UAL Out of Bounds Example 31 16 SMART6 Tilt Compensation 32 17 Bluetooth Icon 34 18 Bluetooth Devices Window 35 19 Add a device window 35 20 Add a device Select a pai...

Страница 6: ...mmunication Power Cable Pin outs 56 6 SMART6 Mating Connectors 57 7 Recommended Fuse and Fuse Holders 57 8 SMART6 Commands 58 9 FRESET Target 62 10 Detailed Serial Port Identifiers 65 11 Response Mode...

Страница 7: ...003 SMART6 appareils num rique de la classe B sont conforme la norme NMB 003 du Canada This device complies with Industry Canada licence exempt RSS standard s Operation is subject to the following tw...

Страница 8: ...ates the reduction of wasteful consumption of natural resources and the prevention of pollution Waste electrical and electronic equipment WEEE is a regulated area Where the generation of waste cannot...

Страница 9: ...RAWEPHEMB ONCHANGED1 2 Send the file containing the logs to NovAtel Customer Service using either the NovAtel ftp site at ftp ftp novatel com incoming or the support novatel com e mail address 3 You c...

Страница 10: ...high performance GNSS L1 L2 antenna a CAN port three RS 232 COM ports or two RS 232 COM ports and Bluetooth three LED status indicators a water and dust tight enclosure Bluetooth wireless technology...

Страница 11: ...are assumed to be reserved for future use Status words are 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 c...

Страница 12: ...he SMART6 1 Mount the SMART6 on a secure stable structure with an unobstructed view of the sky from horizon to horizon refer to Section 2 1 4 Mounting the SMART6 on page 16 for details 2 Connect the N...

Страница 13: ...ower supply and turn on the power supply to the SMART6 the SMART6 cable is also a power cable The power LED on the receiver glows red when the SMART6 is properly powered Figure 3 Simplified SMART6 Set...

Страница 14: ...cular power system or equivalent 2 1 3 Mounting Plate Two mounting plates are available to facilitate mounting the receiver a surface mounting plate and a pole mounting plate Figure 4 SMART6 Surface M...

Страница 15: ...1019142 To install the pole mounting plate 1 Use four M4 screws to connect the mounting plate to the SMART6 2 Screw the mounting plate onto a mount such as a range pole tribrach or tripod with a 1 x 1...

Страница 16: ...a stationary location mount the SMART6 in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction For more information refer to NovAtel...

Страница 17: ...hin five minutes than no SBAS or DGPS positions are available If you are using SBAS make sure SBAS is available in your area and that the SMART6 is configured to enable SBAS positions SBASCONTROL ENAB...

Страница 18: ...llowing NMEA2000 Parameter Group Messages PGN PGN 129029 GNSSPositionData 1 Hz PGN 129025 GNSSPositionRapidUpdate 10 Hz PGN 129026 COGandSOGRapidUpdate 10 Hz 2 2 5 Tilt Compensation The SMART6 Tilt Co...

Страница 19: ...y should be within 1 to 2 inches 2 5 to 5 0 cm Once the measurement has been made in feet and inches or metres refer to Section B 6 PMDT Configure Tilt Compensation on page 66 for instructions on how...

Страница 20: ...d is sent to the SMART6 Refer to Section B 6 PMDT Configure Tilt Compensation on page 66 for instructions on how to send the level command After the tilt sensor has been leveled the data must be saved...

Страница 21: ...ation is transmitted For example outputting a log whose message byte count is 96 The default port settings allows 10 bits byte 8 data bits 1 stop bit 1 framing bit It therefore takes 960 bits per mess...

Страница 22: ...m its main menu The Open Connection window appears Figure 8 Open Connection Window Refer to the NovAtel Connect help file or press F1 while the cursor is in a NovAtel Connect window Ensure the Console...

Страница 23: ...correctly the receiver responds with Invalid Message ID or a more detailed message 3 3 Transmitting and Receiving Corrections RTK or DGPS corrections can be transmitted from a base station to a rover...

