C-Nav3050 User Guide
C-Nav3050 User Guide
Revision
10
C-Nav3050 User Guide
Revision 10
Revision Date: June 8, 2015
C-Nav Solutions
730 E. Kaliste Saloom Road
Lafayette, LA 70508 U.S.A. www.cnav.com
Page 1 of 186 6/8/2015
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Release Notice
This is the June 2015 release of the C-Nav3050 User Guide
(P/N CNV96-310034-3001)
Revision History
10
9
8
7
6
5
6/08/2015
10/28/2014
Added C-Nav286 and AD591 Antenna specs.
Added Mailing List info
Updated Appendix G
Appendix A: Added description of Rapid
Recovery with QuickStart.
Changed RTK Extend operating time to 15 minutes for Non NCT base station.
Added note regarding RTK Extend maximum performance.
Added specs and note for RTK-WL mode
Added specs for CCS-LP
Added pull-in time for CCS-LP
Appendix C: Added C-Nav CCS ITRF-2008 transition information
Added Apendix I: RoHS Certification
7/08/2014
Updated options’ part numbers
4/8/2014
10/16/2013
1/24/2013
Introduced the C-Nav3050 without the standard antenna.
Removed the High Latitude Antenna
Introduced new user guide format.
Added High Latitude Antenna
Added Web Interface
Updated Measurement Performance
Added CCS Rapid Recovery
Deleted all references to Galileo, E1 and
E5A.
Manual to comply with V3.0.16.0 Software
Ensemble.
Certain NMEA sentences to comply with
NMEA-0183 v4.1.
Revised figure for Unterminated Power Cable
Pin-Out (P/N NAV94-310274-3010LF).
Includes information on C-Nav Correction
Services Over-The-Internet (CCS OTI).
Replaced Website with cnav.com.
Deleted all references to RTG. Replaced with
C-Nav Correction Services (CCS).
Changed Revisions from a letter to number format.
LC
LC
LC
J.
Hauschildt
J.
Hauschildt
J.
Hauschildt
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NCT Rev.
E
C-Nav
Rev. F
NCT Rev.
D
C-Nav
Rev. E
NCT Rev.
D
Nov 2011
Aug 2011
Jan 2011
Corrected 1PPS pulse characteristics in
Chapter 3
– Interfacing and Appendix A –
Specifications.
Added updated C-NavC
2
performance specifications throughout.
Changed C-Nav Subscription Service availability to ’10 degree look angle’ in
Appendix C
– C-Nav Subscription Services
Removed references to AC Power Supply Kit
(P/N CNV82-020007-3001LF) and DC Power
Cable (P/N NAV94-310274-3010LF) as optional equipment throughout;
Added new $PNCTGGA message tables to
Appendix D
– NMEA Data Output Messages.
Added of C-NavC
2
Subscription Service information and description to Appendix C
–
C-Nav Subscription Service.
Added Russian Type Approval Certificates to
Appendix G
– Type Approval Certificates
Added RS-232/RS-422 Dual-data adapter and 1PPS adapter pin assignment to Chapter
3
– Communication Ports Section
Removed C&C Technologies name from title page, replaced with C-Nav World DGNSS;
Added Software License Agreement statement to Notices section;
Updated Table of Contents, List of Figures and List of Tables as necessary;
Added NTRIP to Related Standards section;
Added 1PPS Adapter to Supplied Equipment
List, Table 1 and Figure 3;
Changed all references to supplied Y-Cable,
Positronic 9-Pin Male to Ethernet RJ45 Plug
& DB9S (RS-232/1PPS), 6 ft data cable part number from P/N NAV94-310272-3006LF to
P/N NAV94-310272-3006LFB;
Added RTK, RTK Extend and 1PPS Software options to Additional Software Options, Table
5;
Corrected P/N description in Software Bundle
A from GPS L1-only to GNSS L1/G1/E1
Navigation;
Changed all references to: Cable, Power /
1PPS /Event, Positronic 9-Pin Female
Unterminated, 10ft, w/ Filter, part number changed from P/N NAV94-310262-3010LF to
P/N NAV94-310274-3010LF;
Removed P/N NAV94-310261-3012LF
– 12’
TNC-BNC Antenna cable;
Added L1/G1 Antenna (P/N NAV82-001017-
0001LF) to Available Antennas section
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(Figure 8, Table 10), Chapter 2 - Antennas section, and Appendix B
– Antenna
Specifications section (Table B2, Figures B7
& B8);
Added additional information to RTK paragraph in Chapter 2 - System Overview section;
Added L1-RTK information to Chapter 2 -
Accuracy section;
Added RTK Extend, Multi-Format RTK, User-
Defined Datum, Heading, Coordinated
Machines, Internal Memory, Ethernet
Connection, Control of Power Consumption,
Continuously Operating Reference Station
(CORS) Support and NTRIP Support information to Chapter 2 - Unique Features section;
Updated description of Airborne Antenna in
Chapter 2 - Antennas section;
Added information on equipment required to pass the conducted MED type emission criteria to Chapter 3 - Electrical Power section and Appendix A - Physical and
Environmental section;
Changed Positronic Socket type connector from P/N FR11FP9ZZLM0/AA to P/N FR11FP922LM0/AA in Chapter 3 -
Electrical Power section;
Added information on proper shutdown of the
C-Nav3050 via the ignition pin to Chapter 3 -
Electrical Power section;
Added Figure 14: Proper External Power
Source Setup to Chapter 3 - Electrical Power section;
Added part number for Data Cable Positronic plug and pin type (Plug P/N
FR11MP922LM0/AA, Pin Type: MC422N/AA) to Chapter 3
– Communication Ports section;
Added 1PPS Pin-outs to Positronic 9-Pin
Male to Ethernet (LAN)/DB9S (RS-
232/1PPS) (P/N NAV94-310272-3006LFB) cable, Table 14 and Figure 16;
Added information on Data I/O LED functionality, specifically regarding data logging indicators to Chapter 3
– Data I/O
Active LEDs section, updated Table 24;
Removed C-Nav Subscription information from Chapter 5
– Configuration and consolidated all subscription information in
Appendix C
– C-Nav Subscription Service;
Added additional features to Appendix A -
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Features section;
Added Multi-Frequency RTK, Heading, Slew and Velocity to Appendix A - Measurement
Performance section;
Added PDOP disclaimer to Appendix A -
Measurement Performance section;
Added RTK Extend information on rover receiver to Appendix A - Measurement
Performance section;
Changed all instances of ‘dual-frequency’ to
‘multi-frequency’ in Appendix C -
Infrastructure section;
Added changes to C-Nav Subscription
Service Satellites based on C-Nav3050 firmware to Appendix C - C-Nav Subscription
Service Satellites section, Table C1 & C2;
Added Appendix H
– Software License
Agreement;
Replaced all references, logos and URLs, Email addresses to ‘C-Nav GPS’ with ‘C-Nav
GNSS’;
Removed all references to High-latitude L-
Band Antenna and Signal Combiner;
Removed all references to NCT RTK 0x5D
Message Type.
NCT Rev.
A
Sept 2009 Initial Release
Description Author Revision
Revision
10
Date
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Trademarks
The C-Nav logo is a trademark of C & C Technologies, Inc.
C-Nav, C-Setup, C-Monitor, C-NaviGator, and C-Nav3050 are trademarks of C &
C Technologies, Inc. All other brand names are trademarks of their respective holders.
Disclaimer of Warranty
EXCEPT AS INDICATED IN “LIMITED WARRANTY” HEREIN, C & C
TECHNOLOGIES, SOFTWARE, FIRMWARE AND DOCUMENTATION ARE
PROVIDED “AS IS” AND WITHOUT EXPRESSED OR LIMITED WARRANTY
OF ANY KIND BY EITHER C & C TECHNOLOGIES, INC., OR ANYONE WHO
HAS BEEN INVOLVED IN ITS CREATION, PRODUCTION, OR DISTRIBUTION
INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF
MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE
ENTIRE RISK, AS TO THE QUALITY AND PERFORMANCE OF THE C & C
TECHNOLOGIES HARDWARE, SOFTWARE, FIRMWARE AND
DOCUMENTATION, IS WITH YOU. SOME STATES DO NOT ALLOW THE
EXCLUSION OF IMPLIED WARRANTIES, SO THE ABOVE EXCLUSION MAY
NOT APPLY TO YOU.
Limitation of Liability
IN NO EVENT WILL C & C TECHNOLOGIES, INC., OR ANY PERSON
INVOLVED IN THE CREATION, PRODUCTION, OR DISTRIBUTION OF THE C
& C TECHNOLOGIES SOFTWARE, HARDWARE, FIRMWARE AND
DOCUMENTATION BE LIABLE TO YOU ON ACCOUNT OF ANY CLAIM FOR
ANY DAMAGES, INCLUDING ANY LOST PROFITS, LOST SAVINGS, OR
OTHER SPECIAL, INCIDENTAL, CONSEQUENTIAL, OR EXEMPLARY
DAMAGES, INCLUDING BUT NOT LIMITED TO ANY DAMAGES ASSESSED
AGAINST OR PAID BY YOU TO ANY THIRD PARTY, RISING OUT OF THE
USE, LIABILITY TO USE, QUALITY OR PERFORMANCE OF SUCH C & C
TECHNOLOGIES’ SOFTWARE, HARDWARE, AND DOCUMENTATION, EVEN
IF C & C TECHNOLOGIES, INC., OR ANY SUCH PERSON OR ENTITY HAS
BEEN ADVISED OF THE POSSIBILITY OF DAMAGES, OR FOR ANY CLAIM
BY ANY OTHER PARTY. SOME STATES DO NOT ALLOW THE LIMITATION
OR EXCLUSION OF LIABILITY FOR INCIDENTAL OR CONSEQUENTIAL
DAMAGES SO, THE ABOVE LIMITATIONS MAY NOT APPLY TO YOU.
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Table of Contents
C-Nav3050 Without Standard Antenna ........................................................... 28
C-Nav3050 Without Standard Antenna, Supplied Equipment ......................... 29
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COM1 - LAN & Ethernet / 1PPS / DB9S Y-Cable ............................................ 54
COM2 - USB & USB / DB9S Y-Cable ............................................................. 55
RS-232 / RS-422 Dual-data Adapter ............................................................... 56
DB9S Cable (Connected to COM1) ................................................................. 60
DB9S Cable (Connected to COM2) ................................................................. 61
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Appendix A - GNSS Sensor Specifications ......................................................... 83
Time-To-First-Fix (measured per ION-STD 101) ............................................. 85
Physical and Environmental Specifications ..................................................... 89
Satellite Based Augmentation System Signals (SBAS) ................................... 90
CCS Rapid Recovery with QuickStart ............................................................. 91
Standard & Airborne Antenna Radiation Patterns ......................................... 103
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Appendix C - C-Nav Corrections Service (CCS) ............................................... 104
C-Nav Corrections Service (CCS) Satellites ................................................. 107
CCS Over-The-Air C-Nav Licensing .............................................................. 108
C-Nav Corrections Service Over-The-Internet (CCS OTI) ............................. 110
Hardware Setup and Configuration ............................................................... 111
Appendix D - NMEA Data Output Messages .................................................... 112
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Appendix H - Software License Agreement ...................................................... 148
Software License Agreement for C-Nav, A Division of C&C Technologies, Inc.
