Novatel OM-AD-0020 - Manual

Foreword Test Bed Receiver Subsystem Addendum – Rev 1 vii FOREWORD SCOPE The Test Bed Receiver Subsystem Addendum is written for users of the Test Bed Receiver Subsystem and contains information specific to the TESTBEDW and TESTBEDGLO software models. This manual describes the NovAtel Test Bed Recei...

1 - Introduction 8 Test Bed Receiver Subsystem Addendum – Rev 1 1 INTRODUCTION The Test Bed Receiver is based on a Wide Area Augmentation System receiver (NovAtel WAAS). See Appendix A, Page 22 for an overview of the WAAS system. THE NOVATEL TEST BED RECEIVER Figure 1 The NovAtel Test Bed Receiver T...

1 - Introduction Test Bed Receiver Subsystem Addendum – Rev 1 9 OPERATIONAL OVERVIEW The NovAtel Test Bed Receiver has two functional blocks (see Figure 2): • Single Frequency GPS GLONASS • Dual Frequency GPS GEO Figure 2 Test Bed Receiver Functional Block Diagram RF/IF Digitizing BACKPLANE: Communi...

2 - Installation Test Bed Receiver Subsystem Addendum – Rev 1 11 2 INSTALLATION OF TEST BED RECEIVER This chapter provides sufficient information to allow you to set up and prepare the Test Bed Receiver for initial operation. MINIMUM CONFIGURATION In order for the Test Bed Receiver to function as a ...

2 - Installation 12 Test Bed Receiver Subsystem Addendum – Rev 1 For the minimum configuration, setting up the Test Bed Receiver involves the following steps: 1. Connect the user interface to the Test Bed Receiver (“GPS GLONASS” and/or “GPS GEO” connectors) 2. Install the GPS and GLONASS antennas an...

2 - Installation Test Bed Receiver Subsystem Addendum – Rev 1 13 command is disabled, or if the EXTERNAL clock command is disabled, then the two receivers will drift away from each other in time. The normal mode of operation is to use either the internal OCXO or a highly stable external oscillator. ...

2 - Installation 14 Test Bed Receiver Subsystem Addendum – Rev 1 CONNECTING DATA COMMUNICATIONS EQUIPMENT There are two serial ports on the back panel of the Test Bed Receiver; both are configured for RS-232 protocol. These ports make it possible for external data communications equipment - such as ...

2 - Installation Test Bed Receiver Subsystem Addendum – Rev 1 15 CONNECTING THE EXTERNAL POWER INPUT The Test Bed Receiver requires one source of external regulated power. The input can be in the +22 to +30 V DC range. The receiver draws up to 3 A at start-up, but the steady-state requirement is app...

2 - Installation 16 Test Bed Receiver Subsystem Addendum – Rev 1 ACCESSING THE STROBE SIGNALS A strobe port is located on the enclosure back panel. This is a diagnostic connector and is in the form of a DE9S connector (see Figure 11). The 1PPS and Measurement pulse from both receiver subsystems are ...

3 - Operation Test Bed Receiver Subsystem Addendum – Rev 1 17 3 OPERATION Before operating the Test Bed Receiver for the first time, ensure that you have followed the installation instructions in Chapter 2. From here on, it will be assumed that testing and operation of the Test Bed Receiver will be ...

3 - Operation 18 Test Bed Receiver Subsystem Addendum – Rev 1 INITIAL COMMUNICATIONS WITH THE TEST BED RECEIVER Communicating with the Test Bed Receiver is a straightforward process and is accomplished by issuing desired commands to the COM1 ports from an external serial communications device. For y...

4 - Update or Upgrade Test Bed Receiver Subsystem Addendum – Rev 1 19 4 UPDATE OR UPGRADE YOUR GPSCARD The MiLLennium stores its program firmware in non-volatile memory, which allows you to perform firmware upgrades and updates without having to return the MiLLennium to the distributor. New firmware...

4 - Update or Upgrade 20 Test Bed Receiver Subsystem Addendum – Rev 1 where $auth is a special command which allows program model upgrades auth-code is the upgrade authorization code, expressed as hhhh,hhhh,hhhh,hhhh,hhhh,model# where the h characters are an ASCII hexadecimal code, and the model# wo...

4 - Update or Upgrade Test Bed Receiver Subsystem Addendum – Rev 1 21 USING THE LOADER UTILITY The Loader utility can operate from any DOS directory or drive on your PC. The program is comprised of three parts: Program Card (authorization procedure), Setup (communications configuration) and Terminal...

Appendices 22 Test Bed Receiver Subsystem Addendum – Rev 1 A WAAS OVERVIEW The Wide Area Augmentation System (WAAS) is a safety-critical system which is designed to enable the GPS to meet the US Federal Aviation Administration (FAA) navigation performance requirements for domestic en route, terminal...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 23 B GLONASS OVERVIEW MILLENNIUM-GLONASS GPSCARD The MiLLennium-GLONASS GPSCard can receive L1 signals from combined GPS/GLONASS satellites. This hybrid receiver offers combined GPS/GLONASS position solutions. An RTK version of the MiLLennium-G...

Appendices 24 Test Bed Receiver Subsystem Addendum – Rev 1 The NovAtel MiLLennium-GLONASS GPSCards can be applied in mining and machine control, robotics, flight inspection, marine navigation, agriculture, military, direction finding and other custom OEM applications. Some of the information used to...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 25 frequencies used by the satellites and to gradually change the L1 frequencies to 1598.0625 - 1609.3125 MHz. Eventually the system will only use 12 primary frequency channels (plus two additional channels for testing purposes). • System opera...