Страница 24: ...s is required to receive corrections SBAS corrections can be accomplished with one receiver and are exceptions to the base rover concept Generally a link capable of data throughput at a rate of 9600 b...

Страница 25: ...lconfig com2 9600 N 8 1 N on interfacemode com2 none rtcm off fix position 51 11358042 114 04358013 1059 4105 log com2 rtcm3 ontime 10 required for RTK log com2 rtcm22 ontime 10 1 optional log com2 rt...

Страница 26: ...d Rover Configuration This section shows how to set up a base and rover OEM6 GPS GLONASS enabled receivers for GPS GLONASS RTK operation Base Station fix position lat lon hgt enter your own lat lon an...

Страница 27: ...ngs interfacemode com2 novatel novatel The rover receiver recognizes the default and uses the corrections it receives with a NovAtel header The PSRDIFFSOURCE and RTKSOURCE commands set the station ID...

Страница 28: ...a robust solution resistant to the effects of high ionospheric activity GLIDE works in all code positioning modes including single point DGNSS and SBAS Refer to the NovAtel white papers at www novate...

Страница 29: ...ng from RTK to GLIDE the receiver uses the Maintain option When the position mode is changing from a less accurate mode to a more accurate mode e g GLIDE to RTK the receiver uses the Transition option...

Страница 30: ...t Example on page 30 and Figure 15 Steadyline UAL Out of Bounds Example on page 31 show an examples of Steadyline using the UAL mode Figure 14 Steadyline UAL Warning Limit Example UAL mode will not fu...

Страница 31: ...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 i...

Страница 32: ...oped terrain the position will be in error by an amount proportional to the tilt angle Figure 16 SMART6 Tilt Compensation If tilt compensation is enabled the SMART6 determines the tilt and corrects th...

Страница 33: ...SBAS WAAS GNOS MSAS corrections sbascontrol enable The following commands are recommended to enable GLIDE pdpfilter enable pdpmode relative auto NovAtel has registered manufactured ID code 305 with J...

Страница 34: ...t port e g log aux bestposa ontime 1 4 2 Pairing with a new SMART6 To pair with an SMART6 in range 1 Power on the SMART6 2 Double click the Bluetooth icon in the notification area see Figure 17 on pag...

Страница 35: ...uetooth Devices Window 3 On the Bluetooth Devices window click the Add a device button The Add a device window appears The computer searches for any Bluetooth device in range and displays the devices...

Страница 36: ...5 Click the Enter the device s pairing code button The Enter the pairing code for the device window appears see Figure 21 on page 36 Figure 21 Add a device Enter pairing code 6 Type the SMART6 pairin...

Страница 37: ...n the notification area see Figure 23 on page 37 The Bluetooth Devices window opens see Figure 24 on page 38 Figure 23 Bluetooth Icon On some operating systems the SMART6 must be re paired every time...

Страница 38: ...6 User Manual Rev 3 38 Figure 24 Bluetooth Devices Window 2 In the Bluetooth Devices window right click the SMART6 device and select Properties see Figure 25 on page 39 The Properties window for the S...

Страница 39: ...Bluetooth Configuration Chapter 4 SMART6 User Manual Rev 3 39 Figure 25 Bluetooth Devices Window Device Menu Figure 26 Bluetooth Devices Window Properties...

Страница 40: ...ogram HyperTerminal for example and configure it to the serial port assigned to the Bluetooth link If you do not know the serial port information see Section 4 3 Determining the Bluetooth Serial Port...

Страница 41: ...port novatel com directly 5 1 1 Firmware Updates Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality Firmware updates are released on the NovAtel w...

Страница 42: ...and with the issued auth code as outlined in Upgrading Using the AUTH Command To upgrade to a new model with a new firmware version the new firmware needs to be loaded into the SMART6 receiver Refer t...