Open Source Software License Appendix ..................................................... 154
License Text - Module/Component: freeRTOS v4.7.2 ................................... 154
GNU GENERAL PUBLIC LICENSE: TERMS AND CONDITIONS FOR
COPYING, DISTRIBUTION AND MODIFICATION ....................................... 156
License Text - Module/Component: lwIP v1.2.0 ............................................ 162
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List of Figures
Figure 3: C-Nav3050 GNSS Sensor Kit (P/N CNV92-310416-3001LF) - Supplied
Figure 4: C-Nav3050 Without the Standard Antenna (CNV92-310416-3001B) -
Figure 9: Optional Base, Airborne, Standard, C-Nav286 and AD591 Antennas . 34
Figure 10: C-NaviGator III Control & Display Unit ............................................... 35
Figure 11: Ruggedized Transportation Case ...................................................... 36
Figure 12: Unterminated Power Cable With Filter ............................................... 50
Figure 13: Unterminated Power Cable Pin-Out (P/N NAV94-310274-3010LF) ... 50
Figure 14: Universal Power Adapter and Power Cord ........................................ 51
Figure 15: Proper External Power Source Setup ................................................ 53
Figure 17: Ethernet (LAN) / RS-232 / 1PPS Y-Cable Pin Assignment ................ 54
Figure 18: Optional USB Device / RS-232 / RS-422 Y-Cable Pin Assignment ... 55
Figure 19: RS-232 / RS-422 Dual-data Adapter ................................................. 56
Figure 20: RS-232 / RS-422 Dual-data Adapter Pin Assignment ........................ 56
Figure 22: Optional USB Host Cable Pin Assignment ......................................... 58
Figure 23: USB Device Cable Pin Assignment ................................................... 59
Figure 24: Optional Ethernet Cable Pin Assignment ........................................... 59
Figure 25: COM1 Serial Cable Pin Assignment .................................................. 60
Figure 26: COM2 Serial Cable Pin Assignment .................................................. 61
Figure 28: 1PPS Adapter Pin Assignment .......................................................... 63
Figure 32: Antenna Mounting Pole and Adaptor ................................................. 69
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Figure 33: Antenna, Adaptor and Mounting Pole ................................................ 69
Figure 34: C-Nav3050 Antenna Mast Installation ............................................... 70
Figure 35: Communication Port Connections ..................................................... 74
Figure 38: C-Nav3050 Base Plate Dimensions Without Mounting Brackets ....... 92
Figure 39: C-Nav3050 Base Plate Dimensions With Mounting Brackets ............ 93
Figure 40: Standard GNSS Antenna Offset ........................................................ 95
Figure 41: Standard (P/N NAV82-001020-3001) Antenna Dimensions .............. 96
Figure 44: Airborne (P/N NAV82-001022-3001LF) Antenna Dimensions ......... 101
Figure 45: Base (P/N NAV82-001021-3001LF) Antenna Dimensions............... 102
Figure 46: Standard & Airborne Antenna Radiation Pattern ............................. 103
Figure 47: Base Antenna Radiation Pattern ...................................................... 103
Figure 48: Front Panel C-Nav Status LED - Showing Active C-Nav License .... 109
Figure 49: C-Nav Corrections Service (CCS) Coverage Map ........................... 110
Figure 51: DTE to DCE RS-232 Pin Assignments ............................................ 174
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List of Tables
Table 1: C-Nav3050 GNSS Sensor Kit (CNV92-310416-3001LF) - Supplied
Table 2: C-Nav3050 Without the Standard Antenna (CNV92-310416-3001B) -
Table 3: Software Bundle A (NAV97-310041-3101) ........................................... 31
Table 4: Software Bundle G (NAV97-310041-3103) ........................................... 31
Table 7: DC Power Cable w/ Filter (NAV94-310274-3010LF) ............................. 32
Table 8: AC Power Supply Kit (CNV82-020007-3001LF) ................................... 33
Table 12: C-NaviGator III Bundle (0CNG003-0).................................................. 35
Table 14: DC Power Cable Pin Assignments ...................................................... 51
Table 15: Ethernet (LAN) / RS-232 / 1PPS Y-Cable Pin Assignment ................. 54
Table 16: Optional USB Device / RS-232 / RS-422 Y-Cable Pin Assignment .... 55
Table 18: Optional USB Host Cable Pin Assignment .......................................... 58
Table 19: USB Device Cable Pin Assignment .................................................... 58
Table 20: Optional Ethernet Cable Pin Assignment ............................................ 59
Table 21: Optional Ethernet Cable Pin Assignment ............................................ 59
Table 26: Data I/O Active LED Indication (serial connections only) .................... 66
Table 27: Bluetooth Connectivity LED Indication ................................................ 66
Table 28: Acceptable Coaxial Cable Lengths ..................................................... 72
Table 29: Standard, Base, and Airborne Antennas ............................................. 94
Table 30: C-Nav286 Antenna Specification Sheet .............................................. 97
Table 31: AD591 Antenna Specification Sheet ................................................... 99
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Table 33: ALM Message Output Format ........................................................... 112
Table 34: DTM Message Output Format ........................................................... 113
Table 35: DTM Message Output for Each Nav Mode ....................................... 114
Table 36: GBS Message Output Format ........................................................... 115
Table 37: GFA Message Output Format ........................................................... 116
Table 38: GGA Message Output Format .......................................................... 119
Table 39: GLL Message Output Format ............................................................ 120
Table 40: GNS Message Output Format ........................................................... 122
Table 41: GRS Message Output Format ........................................................... 123
Table 42: GSA Message Output Format ........................................................... 124
Table 43: GST Message Output Format ........................................................... 125
Table 44: GSV Message Output Format ........................................................... 126
Table 45: MLA Message Output Format ........................................................... 127
Table 46: RMC Message Output Format .......................................................... 129
Table 47: RRE Message Output Format ........................................................... 130
Table 48: TTM Message Output Format ........................................................... 131
Table 49: VTG Message Output Format ........................................................... 133
Table 50: ZDA Message Output Format ........................................................... 134
Table 51: PNCTDTM Message Output Format ................................................. 135
Table 52: PNCTDTM Message Output for Each Nav Mode .............................. 136
Table 53: PNCTGGA Message Output Format ................................................. 138
Table 57: PNCTGST Message Output Format ................................................. 142
Table 58: PNCTMDE Message Output Format ................................................. 143
Table 59: PNCTSET Message Output Format .................................................. 144
Table 62: Toxic or Hazardous Substances or Elements Discloure by Part Number164
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Manual Organization
This section describes how the manual is laid out. It gives one or two sentence descriptions about each major section.
Section 1 - Getting Started (Page 23 ) provides instructions to enable the robust
functionality of the C-Nav3050.
Section 2 - Introduction (Page 37 ) introduces the user to the system overview of
the C-Nav3050.
Section 3 - Interfacing ( Page 50 )instructs the user on how to interface with the C-
Nav3050.
Section 4 - Installation (Page 67 ) provides installation instructions.
Section 5 - Configuration (Page 76 ) provides instructions on four ways to
configure a C-Nav3050.
Section 6 - Safety Instructions (Page 81 ) provides the safety information for the
user.
Appendix A - GNSS Sensor Specifications (Page 83 ) provides the user with
specifications on the C-Nav3050.
Appendix B - Antenna Specifications (Page 94 ) provides specifications for the
antennas that are used with the C-Nav3050.
Appendix C - C-Nav Corrections Service (CCS) (Page 104 ) provides information
on the C-Nav corrections service.
Appendix D - NMEA Data Output Messages (Page 112 ) describes the many
different NMEA messages that the C-Nav3050 can output.
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Appendix E - L-Band Correction Signals (Page 145 ) provides the user
information on L-Band correction signals for the C-Nav3050.
Appendix F - Event Input Configuration (Page 146 ) provides the user information
on event input configuration.
Appendix G - Standards (Page 147 ) provides the information of the testing
standards that the C-Nav3050 is designed to.
Appendix H - Software License Agreement (Page 148 ) provides legal information
in regards to the software used in the C-Nav3050.
Appendix I - RoHS Certification (Page 164 ) provides information on Restriction of
Use of Hazardous Substances.
Glossary (Page 166 ) provides the user with abbreviations and definitions relative
to the C-Nav3050.
FCC Notice
This device complies with Part 15 Subpart B Class B of the FCC Rules.
Operation is subject to the following two conditions:
1. This device may not cause harmful interference, and
2. This device must accept any interference received, including interference that may cause undesired operation.
The GNSS sensor has been tested in accordance with FCC regulations for electromagnetic interference. This does not guarantee non-interference with other equipment. Additionally, the GNSS sensor may be adversely affected by nearby sources of electromagnetic radiation.
C-Nav Licensing
Access to the C-Nav Corrections Service (CCS) requires a subscription that must be purchased. Licenses are non-transferable, and are subject to the terms of the
C-Nav License Agreement. Subscriptions are based upon a predetermined period of usage. Subscriptions can be left to expire, or if service is no longer needed prior to the date of expiration of service, a deactivation code can be obtained by contacting C-Nav at: [email protected]
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For further details on the C-Nav Corrections Service (CCS), subscriptions,
deactivations, terms, conditions and its capabilities, refer to Appendix C - C-Nav
Corrections Service (CCS) (Page 104 ), of this manual or send an email inquiry
Software License Agreement
By powering on and using this GNSS C-Nav Corrections Service (CCS) receiver, you agree to the terms and conditions of the C-Nav World DGNSS Receiver
Software License and Open Source Software Licenses. The complete terms and conditions of these software licenses may be found in the C-Nav3050 GNSS
Products User Guide, Appendix H - Software License Agreement (Page 148 ).
USG FAR
Technical Data Declaration (Jan 1997)
The Contractor, C&C Technologies, Inc., hereby declares that, to the best of its knowledge and belief, the technical data delivered herewith under Government contract (and subcontracts, if appropriate) are complete, accurate, and comply with the requirements of the contract concerning such technical data.
Global Navigation Satellite Systems
Global Navigation Satellite Systems (i.e., GPS and GLONASS) are under the control of the respective Governmental agency and the operation of these satellites may be changed at any time without warning.
GPS Selective availability (S/A code) was disabled on 02 May 2000 at 04:05
UTC. The United States government has stated that present GPS users use the available signals at their own risk.
The U.S. State Department International Traffic in Arms Regulations (ITAR) limits the performance of commercial GNSS products. As a result, access to satellite measurements and navigation results will be limited from display and recordable output when predetermined values of velocity and altitude are exceeded. These threshold values are far in excess of the normal and expected operational parameters of the C-Nav3050 GNSS Sensor.
Revisions to this User Guide can be obtained in a digital format from: www.cnav.com
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Related Documents
C-Nav3050 Quick Start Guide
Provides instructions to quickly set up the standard configuration of the C-
Nav3050, and how to obtain a C-Nav license.
Related Standards
ICD-GPS-200
NAVSTAR GPS Space Segment / Navigation User Interfaces Standard. ARINC
Research Corporation; 2250 E. Imperial Highway; El Segundo, California 90245
IEC 60945, IEC 61108-1, IEC 61162-1, IEC 61162-2
GLONASS ICD, Version 5.0, 2002
Russian Space Agency, Information Analytical Centre
Internet: http://glonass-iac.ru/en/
RTCM-SC-104
Recommended Standards For Differential GNSS Service. Radio Technical
Commission For Maritime Services; 1611 N. Kent St, Suite 605; Arlington,
Virginia 22209
NTRIP
Radio Technical Commission for Maritime Services (RTCM) Standard 10410.0
(RTCM Paper 200-2004/SC104-STD, Version 1.0 for Networked Transport of
RTCM via Internet Protocol (NTRIP)
Radio Technical Commission for Maritime Services (RTCM) Standard 10410.1
(RTCM Paper 111-2009-SC104-STD, Version 2.0 for Networked Transport of
RTCM via Internet Protocol (NTRIP)
CMR, CMR+
Compact Measurement Record; Trimble Navigation Limited; 935 Stewart Drive;
Sunnyvale, CA 94085
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RINEX
Receiver Independent Exchange Format; Astronomical Institute of the University of Bern
QZSS
Quasi Zenith Satellite System. Japan Aerospace Exploration Agency (JAXA). 7-
44-1 Jindaiji Higashi-machi, Chofu-shi, Tokyo 182-8522.
NMEA-0183
National Marine Electronics Association Standard For Interfacing Marine
Electronic Devices. NMEA National Office; 7 Riggs Avenue; Severna Park,
Maryland 21146
SJ/T11363-2006
Standard of the Electronics Industry of the People’s Republic of China.
Issued: 11-06-2006 Implemented 11-06-2006
Issued by: Ministry of Information
Industry of the People’s Republic of China.
Publicly-Operated SBAS Signals
RTCA/DO-229D
The Radio Technical Commission for Aeronautics (RTCA) develops consensusbased recommendations regarding communications, navigation, surveillance, and air traffic management (CNS/ATM) system issues.
RTCA. 1828 L Street, NW, Suite 805, Washington, DC 20036.
These organizations implement the RTCA/DO-229D standard set by RTCA:
WAAS (Wide Area Augmentation System)
U.S. Department of Transportation. Federal Aviation Administration. 800
Independence Ave, SW, Washington, DC 20591
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EGNOS (European Geostationary Navigation Overlay Service)
European Space Agency. 8, 10 rue Mario-Nikis,
F-75738 Paris Cedex 15, France.
MSAS (MTSAT Satellite-based Augmentation System)
Japan Civil Aviation Bureau. Ministry of Transport. Kasumigaseki 2-1-3, Chiyodaku, Tokyo 100, Japan.
GAGAN (GPS Aided Geo Augmented Navigation)
Indian Space Research Organization. Antariksh Bhavan, New Bel Road,
Bangalore - 560 094, India.
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Manual Conventions
Arial font is used for plain text in this document.
Arial italic font is used for settings names.
“Arial quoted” font is used for settings values.
Arial Bold font is used for button names.
Arial Bold Italic font is used for menu items.
Arial Blue font is used for cross-references.
Arial Blue Underline font is used for hyperlinks.
Arial red italic
is used for typed commands.
Arial Bold
font size 10 is used for captions.
ARIAL BLACK ALL-CAPS
font is used for port connection names.
This symbol means Reader Be Careful. It indicates a caution, care, and/or safety situation. The user might do something that could result in equipment damage or loss of data.
This symbol means Danger. You are in a situation that could cause bodily injury. Before you work on any equipment, be aware of the hazards involved with electrical and RF circuitry and be familiar with standard practices for preventing accidents.
Important notes are displayed in shaded text boxes
Please note:
Such note box displays important information which should not be ignored.
Simple file content is displayed in Courier New Black font in a text box.
#Sample File
Version 0.1
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Section 1 - Getting Started
Hardware Setup
This chapter provides instructions to enable the robust functionality of the C-
Nav3050.
Confirm that all ordered equipment is delivered. Refer below for the following tables:
Software Bundles and Options: Table 3 , Table 4 , & Table 6
Data and Antenna Cables (optional): Table 9
Antennas (optional): Table 11: Optional Antennas
Controllers (optional): Table 12
Miscellaneous (optional): Table 13
If any items are missing or damaged immediately contact C-Nav Support:
Telephone: +1 337 210-0000
E-mail: [email protected]
Join the C-Nav mailing list at http://www.cnav.com/announce to receive important announcements from C-Nav Support.
Please note:
Your C-Nav3050 has already been tested and configured by qualified C-Nav
Technicians. Refer to the following steps to connect equipment and operate the receiver.
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ANTENNA COM1 - LAN
COM2 - USB
Figure 1: C-Nav3050 Rear View
POWER
1. Use one of the two supplied data cables for communications:
Ethernet RJ45 / DB9S female Y-cable (NAV94-310272-3006LFB):
Connect the Positronic 9-Pin connector of the cable to
COM1 - LAN
at the rear of C-Nav3050. Connect the DB9S end to the computer or
C-NaviGator CDU
Or…
USB 2.0 Device Plug / DB9S female Y-cable (NAV94-310273-3006LF):
Connect the Positronic 9-Pin connector of the cable to
COM2 - USB
at the rear of C-Nav3050. Connect the DB9S end to the computer or
C-NaviGator CDU
2. Mount the supplied GNSS antenna (NAV82-001020-3001LF). Locate the antenna in an area with a 360
clear view of the sky.
3. Connect the TNC connector on one end of a C-Nav approved GNSS antenna cable to the GNSS antenna. Connect the other end of the cable to the TNC connector, labeled ANT, at the rear of the C-Nav3050.
4. Perform these steps to setup power: a. If you are connecting using the Positronic 9-Pin Female
Unterminated Power Cable (NAV94-310274-3010LF), connect the power cable to the connector labeled
POWER
, at the rear of the C-Nav3050. Connect the unterminated end of the power cable to a DC power source (9 to 32 VDC, 6 W typical, see
Section 3 - Interfacing (Page 50 )
(for power cable pin assignments). b. If you are connecting using the AC Power Supply Kit (CNV82-
020007-3001LF), connect the Positronic 9-Pin Female connector of the Power Supply Unit (NAV82-020007-3001LF) to
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C-Nav3050 User Guide the connector labeled
POWER
, at the rear of the C-Nav3050.