Appendices 26 Test Bed Receiver Subsystem Addendum – Rev 1 TIME The GLONASS satellites broadcast their time within their satellite messages. NovAtel’s MiLLennium GLONASS GPSCard is able to receive and record both time references as well as report the offset information between GPS and GLONASS time (...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 27 FUNCTIONAL OVERVIEW MILLENNIUM-GLONASS GPSCARD SYSTEM The MiLLennium-GLONASS GPSCard consists of a radio frequency (RF) and a digital electronics section. Prior to operation, a GPS/GLONASS antenna, power supply, and data and signal interface...

Appendices 28 Test Bed Receiver Subsystem Addendum – Rev 1 GPS/GLONASS ANTENNA The purpose of the GPS/GLONASS antenna is to convert the electromagnetic waves transmitted by the combined GPS/GLONASS satellites at the L1 frequency (1575.42 MHz for GPS and 1602 - 1615.5 MHz for GLONASS) into RF signals...

Appendices 30 Test Bed Receiver Subsystem Addendum – Rev 1 C WAAS COMMANDS AND LOGS These commands and logs differ from the versions described in the MiLLennium Command Descriptions Manual for the Test Bed Receiver at the time of this publication. COMMANDS CONFIG This command switches the channel co...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 31 IONOMODEL This command allows the user to influence what ionospheric corrections the card uses. This command currently does not effect the ionospheric model that is used when the card is operating in RTK mode. Additional range values are res...

Appendices 32 Test Bed Receiver Subsystem Addendum – Rev 1 WAASCORRECTION This command allows you to have an affect on how the card handles WAAS corrections. The card will switch automatically to Pseudorange Differential (RTCM or RTCA) or RTK if the appropriate corrections are being received, regard...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 33 LOGS RCCA RECEIVER CONFIGURATION This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the GPSCard configuration settings. See RCCA in the MiLLennium Command Descriptions Manual for the ...

Appendices 34 Test Bed Receiver Subsystem Addendum – Rev 1 D GLONASS COMMANDS AND LOGS GLONASS-SPECIFIC COMMANDS This chapter describes MiLLennium-GLONASS GPSCard commands important to GLONASS. GLONASS-specific commands are generated by using information obtained from the GLONASS satellite system. P...

Appendices 36 Test Bed Receiver Subsystem Addendum – Rev 1 UNIMPLEMENTED COMMANDS Currently, the ability to set satellite health, and the ability to de-weight the range of a satellite in the solution computations, is not enabled for GLONASS. Because of this, the following commands will not work with...

Appendices 38 Test Bed Receiver Subsystem Addendum – Rev 1 CALB Format: Message ID = 87 Message byte count = 32 + (16 * 32) Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 1 Message byte count 4 integer bytes 8 2 Week number 4 integer weeks 12 3 Seconds ...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 39 GALA/B ALMANAC INFORMATION The GLONASS almanac reference time and week are in GPS time coordinates. GLONASS ephemeris information is available through the GEPA/B log. GALA Structure: $GALA week seconds week time SVID freq health TlambdaN Lam...

Appendices 40 Test Bed Receiver Subsystem Addendum – Rev 1 GALB Format: Message ID = 78 Message byte count = 112 Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 1 Message byte count 4 integer bytes 8 2 Week number 4 integer weeks 12 3 Seconds of week 8 d...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 41 GCLA/B CLOCK INFORMATION This log contains the time difference information between GPS and GLONASS time as well as status flags. The status flags are used to indicate the type of time processing used in the least squares adjustment. GPS and ...

Appendices 42 Test Bed Receiver Subsystem Addendum – Rev 1 Table 2 Time Status Value Description 0 GLONASS time floating 1 GLONASS time fixed Example: $GCLA,994,149871.00,10787,10.62179349,167.82950123,1121, -3.0544738044739E-007,9,4,00000000*7B,[CR][LF]GCLB GCLB Format: Message ID = 88 Message byte...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 43 GEPA/B EPHEMERIS INFORMATION GLONASS ephemerides are referenced to the Parametry Zemli 1990 (PZ-90) geodetic datum, and GLONASS ephemeris information is available through the GEPA/B log. GLONASS coordinates are reconciled internally through ...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 45 GEPB Format: Message ID = 77 Message byte count = 156 Field # Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Message byte count 4 integer bytes 8 2 GPS week of log output 4 integer weeks 12 3 GPS time...

Appendices Test Bed Receiver Subsystem Addendum – Rev 1 47 OTHER NOVATEL LOGS RCCA RECEIVER CONFIGURATION This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the GPSCard configuration settings. See RCCA in the MiLLennium Command Descriptions M...

Appendices 48 Test Bed Receiver Subsystem Addendum – Rev 1 E TEST BED RECEIVER - TECHNICAL SPECIFICATIONS PHYSICAL Size 448.8 x 361 x 183.5 mm (without the 19” mounting brackets) Weight 10.2 kg ENVIRONMENTAL Operating Temperature -25° C to +55° C with 1 m 3 / minute air flow Storage Temperature -40°...

Appendices 50 Test Bed Receiver Subsystem Addendum – Rev 1 Default Channel Assignments Config Channel SV Type Code DLL Type Fra me Nav Type Symbol Rate FEC Sky Search 12 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic 1 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic 2 GPS L1 C/A...

Index Test Bed Receiver Subsystem Addendum – Rev 1 51 INDEX 10 mhz output, 12, 15 1pps, 12, 16 a/d, 28 accessories, 11 antenna, 11, 12, 17, 27, 28; active, 28; connector, 14; installation, 14; model, 28; models, 28; passive, 28; primary, 27; single-frequency, 28 ascii, 20 automatic gain control (agc...