Страница 43: ...nerate and provide the required authorization code Authorization codes are obtained by contacting support novatel com or at www novatel com Support For convenience unzip the update file to a GNSS sub...

Страница 44: ...n authorization code is not required for Application Software updates 5 3 2 Using the WinLoad Utility If opening WinLoad for the first time ensure the file and communications settings are correct Open...

Страница 45: ...Figure 32 Authorization Code Window 6 The receiver finishes the download and then resets The process is complete when Done appears in the main display area Figure 33 Upgrade Process Complete 7 Close...

Страница 46: ...ple S7 Records S70000 S70500000000FA Records beginning with S3 contain the actual firmware image data Aside from the header each pair of characters forms the ASCII representation of a binary byte The...

Страница 47: ...ss from the current S3 record must equal the address from the previous S3 record plus the data length of the previous S3 record If the data is not consecutive then the SOFTLOADDATA command can be sent...

Страница 48: ...re Reference Manual OM 20000129 for details on how to convert from S0 S Records to SOFTLOADSETUP commands B S3 S Records should be parsed and packaged into a SOFTLOADDATA command 6 Send the SOFTLOADCO...

Страница 49: ...al Rev 3 49 The SoftLoad process can be safely canceled at any time using the SOFTLOADRESET command or by otherwise resetting the receiver Once the COMPLETE status is reported by SOFTLOADSTATUS the ne...

Страница 50: ...he upgrade can be performed directly through the NovAtel Connect command line or from any other communications program 5 5 1 Upgrade Procedure 1 Power up the SMART6 receiver and establish communicatio...

Страница 51: ...1 5 m Single Point L1 L2 1 2 m SBASc 0 6 m DGPS 0 4 m NovAtel CORRECT RT 2 1 cm 1 ppm Measurement Precision RMS GPS GLONASS Code Carrier Code Carrier L1 C A 4 cm 0 5 mm 15 cm 1 5 mm L2 P Y d d L2 P fo...

Страница 52: ...Ingress Protection Rating IP67 POWER REQUIREMENTS Input Voltage 8 to 36 V DC Power Consumption 3 5 W c 14 PIN INPUT OUTPUT CONNECTORS Power 8 to 36 V DC For the cable pin outs and drawings see Section...

Страница 53: ...ported Logs Commands Firmware Upgrade NovAtel Connect Baud rate reset using Break AUX Electrical format RS 232 Bit rates bps 2400 4800 9600 default 19200 38400 57600 or 115200 Signals supported TxD1 R...

Страница 54: ...SMART6 User Manual Rev 3 54 Figure 34 SMART6 Dimensions Dimensions are in millimeters...

Страница 55: ...smitter user guide for information on its connectors In addition there are a number of bare wires where the outer insulation is cut away but the wires beneath remain intact See Table 5 SMART6 Communic...

Страница 56: ...and water sealed type produced by Tyco The following part numbers pertain to the mating connector required to make connections to the SMART6 These numbers are provided for information only and are not...

Страница 57: ...o AMP 770520 3 Seal Plug for unused pins on mating connector All connector positions must be populated with a pin or seal plug to achieve the IP 67 rating for the cable connection Seal plug Tyco AMP 7...

Страница 58: ...51 11358042 114 04358013 1059 4105 or fix position 51 11358042 114 04358013 1059 4105 5 At the end of a command a carriage return is required For example press Enter or Return on your keyboard 6 Resp...

Страница 59: ...t Binary Offset 1 BTCONTROL header This field contains the command name or the message header depending on whether the command is abbreviated ASCII ASCII or binary 0 2 switch Enable or disable Bluetoo...

Страница 60: ...SMART6 User Manual Rev 3 60 B 3 COM Configure COM Port The SERIALCONFIG command replaces the COM command see page 68...