Insert an AC Power Cord into the 2-prong receptacle on the
PSU, based on regional AC power availability (110, 220 or 240
VAC power cords provided) and plug into an appropriately rated wall receptacle.
5. Press the front panel On / Off switch to turn on the C-Nav3050. All front panel LEDs illuminate for 3-5 seconds during power-up. The Power
/ GNSS Status LED changes from red to green. Refer to
(Page
. for LED status descriptions.
Figure 2: C-Nav3050 LED Indicator Panel
6. Your C-Nav3050 hardware is now properly connected.
7. At this point you may connect to C-
Nav’s C-Setup controller software via
PC, or to a C-NaviGator Control & Display Unit to view real-time positioning data and control the C-Nav3050. Contact C-Nav Support for more information.
Please note:
Refer to Section 5 - Configuration (Page 76 ), for instructions on I/O data port
configuration.
The C-Nav Corrections Service license is not a standard feature of any
Software Bundle. It is purchased separately. The C-Nav Corrections Service
(CCS) Software Option is standard for all C-Nav3050 Software Bundles (refer
to Table 3 , Table 4 , Table 5 , and Table 6
). Refer to Appendix C - C-Nav
Corrections Service (CCS) (Page 104 ) for more information on obtaining a C-
Nav Corrections Service (CCS) license.
If the C-Nav3050 does not function properly, contact C-Nav Support immediately.
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C-Nav3050 Supplied Equipment
Figure 3: C-Nav3050 GNSS Sensor Kit (P/N CNV92-310416-3001LF) - Supplied Equipment
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1 C-Nav3050 GNSS Sensor
2
GNSS Antenna, TNC, 5/8” Mount
3
4
Y-Cable, Positronic 9-Pin Male to USB 2.0 Device
Plug & DB9S (RS-232 / RS-422), 6 ft
Y-Cable, Positronic 9-Pin Male to Ethernet RJ45
Plug & DB9S (RS-232 / 1PPS), 6 ft
5 Mounting Brackets, 2 ea.
6
Antenna Mounting Adapter, 1”-14 UNS-2B to 5/8”,
2” L x 1 3/8” diameter
7
Antenna Mounting Pole, 12” x 1” diameter
8 DVD-ROM, C-Nav3050 Software Applications
9 C-Nav3050 USB Flash Drive, 2 GB
10 USB host-to-host receptacle adapter
11 RS-232 / 422 Dual-data Adapter
12 1PPS Adapter
13
Cable, Power / 1PPS / Event, Positronic 9-Pin
Female Unterminated, 10ft, w/ Filter
(See
14
AC Power Supply Kit (See Figure 5 )
CNV92-310413-3002LF
NAV82-001020-3001LF
NAV94-310273-3006LF
NAV94-310272-3006LFB
NAV88-310442-3001LF
3250005-0
WES534610
6000001-XX
7CNG002-0
QVSCC2208-FF
CNV335G001-0
CNV335G002-0
NAV94-310274-3010LF
CNV82-020007-3001LF
15 Shipping Carton (Not Shown) NAV79-00304-0001
16 C-Nav3050 Quick Start Guide (Not Shown) CNV96-310033-3001
Table 1: C-Nav3050 GNSS Sensor Kit (CNV92-310416-3001LF) - Supplied
Equipment.
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C-Nav3050 Without Standard Antenna
For the end users who wish to utilize a non-standard antenna with the C-
Nav3050, they can do so by ordering the C-Nav3050 without the antenna (P/N
CNV92-310416-3001B).
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C-Nav3050 Without Standard Antenna, Supplied Equipment
Figure 4: C-Nav3050 Without the Standard Antenna (CNV92-310416-3001B) - Supplied
Equipment
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C-Nav3050 GNSS Sensor
Y-Cable, Positronic 9-Pin Male to USB 2.0
Device Plug & DB9S (RS-232 / RS-422), 6 ft
Y-Cable, Positronic 9-Pin Male to Ethernet
RJ45 Plug & DB9S (RS-232 / 1PPS), 6 ft
CNV92-310413-3002LF
NAV94-310273-3006LF
NAV94-310272-3006LFB
Mounting Brackets, 2 ea. NAV88-310442-3001LF
DVD-ROM, C-Nav3050 Software Applications 6000001-XX
C-Nav3050 USB Flash Drive, 2 GB 7CNG002-0
USB host-to-host receptacle adapter
RS-232 / 422 Dual-data Adapter
1PPS Adapter
Cable, Power / 1PPS / Event, Positronic 9-Pin
QVSCC2208-FF
CNV335G001-0
CNV335G002-0
NAV94-310274-3010LF (See
AC Power Supply Kit (See Figure 5 ) CNV82-020007-3001LF
Shipping Carton (Not Shown) NAV79-200304-0001
C-Nav3050 Quick Start Guide (Not Shown) CNV96-310033-3001
Table 2: C-Nav3050 Without the Standard Antenna (CNV92-310416-3001B) -
Supplied Equipment
Receiver Software Options
Software Bundles
Please note:
In order to access the C-Nav Corrections Service (CCS), users must purchase either
Software Bundle A or G, in addition to a C-Nav Corrections Service (CCS) license.
For more information on obtaining a C-Nav license, refer to Appendix C - C-Nav
Corrections Service (CCS) (Page 104 ).
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GPS L1/G1/ + C-Nav Enabled NAV97-310041-3101
Table 3: Software Bundle A (NAV97-310041-3101)
GPS L1/L2/L5, GLONASS G1/G2 +
C-Nav Enabled
NAV97-310041-3103
Table 4: Software Bundle G (NAV97-310041-3103)
Data Output Rates
PVT and Raw Data maximum output rates.
PVT and Raw Data, 100 Hz
PVT and Raw Data, 50 Hz
PVT and Raw Data, 25 Hz
NAV97-310041-3184
NAV97-310041-3183
NAV97-310041-3182
PVT and Raw Data, 10 Hz NAV97-310041-3181
PVT and Raw Data, 5 Hz (Standard)
Table 5: Data Output Rates
Additional Software Options
RTK Option
RTK Extend
1PPS / Event Option
NAV97-310041-3141
NAV97-310041-3142
NAV97-310041-3151
C-Nav Corrections Service Over-The-
Internet (CCS OTI)
NAV97-310041-3109
Table 6: Additional Software Options
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Electrical Power
Power Cable w/ Filter
Figure 5: DC Power Cable w/ Filter
Cable, Power / 1PPS / Event, Positronic 9-Pin Female
Unterminated, 10ft, w/ Filter
NAV94-310274-3010LF
Table 7: DC Power Cable w/ Filter (NAV94-310274-3010LF)
AC Power Supply Kit
An AC Power Supply Kit (P/N CNV82-020007-3001LF) is included for those with a requirement to connect via AC power.
Figure 6: AC Power Supply Kit
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Positronic 9-Pin Female Universal AC/DC Power Adapter
110-220 VAC, 12 VDC, 1.50 A
AC Power Cord, IEC320-C7, Shotgun Termination, US
AC Power Cord, IEC320-C7, Shotgun Termination, Euro
(Not Shown)
NAV82-020007-3001LF
4250011-110
4250012-220
AC Power Cord, IEC320-C7, Shotgun Termination, UK
(Not Shown)
4250013-240
Table 8: AC Power Supply Kit (CNV82-020007-3001LF)
Data and Antenna Optional Cables
Figure 7: Optional Data Cables
Cable, Positronic 9-pin Male to USB 2.0 Host, 6
’
NAV94-310271-3006LF
Cable, Positronic 9-pin Male to Ethernet RJ45 Device, 6
’
NAV94-310265-3006LF
Cable, Positronic 9-pin Male to DB9S, RS232 / 422 /
1PPS, 6’
Cable, Positronic 9pin Male to USB 2.0 Device, 6’
NAV94-310266-3006LF
Table 9: Optional Data Cables
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Figure 8: Optional Antenna Cables
Cable, Antenna, TNC-m to TNC-m, LMR400, 45m
Cable, Antenna, TNC-m to TNC-m, LMR400, 30m
Cable, Antenna, TNC-m to TNC-m, LMR400, 15m
Table 10: Optional Antenna Cables
Antennas
4000100-150
4000100-100
4000100-50
Figure 9: Optional Base, Airborne, Standard, C-Nav286 and AD591 Antennas
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Standard Antenna, TNC
C-Nav286 Out of Band Rejection
Antenna, TNC
AD591 Out of Band Rejection Antenna,
TNC
RTK Base Antenna, TNC
NAV82-001020-3001LF
AT1675-286
ALIAD591
NAV82-001021-3001LF
Airborne GNSS Antenna, TNC NAV82-001022-3001LF
Table 11: Optional Antennas
Controllers
Figure 10: C-NaviGator III Control & Display Unit
C-NaviGatorIII Control & Display Unit, Touchscreen
AC/DC Power Adapter, C-NaviGator III
C-NaviGator USB Flash Drive
AC Power Cord, IEC320-C13, Computer Type, US
AC Power Cord, IEC320-C13, Computer Type, Euro
HATC-NAVIGATOR-III
HATHT00255-OPT-A1
7CNG002-0
4000001-110
4000002-220
AC Power Cord, IEC320-C13, Computer Type, UK 4000003-240
C-NaviGator User Manual 5CNG001-XX
Table 12: C-NaviGator III Bundle (0CNG003-0)
Miscellaneous
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Figure 11: Ruggedized Transportation Case
Ruggedized Case, C-Nav3050, Black
, 20” x 14” x 7.7”
Ruggedized Case, C-
NaviGator, Black, 20” x 14” x 7.7”
Table 13: Miscellaneous (Option)
CNV3050CASE
3GTR005-0
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Section 2 - Introduction
System Overview
GNSS Sensor System
The C-Nav3050 Global Navigation Satellite Systems (GNSS) sensor delivers superior accuracy to the marine / offshore community. This unique receiver is designed with a robust and long-term performance upgrade path to meet changing needs via software upgrades. Increased functionality does not typically require the costly purchase of additional hardware.
The C-Nav3050 software-enabled features, bundled or purchased individually, cover a wide variety of applications.
The C-Nav3050 is uniquely suited for real-time applications in areas such as surveying, machine control, precise positioning, and construction. The sensor delivers the required millimeter measurement precision and fast update rates at low data latency. Depending on the software bundle, the C-Nav3050 provides flexibility to be configured as a base station or as a rover.
Superior interference suppression (both in-band & out-band), multipath mitigation, and measurement accuracy are only a few of the sensor’s technological advances. The C-Nav3050 GNSS engine incorporates several patented innovations advancing the existing GNSS technology to the next generation. The receiver provides near optimal GPS P-code recovery, providing a significant signal to noise ratio advantage over competing technologies, among other benefits.
Depending upon the software options selected, the C-Nav3050 receiver provides, but is not limited to:
C-Nav Corrections Service (CCS): A worldwide Satellite Based
Augmentation System (SBAS) for decimeter level position accuracy. The
Enable C-Nav software option does not include a CCS Dual Frequency license, which must be purchased to use the C-Nav Corrections Service.
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For more information on the C-Nav Corrections Service and obtaining a
license, refer to Appendix C - C-Nav Corrections Service (CCS) (Page 104 ).
Signal Reception: The C-Nav3050 GNSS engine provides exceptional signal tracking performance by incorporating the simultaneous use of
GPS (L1, L2, L2C, L5), GLONASS (G1, G2), and SBAS (WAAS, EGNOS,
MSAS, GAGAN) signals, through 66 signal channels.
RTK: The C-Nav3050 is designed to integrate easily into Real-Time
Kinematic (RTK), field data verification, topographical surveys, and a wide variety of surveying applications. The system resolves ambiguities at startup or on satellite reacquisition typically within two seconds. The C-
Nav3050 delivers centimeter level position accuracy via external RTK correction formats (additional software option required). The receiver is capable of RTK / Ultra RTK, RTCM 2.3, and RTCM 3.1 (code and phase),
Network RTK and CMR / CMR+ DGNSS operating methods. The operating software is also capable of supporting an external radio modem.
1PPS / Event: A pulse is available from the C-Nav3050 at an output rate of once per second. This pulse can be used for a variety of Time / Mark applications where relative timing is required. In addition, the C-Nav3050 accepts an event input pulse to synchronize external incidents requiring precise GNSS time tagging, such as aerial photography. For example, the action of a camera’s shutter creates an input pulse to the Event port.
PVT and Raw Data Output Rates from 1 to 100 Hz. 5 Hz maximum is the standard PVT and Raw Data Rate for the C-Nav3050.
Applications
The C-Nav3050 GNSS receiver meets the needs of a large number of applications. Depending on the purchased software bundle, the applications include, but are not limited to:
Offshore
Nautical Station keeping
Dynamic Positioning
Dredging and Offshore Construction
Deep Water Survey
Machine Control and Vehicle Navigation
Towed Implement Guidance
Construction Machine Control - Blade Control and Grading
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Railway, Ship, and Aircraft Precision Tracking
Port Operations and Container Tracking
Survey and GIS
Boundary Survey
Topographical Surveys in Rough Terrain
Construction Site Stake-out
High-Accuracy Data Collection for Post-Processing
Hydrographic Survey
Military Applications
Non-Weaponized Military Positioning Applications
Unmanned Systems
Oceanographic Survey and Research
Specialty Applications
Aerial - Photogrammetric Survey
High-Value Asset Location and Tracking
Positioning in Mining Applications
Continuously Operating Reference Stations
Structural Monitoring
Real-time Positioning Applications
OEM Integration
Features That Apply to All Bundles
Output Data Rate
The C-Nav3050 GNSS receiver can output raw data at programmable rates from
< 1 Hz to 100 Hz and Position Velocity Time (PVT) data at programmable rates from < 1Hz to 100 Hz through the data ports with less than 10 ms latency.
Accuracies are maintained as each output is independently calculated based on an actual GNSS position measurement, as opposed to an extrapolation / interpolation between 1 Hz measurements
.
Please note:
The throughput capacity of the ports is limited by the baud rate and the byte size and number of messages output.
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Accuracy
L1-RTK
L1-RTK supports 1 cm accuracy (1 ơ) and is valid for up to a 5 km baseline.
SBAS
When WAAS, EGNOS, MSAS, or GAGAN (RTCA / DO-229D compliant) SBAS correction signals are used, the system provides < 30 cm 2D position accuracy
(1ơ). System accuracy with WAAS, EGNOS, MSAS or GAGAN signals is subject to the quality and update rate of these publicly operated signals. Refer to
Related Standards / Publicly Operated SBAS Signals in the fore-matter for contact information regarding the organizations that implement the RTCA / DO-
229D standard.
Contact C-Nav Support for information on disabling WAAS, EGNOS, and MSAS in the C-Nav3050 GNSS Receiver.
C-Nav Corrections (CCS) Service
The system provides < 5 cm position accuracy when CCS Dual Frequency signals are used.
RTK
The system provides immediate < 1 cm position accuracy (1ơ) when UltraRTK correction signals are used (baseline, < 40 km,
1 cm +0.5 ppm, additional
software option required). After RTK correction signals are received, the baseline determines how long it takes to enter RTK mode. A rover close to the base enters RTK mode almost immediately. For longer baselines, it may take a minute or two.
NCT Binary Proprietary Data
The sensor can output proprietary raw data containing information including (but not limited to):
Satellite Ephemeris (EPHEM1B)
Satellite Almanac (ALM1B)
Raw Pseudo-range Measurements (MEAS1B)
Position, Velocity, & Time (PVT1B)
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Velocity & Heading (PVT1B)
Signal to Noise (CHNLSTATUS1B)
Channel Status (CHNLSTATUS1B)
Measurement Quality (PVT1B and PSEUDORANGESTATSB)
C-Nav Signal Status (SFSTATUS1B)
Installed Software Components (MSGVERSION)
Product Type, Serial No. and Revision No. (MSGPRODUCTINFO)
RTCM Data
The following RTCM 2.3 messages are available for output from the C-Nav3050:
RTCM1 and RTCM9: Code GPS Corrections
RTCM3: Base Position
RTCM19 and RTCM21: GPS RTK Corrections
RTCM22: Base Position Extension (Requires RTCM3)
RTCM22: Extended Reference Station Parameters
RTCM24: Base Position (Combined RTCM3 and RTCM22)
RTCM31 and RTCM34: Code GLONASS Corrections
The following RTCM 3.1 messages are available for output from the C-Nav3050:
RTCM1001: L1-Only GPS RTK Observables
RTCM1002: Extended L1-Only GPS RTK Observables
RTCM1003: L1 and L2 GPS RTK Observables
RTCM1004: Extended L1 and L2 GPS RTK Observables
RTCM1005: Stationary RTK Reference Station ARP
RTCM1006: Stationary RTK Reference Station ARP with Antenna Height
RTCM1007: Antenna Descriptor (Base Only)
RTCM1008: Antenna Descriptor and Serial Number (Base Only)
RTCM1009: L1-Only GLONASS RTK Observables
RTCM1010: Extended L1-Only GLONASS RTK Observables
RTCM1011: L1 and L2 GLONASS RTK Observables
RTCM1012: Extended L1 and L2 GLONASS RTK Observables
RTCM1019: GPS Ephemerides
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RTCM1020: GLONASS Ephemerides
RTCM1033: Receiver and Antenna
NMEA-0183 Data
The C-Nav3050 is capable of outputting several standard NMEA-0183 data
strings (see Appendix D - NMEA Data Output Messages (Page 112 )) and several
proprietary data strings. Each data is headed with $GN, except for MLA, which is headed with $GL. All header formats are accepted (i.e. $GP, $GL). Proprietary data strings are denoted with a $PNCT prefix.
Standard
ALM: GPS Almanac Data
DTM: Datum Being Used
GBS: GPS Satellite Fault Detection
GFA: GNSS Fix Accuracy and Integrity
GGA: GPS Fix Data
GLL: Geographic Position - Lat / Lon
GNS: GNSS Fix Data
GRS: GPS Range Residuals
GSA: GNSS DOP & Active Satellites
GST: GNSS Pseudo-range Error Statistics
GSV: GNSS Satellites In View
HDT: Heading Degrees True
MLA: GLONASS Almanac Data
RMC: Recommended Min. Specific GNSS Data
ROT: Rate of Turn
RRE: Range Residual Errors (Not defined in NMEA-0183 Standard version 3.0)
TTM: Tracked Target Message
VTG: Course Over Ground & Ground Speed
ZDA: Time & Date
Proprietary (prefix $PNCT)
DTM: Datum Referecence for user-selected reference frame
GGA: GPS Fix with Field 14, which shows the Beam Selection ID (See
and Navigation Mode (See Table 56 ).
GST: GNSS Pseudo-range Error Statistics
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MDE: Marginally Detectable Error
SET: Solid Earth Tide
Unique Features
The C-Nav3050 GNSS sensor has many unique features:
Performance Upgrade Path
The C-Nav3050 is designed with a robust and long-term performance upgrade path to meet changing needs via software upgrades. Increased functionality does not typically require the purchase of additional hardware. The C-Nav3050 software-enabled features cover a wide variety of applications
C-Nav Corrections Service (CCS)
The ability to receive C-Nav Corrections Service (CCS) signals is fully integrated within each unit. A single set of corrections can be used globally enabling a user to achieve decimeter level positioning accuracy without the need to deploy a separate base station, thus saving time and capital expenditure. C-Nav position
outputs are referenced to the ITRF-08 datum. Refer to Appendix C - C-Nav
Corrections Service (CCS) (Page 104 ) for more information.
Over-The-Air C-Nav Licensing
Over-the-Air C-Nav licensing is the easiest way to install a C-Nav license. The installation of a purchased license is accomplished via radio broadcast. Overthe-Air C-Nav Licensing is especially convenient for receivers in remote locations in the field.
C-Nav Corrections Service Over-The-Internet (CCS OTI)
This is a new option offered for the C-Nav3050. The C-Nav Corrections Service
(CCS) signals can also be received over the Internet as C-Nav Corrections
Service Over-The-Internet (CCS OTI). This feature allows the user to request messages from an independent NTRIP server / caster and can choose between four data delivery rates (1 s, 15 s, 30 s, and 60 s) for maximum ability. Refer to
Appendix C - C-Nav Corrections Service (CCS) (Page 104 ) for more information.
NCT RTK / UltraRTK
The RTK / UltraRTK algorithm provides fast initialization and the ultra-compact binary data format for RTK / UltraRTK ensures robust data throughput. The C-
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Nav3050 is capable of outputting or accepting legacy 0x5B (RTK) or 0x5E
(UltraRTK) binary formats.
Positioning Flexibility
The C-Nav3050 is capable of using WAAS, EGNOS, MSAS, and GAGAN (RTCA
/ DO-229 D compliant) code corrections via two internal Satellite Based
Augmentation System (SBAS) channels. The C-Nav3050 automatically configures to use the most suitable correction source available and changes as the survey dictates (this feature can be overridden).
RTK Extend™
RTK Extend enables continuous RTK-level positioning accuracy during radio communication outages by utilizing the global C-Nav Corrections Service (CCS).
Traditionally, when an RTK rover loses communication with the base station, it is unable to provide centimeter position updates for more than a few seconds, resulting in user downtime and reduced productivity. With RTK Extend, a C-Nav receiver operating in RTK mode can transition to RTK Extend mode and maintain centimeter level positioning during communication loss for up to 15 minutes.
RTK Extend allows more efficient and uninterrupted work, enabling focused concentration on the work rather than the tools.
RTK Extend is a unique patented technique, not available on any other manufacturer’s receivers.
Multi-Format RTK
Contact C-Nav Support for more information on Multi-Format RTK and its applications.
User-Defined Datum
Users can check the current datum (a reference surface to be used in defining the 3D coordinates of a position) or set a specific datum to be used as the position for all PVT data output. Contact C-Nav Support for more information.
Heading
The C-Nav3050 heading system consists of two C-Nav3050 receivers connected via either a serial cable or through one of the four ETH Ports (ETH1 through ETH
4).
Each receiver’s antenna is located on the platform at the maximum possible separation. One of the units is configured as a moving base and computes its
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C-Nav3050 User Guide position ten times per second (10 Hz) using any available augmentation signal.
The moving base outputs position and RTK measurement corrections to the other unit, which is configured as a heading rover. The heading rover computes the heading looking from the base antenna to the rover antenna and outputs the heading and position of both antennae up to a rate of 10 Hz. Applications include construction equipment such as excavators and marine applications such as dredging.
Coordinated Machines
A C-Nav3050 configured as a moving base is located on a reference platform. A
C-Nav3050 configured as a rover is located on one or more additional platforms.
All of the C-Nav3050 rovers are connected to the moving base via wireless communication link. The moving base computes its position ten times per second (10 Hz) using any available augmentation signal. The moving base outputs position and RTK measurement corrections to the rovers. The rovers compute the range and bearing to the moving base and output the range and bearing, plus their position, and the position of the moving base, at up to ten times per second (10 Hz). Applications include those requiring the relative positions of two or more moving platforms, such as leader-follower vehicle applications or the relative positions of planes or marine vessels.
Data Sampling
GPS (L1, L2, L2C, L5), GLONASS (G1, G2), and SBAS (WAAS, EGNOS,
MSAS, GAGAN) raw measurement and PVT data is up to 5 Hz in the standard
C-Nav GNSS Sensor Kit. Optional upgrades allow 10, 25, 50, and 100 Hz raw measurement and PVT data via high-speed ports for highly dynamic applications.
Internal Memory
Contact C-Nav Support for information on utilizing the C-Nav3050 internal memory flash drive.
Ethernet Connection
An Ethernet connection may be setup for the C-Nav3050. Contact C-Nav
Support for instructions on configuring and establishing an Ethernet connection.
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Control of Power Consumption
Power consumption may be immediately reduced on the C-Nav3050 by disabling signals, as necessary, using C-Nav proprietary controller software. Contact C-
Nav Support for more information.
Continuously Operating Reference Station (CORS) Support
When optioned as an RTK Base Station, the C-Nav3050 is capable of computing and outputting RTK message streams in multiple formats and raw satellite measurement data for post-processing simultaneously. All message formats can be output on one of the high-speed USB or Ethernet ports, or messages can be distributed among any of the eight user ports. For IGS or similar permanent
Base applications, C-Nav offers a Choke Ring antenna option to significantly reduce multipath errors on signal reception.
NTRIP Support
The generation of differential GNSS correction data is usually done directly on the GNSS receiver of a reference station, but this data can also be derived from observations obtained by networked reference stations. The combined data stream is then fed into a network computer and made available on the internet.
Contact C-Nav Support for more information on NTRIP and the C-Nav3050 receiver.
GNSS Performance
The C-Nav3050 utilizes the Sapphire GNSS engine, which incorporates several patented innovations.
Sapphire’s industry leading receiver sensitivity provides more than 50% signal to noise ratio advantage over competing technologies.
This results in improved real time positioning, proven through independent tests, when facing various multipath environments.
Rugged Design
Units have been tested to conform to MIL-STD-810F for low pressure, solar radiation, rain, humidity, salt-fog, sand, and dust. In addition, the unit is IP certified to the IP67 level (compliant only when cables are connected
The rugged design of the C-Nav3050 system components provide protection against the harsh environment common to areas such as construction sites, offshore vessels, and mines.
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Antennas
Standard
The standard integrated GNSS antenna (NAV82-001020-3001LF) tracks GPS
(L1, L2, L2C, L5), GLONASS (G1, G2), C-Nav Corrections (CCS) Service (L-
Band differential corrections), and SBAS (WAAS / EGNOS / MSAS / GAGAN) signals. The compact GNSS antenna has excellet tracking performance and a stable phase center. This antenna is listed in the NOAA GNSS Antenna
Calibration tables, as NAV-ANT3001R
Specifications (Page 94 ), for more information.
C-Nav286
The C-Nav286 is a GNSS antenna (AT1675-286) housed in a Radome
–
Thermoplastic enclosure. It has an excellent tracking performance and a stable phase center. It contains a 90 dB out of ban rejection filter of the INMARSAT uplink frequencies. It tracks GPS (L1, L2, L2C, L5), GLONASS (G1, G2), C-Nav
Corrections (CCS) Service (L-Band differential corrections), and SBAS (WAAS /
EGNOS / MSAS / GAGAN) signals. This antenna is listed in the NOAA GNSS
Antenna Calibration tables, as CNVC-NAV286.
Antenna Specification Sheet ( Page 97 ).
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AD591
The AD591 is GNSS antenna (ALIAD591) housed in hard anodized, dichromate, and nickel acetate sealed Aluminum with 4mm thick GRP pressure molded radome. It has >95 dB of out of band rejection of the IMMARSAT up link. . It tracks GPS (L1, L2, L2C, L5), GLONASS (G1, G2), C-Nav Corrections (CCS)
Service (L-Band differential corrections), and SBAS (WAAS / EGNOS / MSAS /
GAGAN) signals. See Table 31: AD591 Antenna Specification Sheet
for more information.
Base
The
Base integrated GNSS antenna (PN:
NAV82-001021-3001LF
) tracks GPS (L1,
L2, L2C, L5), GLONASS (G1, G2), C-Nav Corrections (CCS) Service (L-Band differential corrections), and SBAS (WAAS/EGNOS/MSAS/ GAGAN) signals. The
Base GNSS antenna is designed to reduce multipath error to provide better RTK corrections to the rover network. It has excellent tracking performance and a stable phase center. The NGS calibration table for this product is available on the following
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C-Nav3050 User Guide link: Antenna Calibration.
The robust housing assembly features a standard 5/8”
BSW thread to permanently install the antenna. It is certified to 70,000 feet.
Airborne
The Base integrated GNSS antenna (NAV82-001021-3001LF) tracks GPS (L1,
L2, L2C, L5), GLONASS (G1, G2), C-Nav Corrections Service (CCS) (L-Band differential corrections), and SBAS (WAAS / EGNOS / MSAS / GAGAN) signals.
The Base GNSS antenna is designed to reduce multipath error to provide better
RTK corrections to the rover network. It has excellent tracking performance and a stable phase center. This antenna is listed in the NOAA GNSS Antenna
Calibration tables, as NCT-ANT3001B . The robust housing assembly features a st andard 5/8” BSW thread to permanently install the antenna. It is certified to
70,000 feet. See Appendix B - Antenna Specifications (Page 94 ) for more
information.