Страница 61: ...CII Syntax FRESET target Input Example FRESET COMMAND FRESET STANDARD which is also the default causes any commands ephemeris GNSS and almanac data previously saved to NVM to be erased If you are rece...

Страница 62: ...e stored GPS ephemeris 4 GLOEPHEM Resets the stored GLONASS ephemeris 5 MODEL Resets the currently selected model 10 USERDATA Resets SMART6 only commands 11 CLKCALIBRATION Resets the parameters entere...

Страница 63: ...Example 2 LOG COM1 BESTPOS ONCE 0 000000 0 000000 NOHOLD Refer to the Command Formats section of the OEM6 Family Firmware Reference Manual for additional examples 1 The OEM6 family of receivers can ha...

Страница 64: ...Output when the message is updated not necessarily changed Enum ONCHANGED Output when the message is changed ONTIME Output on a time interval ONNEXT Output only the next message ONCE Output only the...

Страница 65: ...tual ports for the AUX port COM1 20 32 COM port 1 virtual port 0 COM1_1 21 33 COM port 1 virtual port 1 COM1_31 3f 63 COM port 1 virtual port 31 COM2 40 64 COM port 2 virtual port 0 COM2_31 5f 95 COM...

Страница 66: ...the u command PMDT GNSS sensor height inches nnnnn cr lf where nnnnn is a five digit integer sensor height in inches In this example the Tilt Sensor response is PMDT GNSS sensor height inches 00137 l...

Страница 67: ...ult enable Enum none 4 H 3 freq_step Frequency step per kilometer per hour Range 26 11 28 12 or 36 11 default 36 11 Double Hz kph 8 H 4 4 update_rate Specify how often to update radar output Range 1 2...

Страница 68: ...settings 3 The entire content of the current log is sent before pausing due to the receipt of the XOFF character The AUX port does not support break detection This applies to models with Bluetooth an...

Страница 69: ...t COM port default ALL 8 Select all COM ports 3 bps bauda 300 600 900 1200 2400 4800 9600 19200 38400 57600 115200 230400 460800 and 921600 Communication baud rate bps Ulong 4 H 4 4 parity N 0 No pari...

Страница 70: ...the message header depending on whether the command is abbreviated ASCII ASCII or binary H 0 2 ManufacturerCode CAN module s Manufacturer Code ULong 4 H 3 IndustryGroup Industry group number default...

Страница 71: ...o set COM port 2 as follows enter the following string serialconfig com2 9600 n 8 1 n on 2 Select and configure the NMEA string to output The information is described in Chapter 3 Data Logs of the OEM...

Страница 72: ...mple log bestxyza ontime 1 C 2 Other Logs The SMART6 firmware generates the logs in Table 12 SMART6 Logs in Alphabetical Order in addition to those of the OEM6 Family log set Refer to the OEM6 Family...

Страница 73: ...349 sol_computed waas 0 3315 2 0 3152 473 97 29 62 c1479c20 Field Field type Data Description Format Binary Bytes Binary Offset 1 RADARSIGNAL header Log header H 0 2 sol status Solution status see Tab...

Страница 74: ..._INT Integer narrow lane ambiguity solution Solution Status Description Binary ASCII 0 SOL_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SIN...

Страница 75: ...o the receiver is valid The receiver needs to be tracking two or more GPS satellites to perform this check Under normal conditions you should only see PENDING for a few seconds on power up before the...

Страница 76: ...log refer to the OEM6 Family Firmware Reference Manual is extended to include SMART6 information as in Table 15 Component Type Table 15 Component Type version com1 0 14 0 unknown 0 6 374 004c0000 3681...

Страница 77: ...rt SMART6 01019123 SMART6 with Tilt 01019125 SMART6 with Bluetooth 01019121 SMART6 with Bluetooth and Tilt 01019127 Cable 14 pin socket to 3 DB 9 connectors twisted CAN I O pair and other bare wire co...

Страница 78: ...OM 20000150 Rev 3 August 2014...

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