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Section 3 - Interfacing
This chapter details the C-Nav3050 GNSS sensor connectors, cables, LED displays, appropriate sources of electrical power, and how to interface the communication ports.
Electrical Power
A rear panel 9-pin Positronic male connector provides electrical power to the C-
Nav3050. NAV94-310274-3010LF is a 10 ft (3 m) unterminated power cable with filter fitted with a Positronic plug type (connector: FR11FP922LM0/AA; pin:
FC422N6/AA), used to connect directly to a DC source. The wiring color code and pin assignments are provided below.
Figure 12: Unterminated Power Cable With Filter
1PPS Out *
Ignition
2
1
Signal Ground unused
8
Event 3
9
7 unused
4
6 Power Input
5
Power Return
Figure 13: Unterminated Power Cable Pin-Out (P/N NAV94-310274-3010LF)
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Color
Blue
Brown
Yellow
Black
Red
Green
Violet
Gray
Signal
1PPS Out *
Ignition
Event
Power Return 5
Power Input (9 to 32VDC, 6W typical) 6
Not Used
Not Used
GND
Table 14:
DC Power Cable Pin Assignments
7
8
9
Pin No
1
2
3
Please note:
Pin 4 has no connection on this cable.
* Note that the 1PPS signal is at TTL level and care must be taken if extending the length of the supplied cable to maintain the integrity of the pulse leading edge.
An AC Power Supply Kit (CNV82-020007-3001LF) complete with AC power cords for 110, 220, and 240 VAC regions is included for those with a requirement to connect via AC power. Replacement 110, 220, and 240 VAC power cords can be purchased from any authorized C-Nav dealer.
Figure 14: Universal Power Adapter and Power Cord
Where MED type approved installations are required, the C-Nav3050 must be powered by either the AC/DC power supply kit, or an approved DC to DC power converter.
The following equipment is required to pass the conducted MED type emission criteria:
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Unterminated DC power cable with filter (NAV94-310274-3010LF)
Approved DC to DC power converter. The converter isolates the C-
Nav3050 power and chassis grounds.
The GNSS sensor is protected from reverse polarity with an inline diode. It will operate on any DC voltage between 9 and 32 VDC, 6 watts typical.
Voltages less than approximately 6 VDC will turn the unit off.
Voltages from approximately 5 VDC to < 7 VDC will create a brownout. In such a case, power the unit on as follows:
Ignition Pin: Provide power
9 to 32 VDC
Front Panel On / Off Switch: Press the On / Off switch to turn the unit off.
Then press and hold the On / Off switch in for more than 2 seconds to turn the unit on.
To set the receiver to power up as soon as power is applied to the DC Input port, use the ignition pin (2) in conjunction with DC power.
Voltages in excess of 34 VDC will damage the unit. The power supply must be well conditioned with surge protection. Vehicular electrical systems, which create voltage spikes in excess of 34 VDC, will benefit from providing power protection during vehicle engine power-up. This can be accomplished through a relay power-on sequence and / or power conditioning (such as a DC to DC converter). Do not connect equipment directly to the vehicles battery without in-line protection.
To turn off the C-Nav3050 properly:
Press the On / Off switch on the front panel, or,
Switch off power to the ignition pin
The C-Nav3050 will not shut down properly unless the external power source is
correctly connected to the C-Nav3050 as displayed in Figure 15 . The connection
of the ignition wire directly to the power wire is not recommended, and may result in the corruption of data at shutdown of the C-Nav3050.
Do not unplug the Positronic end of the supplied unterminated cable before switching off power to the ignition pin. The receiver may not shutdown properly.
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12 VDC Ignition
12 VDC
Power Source C-Nav3050
Ground
Figure 15: Proper External Power Source Setup
Communication Ports
The C-Nav3050 provides two 9-pin female Positronic connector communication ports labeled
COM1 - LAN
and
COM2 - USB
located at the rear of the sensor,
ANTENNA
COM1 - LAN COM2 - USB
Figure 16: C-Nav3050 Rear View
Please note:
POWER
The C-Nav3050 is configured as a DCE device. Laptop and desktop computers are configured as DTE devices. If a cable extension is required, a straight-through cable will provide proper connectivity.
There are two supplied interface data cables:
Positronic 9-Pin Male to Ethernet (LAN) / DB9S (RS-232 / 1PPS) (NAV94-
310272-3006LFB): constructed as described in Figure 17 .
Positronic 9-Pin Male to USB Device / DB9S (RS-232 / RS-422) Y-cable
(NAV94-310273-3006LF): constructed as described in Figure 18 .
The part number for the Positronic plug on both data cables is
FR11MP922LM0/AA, pin type: MC422N/AA.
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COM1 - LAN & Ethernet / 1PPS / DB9S Y-Cable
Conforms to the EIA RS-232 standard with data rates from 9.6 to 115.2 kbps max
Conforms to the IEEE 802.3 Ethernet standard with data rates from 10 to 100
Mbps
The
COM1 - LAN
connector pin-outs relative to the supplied Ethernet (LAN) /
DB9S (RS-232 / 1PPS) Y-cable (NAV94-310272-3006LFB) is described below:
Please note:
COM1 - LAN
is the only LAN compliant port
Used for CCS OTI functions.
Signal
RX-
RX+
1PPS
COM1 RXD
COM1 TXD
TX+
TX-
Ethernet Pins
6
3
1
2
Positronic Pins
1
2
3
4
5
6
7
DB9S
Pins
8
3
2
8
GND 9 5
Table 15: Ethernet (LAN) / RS-232 / 1PPS Y-Cable Pin Assignment
Figure 17: Ethernet (LAN) / RS-232 / 1PPS Y-Cable Pin Assignment
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COM2 - USB & USB / DB9S Y-Cable
Conforms to the EIA RS-232 / RS-422 standard with data rates from 9.6 to
115.2 kbps max
USB 2.0 compliant with 12 Mbps maximum data rate.
The COM2 - USB connector pin-outs relative to the supplied USB Device / DB9S
(RS-232 / RS-422) Y-cable (NAV94-310273-3006LF) are described below:
Please note:
COM2 - USB
is the only USB compliant port.
Signal
USB Power
COM2 RXD+
COM2 RXD-
USB Pins
1
Positronic Pins
1
2
3
4
DB9S
Pins
8
3
COM2 TXD-
COM2 TXD+
USB D+
USB D-
3
2
5
6
7
8
2
7
GND/Shield 4 9 5
Table 16: Optional USB Device / RS-232 / RS-422 Y-Cable Pin Assignment
USB A Plug
Front View
USB
3
4
1
2
Pin 1
Pin 4
PN: 94-310273-3006LF
Positronic
7
8
5
6
9
3
4
1
2
DB9S
7
8
5
6
9
3
4
1
2
DB9S
Front View
9
8
7
6
5
4
3
2
1
09-00008-A
1
8
7
9
2
3
Positronic Connector
Front View
6 4
5
Figure 18: Optional USB Device / RS-232 / RS-422 Y-Cable Pin Assignment
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RS-232 / RS-422 Dual-data Adapter
Figure 19: RS-232 / RS-422 Dual-data Adapter
Figure 20: RS-232 / RS-422 Dual-data Adapter Pin Assignment
Accessories
Optional Data Cables
The optional interface data cables support USB 2.0 Device and Host, Ethernet,
RS-232 and RS-422.
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Figure 21: Optional Data Cables
2 Positronic 9-Pin Male to Ethernet RJ45 Plug, 6 ft
Positronic 9-Pin Male to DB9S (RS-232 / RS-422 /
3
NAV94-310265-3006LF
NAVß94-310260-
4 Positronic 9-Pin Male to USB 2.0 Device Plug, 6 ft
Table 17: Optional Data Cables
Please note:
NAV94-310266-3006LF
Refer back to Section 1 - Getting Started (Page 23 ) for a complete list of
supplied and optional equipment.
USB Host Cable
P/N NAV94-310271-3006LF is an optional 6 ft (1.83 m) data cable fitted with a
Positronic plug type and a USB A receptacle type, used to connect as Host directly to a USB 2.0 connector. The pin assignments are provided below.
Please note:
The
COM2 - USB
is the only USB compliant port.
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USB Pins
1
2
3
4
Signal
USB PWR
USB D-
USB D+
GND/SHIELD
Positronic
Pins
1
8
7
9
Table 18: Optional USB Host Cable Pin Assignment
Figure 22: Optional USB Host Cable Pin Assignment
USB Device Cable
P/N NAV94-310266-3006LF is an optional 6ft (1.83m) data cable fitted with a
Positronic plug type and a USB A plug type, used to connect as Device directly to a USB 2.0 connector. The pin assignments are provided below.
USB Pins Signal
Positronic
Pins
1 1
2
3
VCC
Data-
Data+
8
7
4 GND 9
Table 19: USB Device Cable Pin Assignment
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Figure 23: USB Device Cable Pin Assignment
Ethernet Cable
P/N NAV94-310265-3006LF is an optional 6 ft (1.83 m) data cable fitted with a
Positronic plug type and an Ethernet RJ45 plug type, used to connect directly to an Ethernet connector. The pin assignments are provided below.
Please note:
COM1 - LAN
is the only Ethernet (LAN) compliant port.
Ethernet Pins
1
2
6
Signal
Positronic
Pins
TX+ 6
TX- 7
RX+ 2
RX- 1
Table 21: Optional Ethernet Cable Pin Assignment
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Figure 24: Optional Ethernet Cable Pin Assignment
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DB9S Cable (Connected to COM1)
P/N NAV94-310260-3006LF is an optional 6 ft (1.83 m) data cable fitted with a
Positronic plug type and a DB9S connector, used to connect directly to a DB9P serial port. The DB9S cable can be used to connect to either
COM1 – LAN
or
COM2 – USB
. The pin assignments are provided below.
Please note:
COM1 – LAN
conforms to EIA RS-232 standard only
4
5
6
7
8
9
Positronic
Pins
1
2
3
Signal Nomenclature [DCE w/respect to DB9]
Not connected
Not connected
1PPS Out
RXD RS-232
COM1
TXD RS-232
COM1
Not connected
Not connected
Not connected
GND
Table 22: COM1 Serial Cable Pin-Outs
-
-
DB9S
Pins
8
3
2
7
-
-
5
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Figure 25: COM1 Serial Cable Pin Assignment
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DB9S Cable (Connected to COM2)
P/N NAV94-310260-3006LF is an optional 6 ft (1.83 m) data cable fitted with a
Positronic plug type and a DB9S connector, used to connect directly to a DB9P serial port. The DB9S cable can be used to connect to either
COM1 – LAN
or
COM2 – USB
. The pin assignments are provided below.
Please note:
COM2 – USB
conforms to both EIA RS-232 / RS-422 standards
5
6
7
8
9
Positronic
Pins
1
2
3
4
Signal Nomenclature [DCE w/respect to
DB9]
Not connected
Not connected
RXD+ RS-422
RXD RS-232
COM2
/ RXD- RS-422
TXD RS-232
COM2
/ TXD- RS-422
TXD+ RS-422
Not connected
Not connected
GND
Table 23: COM2 Serial Cable Pin-Outs
2
7
-
-
5
DB9S
Pins
-
-
8
3
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Figure 26: COM2 Serial Cable Pin Assignment
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Event
The C-Nav3050 accepts an event input pulse to synchronize external incidents requiring precise GNSS time tagging, such as aerial photography. For example, the action of a camera’s shutter creates an input pulse to the Event port. The C-
Nav3050 outputs position and time information relative to each event received.
The Event is input on Pin 3 of the 9-pin male Positronic connector power port on the rear of the sensor.
Specifications:
Selectable Input Voltage, 5 V or 12 V
Minimum pulse width, 100 nS
Rising or Falling edge Synchronization
Please note:
Detailed specifications of the Event Input, cable wiring and configuration
may be found in Appendix F - Event Input Configuration (Page 146 ).
1PPS
A pulse is available from the C-Nav3050 via either
COM1
or the
POWER
connector at an output rate of once per second. This pulse can be used for a variety of Time / Mark applications where relative timing is required. Additional software options required.
Specifications:
25 ns relative accuracy
Better than 100 ns absolute accuracy
5 V TTL Logic level output
1PPS Output Impedance > 50 Ohms
Pulse width, default 1 mS
Pulse delay, default 0 mS
Rising or Falling Edge Synchronization
1PPS Adapter
For use on
COM1
with either the Positronic 9-Pin Male to Ethernet (LAN) /
DB9S (RS-232 / 1PPS) (P/N NAV94-310272-3006LFB) Data Cable, or
Positronic 9-Pin Male to DB9S (RS-232 / RS-422 / 1PPS) Data Cable (P/N
NAV94-310260-3006LF):
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Figure 27: 1PPS Adapter
Figure 28: 1PPS Adapter Pin Assignment
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Indicator Panel
Power /
GNSS
Status
C-Nav On / Off
Data I/O
Activity
Status
Figure 29: C-Nav3050 Indicator Panel
Bluetooth
Connectivity
The indicator panel provides a quick status view of the GNSS navigation / operating mode, C-Nav signal strength, the On / Off (I/O) switch, data I/O and logging, and Bluetooth connectivity, respectively.
To power the unit on or off, depress the I/O switch for more than two seconds.
All LEDs illuminate for a period of 3-5 seconds during power-up of the GNSS sensor.
Please note:
Refer to Electrical Power (Page 50 ) at the beginning of this Section for
details on powering off the unit.
GNSS LEDs
When memory buffers allocated for data logging are filled with data waiting to write to an SD or USB drive, data loss may occur. When this event is detected and no data loss occurs, the Data I/O LED will turn on and off in red at 1 Hz rate.
The red LED blinking will last for five seconds from the last time this event is detected. For example, when memory buffers are filled up once, the red LED blinking will continue for five seconds, and then stop. If all memory buffers are filled up for ten minutes and some buffers are freed, the red LED blinking will
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C-Nav3050 User Guide start when all memory buffers are full at the beginning, and continue for ten minutes and five seconds, and then stop. When data logging is started, every five minutes statistical data such as data loss and data loss ratio will be computed. When data loss is detected, the red LED will be on in solid mode.
When a data loss ratio greater than 0.01% occurs, a panic message will be output, i.e., when USB or SD logging data loss is > 0.02%.
Icon Indicator Status Description
Off
Power off
Red
Power on but not tracking
Power /
GNSS
Green
Blinking
Acquiring or tracking GNSS satellites (no position fix yet)
Green
Using GNSS satellites (position fix)
Table 24: GNSS LED Indication
C-Nav Link LEDs
Icon Indicator Status Description
Red
No C-Nav signal
C-Nav
Link
Red Blinking
No C-Nav License
(or expired)
Green
Blinking
Acquiring C-Nav signal
Green
Tracking C-Nav signal
Table 25: C-Nav Link LED Indication
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Data I/O Active LEDs
Icon Indicator Status Description
Off
No Data Output
Data
Green
Blinking
Data I/O Activity
Green
Data logging to internal SD card or external flash drive active
Red Blinking
Data logging
– memory low
Red
Data logging
– data loss
Table 26: Data I/O Active LED Indication (serial connections only)
Bluetooth Connectivity LEDs
Icon Indicator Status Description
Bluetooth
Off
Blue
Blinking
Bluetooth off
Bluetooth on, no connection
Blue
Bluetooth connected
Table 27: Bluetooth Connectivity LED Indication
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Section 4 - Installation
This chapter provides guidance on hardware installation for optimum performance.
Prior to commencing any installation, discuss proposed mounting locations / methods and cable routes with those involved to ensure all parties are aware of the work to be done and the risks involved.
Always wear appropriate protective equipment, including a certified fall arrestor harness and hardhat when working at heights to prevent injury to personnel, or death. Prior to commencing any work on the mast, ensure that all radar systems are switched off and isolated.
GNSS Antenna
The 5/8-inch BSW threaded antenna mount has a depth of 16 mm (0.63 inch).
Do not loosen or remove the eight Phillips screws on the base of the antenna for mounting purposes. This will VOID the warranty and compromise the environmental seal of the antenna, leading to internal damage.
Antenna placement is critical to good system performance. It is necessary to mount the antenna as high on the mast as possible in order to avoid shading by surrounding structures.
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Figure 30: Standard GNSS Antenna
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Antenna Location
Locate the antenna where it has a clear view of the sky, to an elevation angle of 7º if possible. Obstructions below 15º elevation generally are not a problem, though this is dependent on satellite availability for the local region.
Avoid placing the antenna where more than 90º azimuth of the sky is obstructed. When more than 90º of azimuth is shaded, it is often still possible for the receiver to navigate; however, poor satellite geometry
(due to satellite shading) will provide poor positioning results. Even 10º of shading can have a negative effect on performance, though this generally is not the case.
Avoid placing the antenna on or near metal or other electrically reflective surfaces.
Do not paint the antenna enclosure with a metallic-based paint.
Secure the antenna to the mast firmly to avoid wind and vibration which can affect the performance of the C-Nav3050 system.
Avoid placing the antenna near electrical motors (elevator, air conditioner, compressor, etc.) or other sources of of interference such as radar systems, satcom domes, HF antennas or whip antennas.
Do not place the antenna too close to other active antennas. The wavelength of L5 is 0.255 m and G1 is 0.187 m. The minimum acceptable separation between antennas is 1 m (39 in), which provides 5.9 dB of isolation. For 10 dB of isolation, separate the GNSS antennas by 2.55 m, and for 13 dB of isolation (recommended) separate the antennas by 5.1 m.
Active antennas (those with LNAs or amplifiers) create an electrical field around the antenna. These radiated emissions can interfere with other nearby antennas. Multiple GNSS antennas in close proximity to each other can create multipath and oscillations between the antennas. These add to position error or the inability to process the satellite signals.
Most antennas have better gain when the satellite is high in elevation.
Expect tracking performance to fade as the satellite lowers in elevation. It is not unusual to see 10 dB difference in antenna gain (which translates into signal strength) throughout the entire elevation tracking path.
Use satellite prediction software with a recent satellite almanac to assess the impact on satellite visibility at your location. An L-Band
Communication Satellite Locator tool is available on C-
Nav’s website and
Product DVD to aid in determining potential obstructions to the C-Nav
Signal: www.cnav.com/calculator
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A clear line of sight between the antenna and the local INMARSAT satellite is required to track the C-Nav Corrections Service (CCS) signal.
INMARSAT satellites are geo-synchronized 35,786 kms above the
Equator.
Antenna Mounting Pole
Included with the C-Nav3050 is a 1 ft Antenna Mounting Pole (P/N WES534610).
Figure 31: Antenna Mounting Poles
Antenna Mounting Pole Adaptor
The antenna is fitted with a 5/8” BSW threaded mount with a depth of 16 mm
(0.63”).
The antenna mounting pole adaptor converts:
From: 5/8” BSW (depth of 14 mm [0.55”])
To: 1
¼” UNS-2B (depth of 32 mm [1 ¼”])
C-Nav recommends that the supplied mounting adaptor hardware (P/N 3250005-
0) be used in conjunction with the supplied antenna-mounting pole (P/N
WES534610) as the primary means of mounting.
Figure 32: Antenna Mounting Pole and Adaptor
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Figure 33: Antenna, Adaptor and Mounting Pole
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Antenna Installation
1. Once the antenna location has been determined based on the aforementioned criteria, mount the antenna onto an antenna-mounting pole via the antenna mounting pole adaptor. This should be done on deck prior to climbing the mast as mounting the antenna aloft poses potential risks to personnel and equipment due to possible dropped object hazards.
2. Install the antenna with an antenna-mounting pole in the predetermined location. The pipe can either be welded to the mast for a more permanent installation, or secured using stainless steel hose clamps.
3. Use a level to ensure that the antenna is mounted vertically.
Antenna has
360° view of the sky
Coaxial Cable
Connected to
Antenna
Hose
Clamps
Figure 34: C-Nav3050 Antenna Mast Installation
Coaxial Cable
Proper installation of coaxial cables is important to ensure successful communication between the antenna and the GNSS sensor.
The connector used on the C-Nav3050 is a TNC female, labeled
ANT
on the rear
panel of the sensor as shown in Figure 16 .
The GNSS antenna connector provides +5 V
0.5 V at 100 mA. Do not disconnect the antenna when the GNSS unit is powered on.
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Cable Route
When choosing a cable route for coaxial cable, consider the following:
Avoid running coaxial cable across, or parallel too power cables and high power RF cables.
Ensure that the cable route is free of sharp edges or places where the cable could become pinched, kinked, sliced or damaged in any way.
Determine the manufacturer’s specifications for the coaxial cable in use.
This should include: impedance
,
diameter, attenuation in dB / 100 ft and dB / 100 m at 1.575 GHz, velocity of propagation and the minimum bend radius of the cable.
Ensure the cable does not exceed the recommended minimum bend radius suggested by the manufacturer.
Ensure there is sufficient space at the cable entry point to the bulkhead as to not damage the connector during installation.
Measure the length of the cable route and refer to Table 28 for acceptable
cable lengths in relation to attenuation loss at the frequencies in use. The cable length between the antenna and C-Nav3050 should not exceed 7 dB loss at 1.575 GHz for optimum performance, though the system may tolerate up to 10 dB of cable loss with minimal performance. Lower elevation satellite tracking suffers the most with more than 7 dB insertion loss.
In-line amplifiers suitable for all GNSS frequencies may be used to increase the length of the antenna cable, but care should be exercised that tracking performance is not degraded due to multiple connections, noise from the amplifier, and possible ingress of moisture and dust to the in-line amplifier. In-line amplifier or splitter devices must pass DC power from the receiver to the antenna, or source the appropriate voltage and
current to the antenna (see Appendix B - Antenna Specifications
(Page
94 )). In-line amplifiers may also over-saturate the receiver front-end if
improperly used. Contact C-Nav Support for more information on available in-line amplifier solutions.
Coaxial Cable Installation
1. Prior to connecting the coaxial antenna cable to the antenna, ensure that all connections are free of dirt and other debris. Apply silicone grease to the connector threads and wipe off any excess, ensure not to get any lubricant on the contact. Connect the coaxial cable and hand-tighten firmly. Wrap the connection with self-amalgamating tape or another weather sealant such as Coax-seal® to prevent water ingress.
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2. Slacken the coaxial cable and tape firmly to the antenna-mounting pole.
This will prevent any undue strain on the cable connector and antenna.
3. With the cable connected to the antenna, run the cable down the mast, securing with zip ties every two or three feet. Carefully lay the cable along the chosen route to further detect any potential kinks, bends or spots where the cable may become damaged.
4. Secure the cable along the cable route with tape or zip ties and place a label at the GNSS sensor end of the cable for identification purposes.
5. Connect the coaxial cable to the female TNC connector on the GNSS receiver labeled
ANT
(See Figure 16 ). Ensure that any slack in the cable
is neatly stowed and that the minimum bend radius is not exceed during this process.
RG-58C
RG-142
RG-213
RG-223
LMR600
LMR400
LMR240
LMR195
Cable
Type
Atten. (dB) per 100 Ft.
Cable
Length in
Feet
Loss in dB
Atten.
(dB) per
100 m
19.605
16.494
9.564
17.224
3.407
36.00
43.00
74.00
41.00
207.00
7.06
7.09
7.08
7.06
7.05
64.32
54.12
31.38
56.51
11.18
5.262
10.127
133.00
70.00
7.00
7.09
17.26
33.23
14.902 47.00 7.00 48.89
Table 28: Acceptable Coaxial Cable Lengths
Cable
Length in
Meters
11.00
13.00
22.50
12.50
63.00
41.00
21.00
14.00
Lightning Protection
Where the GNSS antenna is exposed to sources of electromagnetic discharge such as lightning, install a properly grounded in-line electrical surge suppressor between the GNSS receiver and antenna. Install protective devices in compliance with local regulatory codes and practices. Protective devices must pass
DC power from the receiver to the antenna. Contact C-Nav
Loss in dB
7.08
7.04
7.06
7.06
7.04
7.08
6.98
6.85
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Support for more information on available lightning protection solutions.
GNSS Sensor
Mount the C-Nav3050 GNSS sensor to a flat surface. Shock isolators suitable for
0.50 kg (1.1 lbs) may be necessary for environments with high vibration, i.e.
Earth moving equipment or aircraft installation.
The C-Nav3050 can also be installed in a backpack for mobile surveying applications.
Do not place the sensor in a confined space or where it may be exposed to excessive heat, moisture, or humidity.
Technical specifications, compass safe distance and block diagrams for the C-
Nav3050 GNSS sensor are located in Appendix A - GNSS Sensor Specifications
There are no user-serviceable parts inside the C-Nav3050 GNSS
Receiver. Removing the screws that secure the front and rear end plates will void the equipment warranty.
Communication Port Connectivity
There is no default control port or data port on the receiver.
COM1 - LAN
is the only Ethernet (LAN) compliant port.
COM2 - USB
is the only USB compliant port.
Figure 35 shows a common configuration with the control device connected to
COM1 - LAN
and an auxiliary device connected to
COM2 - USB
for data logging.
Some devices may require an additional adapter. The interface data cables support USB 2.0, Ethernet, and RS-232 and RS-422. The receiver is configured as a DCE device.
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Figure 35: Communication Port Connections
Basics of RTK Surveying
RTK (Real-Time Kinematic) is a GNSS system that yields very accurate 3D position fixes immediately in real-time.
A reference station (base station) transmits its GNSS position to roving receivers as the base receiver generates them. The roving receivers use the reference station readings to differentially correct their own positions. Accuracies of a few centimeters in all three dimensions are possible. RTK requires multi-frequency
GNSS receivers and high speed radio modems.
Proper setup of a reference station minimizes GNSS errors in the rover. The reference GNSS sensor is set up at a known surveyed location. With this position locked in, it transmits its code, clock, and reference station coordinate information to the roving sensor(s). The roving sensor(s) uses this information to correct each GNSS measurement it receives.
The C-Nav3050, when configured as a reference station, can transmit corrections to any number of roving receivers capable of picking up the radio signal and decoding one of these correction formats (NCT, RTCM 2.3, RTCM
3.1, CMR, and CMR+). The signal can be received in less than ideal environments, though some data loss may occur. Setup of the reference station
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C-Nav3050 User Guide sensor above the roving sensors is recommended to enable transmission to all rovers in all directions with minimal obstruction. High frequency radio signals generally travel a shorter distance than lower frequency signals, and do not
penetrate obstructions as well over distance. Figure 36 and Figure 37 illustrate
proper and improper RTK reference station installation.
Please note:
SF-2040 receivers are used in the examples below. The setup guidance also applies to the C-Nav3050.
Figure 36: RTK Setup - Good Line of Sight
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Section 5 - Configuration
The C-Nav3050 has a rich interface and detailed control language, allowing each unit to be individually programmed to a specific application.
There are essentially four methods available to configure and control the C-
Nav3050:
C-NaviGator III Control and Display Unit - The C-NaviGator III
Touchscreen Control and Display unit allows users to monitor real-time system and position quality information. Includes: multiple NMEA inputs and selectable outputs, six (four RS-232 and two RS-422) serial, one
Ethernet and two USB ports, on-screen help menu, and an intuitive and easy to use interface. Contact C-Nav Support , or refer to the included C-
Nav Product DVD for product brochures and information.
C-Monitor - C-Monitor is a Windows application for monitoring and evaluating real-time DGNSS QA / QC, precise point positioning information and supports the observation and analysis of one or more differential GNSS systems. Contact C-Nav Support , or refer to the included C-Nav Product DVD for product brochures and information.
C-Setup - C-Setup is a free Windows utility for control of C-Nav DGNSS systems. C-Setup is available for download from the C-Nav Technical
Support Website: cnav.com/site356.php
or by contacting C-Nav Support .
Web Interface - The web interface for the C-Nav3050 allows the user to view the receiver’s performance and configure the receiver with a web browser (Chrome, Firefox, Safari, or Internet Explorer). The web interface offers a sub-set of the available functions in C-Setup, C-Monitor, or the C-
NaviGator III CDU. The functions that are not visually present in the web interface can be accessed through a series of ASCII commands using the
Input Terminal page. The web interface can be accessed on receiver firmware versions 3.3.x or later.
There is no default control port on the receiver. When any port is connected to control software, such as C-Monitor, that port then becomes the control port.
COM1 - LAN
Configuration - Control or Data Port
Rate - RS-232: 9.6 to 115.2 kbps; Ethernet: 10 to 100 Mbps
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These five ports (COM1, ETH1, ETH2, ETH3, and ETH4) normally used to input and output proprietary messages used for navigation and receiver setup. It is also the only port that can be used to receive NTRIP or CCS OTI through the RJ-
45 Ethernet plug on the
COM1 – LAN
cable. This section describes the default messages needed to best initiate surveying with minimal effort.
The user has full control over the utilized message types and their associated rates via C-Nav proprietary software.
COM2 - USB
Configuration - Control or Data Port
Rate - RS-232 / RS-422: 9.6 to 115.2 kbps USB 2.0: 12 Mbps
These ports are normally used to output data to other devices or machines that can make immediate use of the precise positioning data available from the C-
Nav3050. The data port outputs NCT Binary Messages and NMEA Messages, and when applying external DGNSS corrections, also serves as the DGNSS correction input port.
Bluetooth Virtual COM Port
Configuration - Control or Data Port
Rate - 230.4 kbps
The PC’s virtual COM port is used to input and output proprietary messages used for navigation and receiver setup. Contact C-Nav Support for more information on using the C-Nav3050 Bluetooth functionality.
Output Messages
NCT Binary Output Message Descriptions:
ALM1B (Packed Almanac): Data corresponding to each satellite in the
GPS constellation, including GPS Week number of collected almanac,
GPS Time of week [in seconds] of collected almanac, almanac reference week, almanac reference time, almanac source, almanac health, pages 1-
25, and sub-frames 4 and 5. Packed almanac data for 32 GPS or 24
GLONASS satellites.
CHNLSTATUS1B (Channel Status): Receiver channel status information containing GNSS engine status, number of satellites viewed / tracked,
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PDOP, tracked satellite identity, satellite elevation and azimuth, C/No for tracked signals and correction age for each satellite.
EPHEM1B (Packed Ephemeris): Individual satellite tracking information including GPS Week number of collected ephemeris, GPS Time of week
[in seconds] of collected ephemeris, IODC, and sub-frame 1, 2, and 3 data. Packed ephemeris data for 32 GPS or 24 GLONASS satellites.
MEAS1B (Raw Measurement Data): Raw Measurement Data Block containing Raw measurements from satellites so measurements can be post-processed to achieve precise point positions, the GPS Week, GPS
Time of Week, Time Slew Indicator, Status, Channel Status, CA Pseudorange, L1 Phase, P1-CA Pseudo-range, P2-CA Pseudo-range, L2 Phase,
GPS L5, GLONASS G1 and G1 Code and Phase, and SBAS Code and
Phase. This data stream is repeated for each individual tracked satellite.
SFSTATUS1B (CCS Signal Status): Provides the status of C-Nav
Corrections Service (CCS) signals including signal status, signal strength,
CCS license status, and good and idle packet counts.
PSEUDORANGESTATSB (Pseudo-range Noise Statistics): Provides pseudo-range noise statistic information including orientation and standard deviations of latitude, longitude, altitude, semi-major axis of the error ellipse, and semi-minor of the error ellipse.
PVT1B (Position, Velocity, and Time): Provides GPS Week number,
GNSS satellites used, latitude, longitude, navigation mode, and DOP information.
NMEA Messages
The C-Nav3050 does not output NMEA messages by default. The user, via controller software, must enable NMEA messages. Refer to
Data Output Messages (Page 112 ), for complete descriptions of the NMEA
output messages available from the C-Nav3050.
RTCM Messages
The C-Nav3050 does not output RTCM messages by default. The user, via controller software, must enable RTCM messages. The following RTCM messages are available for output from the C-Nav3050:
RTCM1 and RTCM9: Code GPS Corrections
RTCM3: Base Position
RTCM19 and RTCM21: GPS RTK Corrections
RTCM22: Base Position Extension (Requires RTCM3)
RTCM22: Extended Reference Station Parameters
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RTCM24: Base Position (Combined RTCM3 and RTCM22)
RTCM31 and RTCM34: Code GLONASS Corrections
RTCM1001: L1-Only GPS RTK Observables
RTCM1002: Extended L1-Only GPS RTK Observables
RTCM1003: L1 and L2 GPS RTK Observables
RTCM1004: Extended L1 and L2 GPS RTK Observables
RTCM1005: Stationary RTK Reference Station ARP
RTCM1006: Stationary RTK Reference Station ARP with Antenna Height
RTCM1007: Antenna Descriptor (Base Only)
RTCM1008: Antenna Descriptor and Serial Number (Base Only)
RTCM1009: L1-Only GLONASS RTK Observables
RTCM1010: Extended L1-Only GLONASS RTK Observables
RTCM1011: L1 and L2 GLONASS RTK Observables
RTCM1012: Extended L1 and L2 GLONASS RTK Observables
RTCM1019: GPS Ephemerides
RTCM1020: GLONASS Ephemerides
RTCM1033: Receiver and Antenna Descriptors
Base and Rover Navigation Setup
C-
Nav’s C-Setup, C-Monitor, and C-NaviGator III CDU provide Base and Rover setup capabilities. Contact C-Nav Support for details.
Profiles
The C-Nav3050 utilizes commands or groups of commands, known as Profiles, to set the various port assignments / parameters, navigation parameters, and output message lists. The C-Nav3050 provides for storage of up to twenty profiles.
To save the current configuration settings of the receiver for future use, the user creates and names a profile. A controller solution, such as C-Monitor, is used to activate a profile by its name.
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Please note:
A new profile sent to the receiver replaces the currently used profile, but it does not necessarily replace all the current parameter settings. The new profile replaces only those parameter settings that it specifies.
For example:
The default navigation elevation mask is 7
.
The user changes the elevation mask to 12
in a profile named “Test”. The user subsequently sends profile “RTK” to the receiver. It replaces “Test”, and changes navigation mode settings and port assignments.
But profile “RTK” does not specify a setting for the navigation elevation mask. So, the elevation mask remains at 12
, as previously set by the “Test” profile.
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Section 6 - Safety Instructions
The C-Nav3050 GNSS sensor is designed for precise navigation and positioning using the GPS and GLONASS. Users must be familiar with the use of portable
GNSS equipment, the limitations thereof and these safety instructions prior to use of this equipment.
Transport
Always carry C-Nav equipment in either the original packing material or packaging that provides protection to the receiver and antenna against shock and vibration. Utilize all original packaging when transporting via rail, ship, or air.
Please note:
A ruggedized transportation case (P/N CNV3050CASE) is available to for users requiring additional shock and vibration protection for their C-
Nav equipment. Contact C-Nav Support for more information.
Maintenance
C-Nav equipment may be cleaned using a new lint free cloth moistened with pure alcohol. Connectors must be inspected and, if necessary, cleaned before use.
Always use the provided connector protective caps to minimize moisture and dirt ingress when not in use. Inspect cables regularly for kinks and cuts as these may cause interference and equipment failure.
Damp equipment must be dried at a temperature less than +40
C (104
F), but greater than 5
C (41
F) at the earliest opportunity.
External Power Source
The C-Nav3050 can be powered by an external power cable (P/N NAV94-
310274-3010LF) or using an AC Power Supply Kit (P/N CNV82-020007-3001LF) both included with every C-Nav3050. The C-Nav3050 must be connected to the
chosen external power solution in accordance with Section 3 - Interfacing (Page
50 ) It is important that the external power source allow sufficient current draw for
proper operation. Insufficient supplied current will cause damage to your external power source.
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If your chosen external power source is a disposable battery, please dispose of the battery in accordance with your local regulations.
Safety First
The owner of this equipment must ensure that all users are properly trained prior to using the equipment and are aware of the potential hazards and how to avoid them.
Other manufacturer’s equipment must be used in accordance with the safety instructions issued by that manufacturer. This includ es other manufacturer’s equipment that may be attached to C-Nav equipment.
Always use the equipment in accordance with local regulatory practices for safety and health at work.
There are no user serviceable parts inside the C-Nav3050 GNSS sensor.
Accessing the inside of the equipment will void the equipment warranty.
Take care to ensure the C-Nav3050 does not come into contact with electrical power installations, the unit is securely fastened, and there is protection against electromagnetic discharge in accordance with local regulations.
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Appendix A - GNSS Sensor
Specifications
The technical specifications of this unit are detailed below. C-Nav is constantly improving, and updating our technology. For the latest technical specifications for all products go to: www.cnav.com
This GNSS sensor is fitted with an internal Lithium cell battery used to maintain
GNSS time when power is removed from the unit. This allows faster satellite acquisition upon unit power-up. The cell has been designed to meet over five years of service life before requiring replacement at a C-Nav approved maintenance facility.
Features
Full constellation coverage with up to 66 signals tracked simultaneously, plus the C-Nav Corrections Service (CCS) channel
SBAS (WAAS, EGNOS, MSAS, GAGAN) tracking
Built in C-Nav Corrections Service receiver and demodulator
L1, L2, L2C, L5, G1, G2, (GPS & GLONASS) code and full wavelength carrier phase tracking
High Sensitivity/low signal lever tracking
Fast acquisition/re-acquisition
Superior interference suppression (both in-band & out-of-band)
Patented multipath rejection
Minimal data latency
2 GB of internal memory
Ultra Compact RTK format, RTCM 2.3 and 3.1 (code & carrier), and
CMR/CMR+
Output NMEA-0183, NCT Binary, NCT ASCII formats
Configurable as RTK base or rover
MBRTK (Moving Base RTK)
RTK Extend
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Heading
Programmable output rates
Event marker input
1PPS output
Communication Ports: RS-232, RS-422, USB 2.0 (Device and Host),
Bluetooth, and Ethernet
Performance
C-Nav3050 performance is dependent on location, satellite geometry, atmospheric condition and GNSS correction.
Tracking Characteristics
The C-Nav3050 engine has 66 signal channels with the required flexibility to track all civilian GNSS and SBAS signals. The C-Nav3050 engine is also capable of tracking the code and carrier from all GNSS signals. L5 and G2 are not available simultaneously due to hardware resource sharing. Select a signal according to these environmental considerations:
Shade: G2 provides the best results, though positioning is less accurate in shade.
Open Sky: L5 provides the best positioning accuracy.
Tracking of newer navigation satellite signals (L2C and L5) is subject to:
The availability of the signals from newer satellites
The "health bit" set to "healthy"
The C-Nav3050 navigation software updated to a version compatible with the signals
Pull-In Times
C-Nav Single: 45 minutes, typical
C-Nav Dual: 45 minutes, typical
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Signals Tracked
Navigation & Public Correction Signals
Services include: GPS L1, and SBAS (WAAS, EGNOS,
MSAS, GAGAN); all at the same frequency:
Services include: GPS (L2, L2C); all at the same frequency:
1575.42 MHz,
16 MHz
1227.60 MHz,
16 MHz
Services include: GPS L5; all at the same frequency:
G1 services include: GLONASS
GPS: 1176.45 MHz,
16
MHz
1603.00 MHz,
6.5 MHz
1247.00 MHz,
5 MHz
G2 services include: GLONASS
C-Nav Signals
L-Band Differential Correction:
Time-To-First-Fix (measured per ION-STD 101)
1525 to 1585 MHz
< 30 second loss:
Signal Reacquisition
Cold Start:
Warm Start:
Hot Start:
< 2 seconds
< 60 seconds No valid Almanac or Ephemeris data available
< 50 seconds Valid Almanac available (less than one year old)
< 20 seconds Valid Ephemeris available (less than 4 hours old)
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Measurement Precision (1ơ/RMS, unless otherwise stated)
Raw C/A code:
Raw Carrier Phase Noise:
7.50 cm
L1: 0.7 mm
L2: 0.9 mm
RTK Positioning - Multi-Frequency < 40 km (RMS)
Position (H):
Position (V):
+ 1 cm + 0.5 ppm
+ 2 cm + 1 ppm
RTK Positioning - Single-Frequency < 5 kms
Position (H):
Position (V):
+ 1 cm + 0.5 ppm
+ 2 cm + 1 ppm
RTK WL Positioning
– Multi-Frequency <40kms (RMS)
(see note below)
Position (H): + 5cm + 2ppm
Position (V): + 10cm +2ppm
RTK Extend (see note below)
Position (H):
Position (V):
+ 3 cm + 1 ppm
+ 6 cm + 2 ppm
RTK Float
Position (H):
Position (V):
+ 20 cm + 3 ppm
+ 40 cm + 3 ppm
CCS Single Frequency only ( with SBAS eg WAAS, EGNOS ) CCS (single)
Position (H):
Position (V):
+ 1.1 m
+ 1.8 m
CCS Single Frequency only ( No SBAS eg WAAS, EGNOS )
Position (H):
Position (V):
+ 1.3 m
+ 2.2 m
CCS Dual Frequency
Position (H):
Position (V):
+ 5 cm / + 10 cm
+ 10 cm / + 15 cm
Code Differential GPS < 200kms
Position (H):
Position (V):
Heading
– Multi-Frequency
+ 45 cm +3 ppm
+ 90 cm +3 ppm
.1 degrees
*requires 10 Hz update rate
Slew
– Single-Frequency
.75 degrees
Velocity (for all DGNSS described above)
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Velocity: 0.01 m/s
Enhanced SBAS (WAAS / EGNOS / MSAS / GAGAN) Position Accuracy
Position (H):
Position (V):
+ 30 cm
+ 60 cm
Measurement Performance
Please note:
The specifications herein are based on the following: PDOP < 4, 1-sigma
(65%), 24-hour averaged set of data. Further, performance is dependent upon, but not limited to, location, satellite geometry, atmospheric conditions
(i.e., solar storm activity), local interference, DoD signal degradation (i.e.,
Selective Availability or similar techniques), satellite messaging or timing errors, and augmentation correction messages. Equipment operated on a single-frequency (i.e., L1 / G1) is more susceptible to atmospheric solar storm activity than multi-frequency operated equipment.
RTK WL is a positioning mode that is necessary for phase ambiguity resolution. However when this navigation mode is indicated, it is likely that the receiver is in a corner navigation condition. As such, it is likely that the end user will not wish to use it as a valid navigation mode.
If the above conditions are met, then the receiver will not need to be put into
RTK-WL mode.
RTK Extend is a purchased software option, which uses C-Nav's proprietary differential processing techniques to provide continuous
RTK positioning during non-reception of RTK corrections. When a C-
Nav enabled receiver with RTK Extend falls out of RTK mode, the system automatically transitions to RTK Extend mode. Positioning is maintained because of the close correlation in phase measurement corrections between RTK and the C-Nav proprietary differential processing techniques.
Depending on how long the RTK base station has been running and is
C-Nav fixed, the duration of RTK Extend is limited to: o 2 to 15 minutes for a NCT base station o 2 to 15 minutes for a non-NCT base station
For RTK Extend to achieve maximum performance, the rover must be fully converged, which typically requires one (1) hour of operation.
The correlation between RTK and C-Nav phase measurement corrections decreases over time, until the system automatically transitions out of RTK Extend mode to the next available DGNSS
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This option is only required on the Rover receiver. If a Base receiver may be used as a Rover at a future date, it should be optioned for
RTK Extend as well
.
Receiver Noise Figure
17.0 dB +0.5 dB @ 290º Kelvin; 1 Hz RBW
Dynamics
Acceleration: Up to 6 g
Speed: < 515 m/s
1
(1,000 knots)
Altitude: < 18.3 km
1
(60,000 ft)
1
Restricted by USA export laws
1PPS
Accuracy: +13 ns (Relative; User Configurable)
Pulse Width: User defined from 25 to 1600000 nS inclusive;
1000000 default
Data Latency and Memory
PVT:
Raw Data:
< 10 ms
< 10 ms
Internal Memory: 2 GB
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Connector Assignments
ANT
:
TNC (female)
RF Input, RF Ground
COM 1 –
LAN
:
Positronic (female)
RS-232, from 9.6 to 115.2 kbps
Ethernet, four virtual ports, from 10 to 100 Mbps
1PPS
COM 2 –
USB
:
Positronic (female)
RS-232 / RS-422, from 9.6 to 115.2 kbps USB 2.0,
12Mbps max data rate
POWER
:
Positronic (male)
Power port, from 9 to 32 VDC, 6 W typical, Power
Input 1, 2; Power Ground
1PPS / Event Marker
Bluetooth
:
1 Serial Port Service, 230.4 kbps
10 m (32 ft) range
Physical and Environmental Specifications
Weight:
External Power:
Input Voltage:
Output Voltage:
Temperature (ambient)
Operating:
Storage
Humidity:
Vibration:
Ingress Protection:
Marine Equipment
1.1 lbs (0.50 kg)
9 to 32 VDC, 6 W typical
+5 V ±50.5 V ( up to 100 mA available for antenna bias
Via RF connector)
-40º C to +70º C (-40º to
+158º F)
-40º C to +85º C (-40º to
+185º F)
95% Non-Condensing
MIL-STD-810F iP67*
IEC 60945
IEC 61108-1,
IEC 61162-1
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IEC 6116-2
Satellite Based Augmentation System Signals (SBAS)
Publicly broadcast services:
Private subscription service:
SBAS (2ASS/EGNOS/MSAS/GAGANC
C-Nav Corrections Services (CCS)
LED Display Functions
GNSS
C-Nav
Data I/O
Bluetooth
Acquiring / Tracking GNSS Satellites
Verifying C-Nav License Acquiring /
Tracking C-Nav Satellites
Data I/O Activity
Bluetooth Connectivity
Input / Output Data Messages
Control Commands
(Input Only):
Differential Correction (I/O):
RTK Correction Data (I/O):
NMEA-0183 Messages
(Output only):
C-Nav proprietary commands
(contact C-Nav Support for more information)
RTCM 2.3 and 3.1, RTCM types 1,
3, and 9, SBAS (WAAS / EGNOS /
MSAS / GAGAN), and CCS
CMR / CMR+, RTCM types 18-22, and 1001-1006, 1009-1012, 1014-
1017
1
; NCT types 0x5B, 0x5C and
0x5E (hex)
ALM, MLA, GBS, GFA, GGA, GLL,
GNS, GRS, GSA, GST, GSV,
RMC, RRE, VTG, ZDA,
PNCTDTM, PNCTGGA,
PNCTGST, PNCTMDE,
PNCTSET
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CCS Rapid Recovery
The CCS Rapid Recovery feature provides a way to more quickly recover from the loss of CCS corrected positioning after loss and recovery of navigation. The receiver starts using these corrections when the link to the navigation satellites has been lost, or has degraded to a specified quality value called Figure of Merit
(FOM) which represents the best-guest accuracy of the horizontal position.
Convergence time in CCS mode is virtually eliminated under certain conditions following a very brief navigational outage. This feature is available only on the
GPS portion of the CCS correction, which constitutes the larger weighted component of the correction.
CCS Rapid Recovery with QuickStart
CCS enables Rapid Recovery when an accurately known ITRF-2008 position is used to initialize CCS navigation. This is typically a position previously surveyed and converted to ITRF-2008 prior to initialization. This feature is available for the
CCS GNSS only. The receiver must have a CCS Dual Frequency solution prior to initiating.
QuickStart
Rapid Recovery is available only on the GPS portion of the CCS correction, which constitutes the larger weighted component of the correction. Rapid
Recovery is not available for the first 5 minutes after a successful quick start is completed. When a lower FOM limit value is input, the receiver is more constrained in completing a Rapid Recovery process. In order for Rapid
Recovery to function, the outages must not exceed 2 minutes. It requires one minute to complete the process. It has an option to manually enter coordinate to initiate this feature.
Outage Duration:
Up to 3 minutes
Maximum Outage Distance
10 km
PDOP Limit
HDOP Limit
Recovery Time
< 4
< 3
< 2 minutes after re-entering CCS navigation mode
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Block Diagrams
Figure 38: C-Nav3050 Base Plate Dimensions Without Mounting Brackets
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Appendix B - Antenna Specifications
Part Numbers
Frequency
(Frequency is dependent on software bundle options.)
Phase Center
Polarization
Pre
–Amplifier
Noise Figure
Impedance
VSWR / RL
Band Rejection
Standard: NAV82-001020-3001LF
Base: NAV82-001021-3001LF
Airborne: NAV82-001022-3001LF
GPS L1: 1575.42 MHz,
16 MHz
GPS L2: 1227.60 MHz,
16 MHz
GPS L2C: 1227.60 MHz,
16 MHz
GPS L5: 1176.45 MHz,
16 MHz
C-Nav L-Band: 1525 -1585 MHz
GLONASS G1: 1603.00 MHz,
6.5 MHz
GLONASS G2: 1247.00 MHz,
5 MHz
GPS L1: 66 mm (2.60 in)
GPS L2: 65 mm (2.56 in)
Right Hand Circular (RHCP)
39 dB gain (+/- 2 dB)
2.6 dB max
50 Ohms
2.0:1 (14 dB return loss)
20 dB @ 250 MHz
RF Power Handling
Input Voltage
Power Consumption
Vibration*
Immersion
1 Watt
4.2 to 15.0 VDC
0.3 W 46 mA typical, 50 mA max @ 5 VDC
RTCA D0-160 E, Section 8, Curve D
MIL-STD-810F, Method 512.4
Cable Connector TNC Female
Antenna Operating Temperature -55
C to +85
C
Altitude 70,000 ft; 21,336 m
Rover/Airborne Antenna Finish Fluid resistant Ultem, UV stable
Table 29: Standard, Base, and Airborne Antennas
Designed to DO-160D Standard
P/N NAV82-001022-3001LF is the aircraft mount antenna, also rated
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Figure 40
:
Standard GNSS Antenna Offset
is a drawing of the label on the Standard GNSS antenna (P/N
NAV82-001020-3001LF). The phase center provided is based on NGS test results. NGS does not currently provide GLONASS calibrated values.
To achieve the greatest level of accuracy, the absolute phase center values must be incorporated into your processing. Phase center information on all C-Nav3050 antennae is found on the NGS website: http://www.ngs.noaa.gov/cgi-bin/query_cal_antennas.prl?Model=NAV
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Figure 41: Standard (P/N NAV82-001020-3001) Antenna Dimensions
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C-Nav286 Specification Sheet
Part Numbers
Polarization
Axial Ratio
Radiation Coverage
Passbands
Out of Band Rejection
Antenna Phase Center
Standard: AT1675-286
RHC (Right Hand Circular)
3 dB MAX @ Boresight
+5.0 dBic 0
= 0
-2.0 dBic 0
<Ø < 75
-3.0 dBic 75
< Ø < 80
-4.0 dBic 80
< Ø < 85
-5.0 dBic Horizon
L-Band/GPS L1/GLONASS: 1525-1611 MHz
GPS L2/L5 / GLONASS: 1164-1254 MHz
GPS L1: 66 mm (2.60 in)
GPS L2: 65 mm (2.56 in)
> 90 dB @ 1626.5
– 1660 MHz
L1 = 83.15 mm
L2 = 83.35 mm
39 dB (±2 dB)
2.6 dB (max)
≤2.0:1
50 Ohms
LNA / Filter Combined Gain
Total Noise Figure (NF)
VSWR
Impedance
Power Requirements
Input Voltage
Power Consumption
Environmental
Operating Temperature
Storage Temperature
Water/Dust
+4.2V - +15V dc
66 mA (max)
-55
C to + 70
C (-67
F to 158
F)
-55
C to + 85
C (-40
F to 185
F)
IP67
Mechanical
Cable Connector
Dimensions
Mounting
TNC Female
143.3 mm x 96.3 mm (5.64 in x 3.79 in)
5/8 -11 UNC-2B Thread Mount
Table 30: C-Nav286 Antenna Specification Sheet
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C-Nav286 Drawing
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Figure 42: C-Nav286 Antenna Drawing
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AD591 Antenna Specification
Part Numbers
Antenna Type
Polarization
Passbands
Out of Band Rejection
Antenna Phase Center
ALIAD591
Dual patch stacked antenna elements
RHCP (+/- 0.5db at zenith) and Omnidirectional in azimuth
L-Band/GPS L1/GLONASS: 1525-1611 MHz
GPS L2/L5 / GLONASS: 1164-1254 MHz
> 95 dB @ 1626.5
– 1660 MHz
L-Band dB @ 1626.5
– 1660 (INMARSAT up link)
39 dB
3 dB (Typical)
50 Ohms
LNA / Filter Combined Gain
Total Noise Figure (NF)
Impedance
Power Requirements
Input Voltage
Power Consumption
Environmental
Operating Temperature
Storage Temperature
+5V - +20V dc
45 mA (max)
-30
C to + 70
C (-22
F to 158
F)
-40
C to + 70
C (-40
F to 158
F)
IP67 Water/Dust
Mechanical
Cable Connector
Weight
Mounting
TNC Female
4kg (8.82lbs)
Aluminum Bracket with clamps (included)
Table 31: AD591 Antenna Specification Sheet
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AD591 Antenna Drawing
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Figure 43: AD591 Antenna diagram
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Figure 44: Airborne (P/N NAV82-001022-3001LF) Antenna Dimensions
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Figure 45: Base (P/N NAV82-001021-3001LF) Antenna Dimensions
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Standard & Airborne Antenna Radiation Patterns
Figure 46: Standard & Airborne Antenna Radiation Pattern
Optimal antenna performance is realized at elevations greater than 25º.
There is a 10 dB variation between 0º and 90º elevation (factor 10x); therefore, lower elevation satellites are always more difficult to track.
There is a 5 dB variation between ~35º and 0º elevation (factor > 3x)
Base Antenna Radiation Pattern
Figure 47: Base Antenna Radiation Pattern
Optimal antenna performance is realized at elevations greater than 35º.
There is an 11 dB variation between 15º and 90º elevation (factor > 10x); therefore, lower elevation satellites are always more difficult to track.
There is a 9 dB variation between ~35º and 0º elevation (factor > 8x)
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Appendix C - C-Nav Corrections
Service (CCS)
Description
The CCS Dual Frequency Service is a global system for the distribution of SBAS corrections giving the user the ability to measure their position anywhere in the world with exceptional reliability and unprecedented accuracy of better than 5 cm. Because the SBAS corrections are broadcast via INMARSAT geo-stationary satellites, the user needs no local reference stations or post-processing to get this exceptional accuracy.
Furthermore, the same accuracy is available virtually anywhere on the earth's surface on land or sea from a 10 degree look angle, due to the worldwide coverage of these geo-stationary satellites.
Infrastructure
The system utilizes GNSS satellite systems, L-Band communication satellites, and a worldwide network of reference stations, to deliver real-time high-precision positioning.
To provide this unique service, C-Nav has built a global network of multifrequency reference stations, which constantly receive signals from GNSS satellites as they orbit the earth. Data from these reference stations is fed to two
USA processing centers, in Torrance, California and Moline, Illinois, where they are processed to generate the differential corrections.
From the two processing centers, the correction data is fed via redundant and independent communication links to satellite uplink stations at Laurentides,
Canada; Perth, Australia; Burum, The Netherlands; Santa Paula, California;
Auckland, New Zealand; and Southbury, Connecticut for rebroadcast via the geostationary satellites.
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The key to the accuracy and convenience of the C-Nav Corrections Service
(CCS) is the source of SBAS corrections. GNSS satellites transmit navigation data on several L-Band frequencies
1
. The C-Nav reference stations are all equipped with geodetic-quality, multi-frequency receivers. These reference receivers decode GNSS signals and send precise, high quality, multi-frequency pseudo-range and carrier phase measurements back to the processing centers together with the data messages, which all GNSS satellites broadcast.
At the processing centers, C-Nav's proprietary differential processing techniques are used to generate real-time precise orbits and clock correction data for each satellite in the GNSS constellations. This proprietary Wide Area DGNSS
(WADGNSS) algorithm is optimized for a multi-frequency system such as the C-
Nav Corrections Service (CCS), in which multi-frequency ionospheric measurements are available at both the reference receivers and the user receivers. It is the use of multi-frequency receivers at both the reference stations and the user equipment, together with the advanced processing algorithms, which makes the exceptional accuracy of the C-Nav Corrections Service possible.
Creating the corrections is just the first part. From our two processing centers, the differential corrections are then sent to the Land Earth Station (LES) for uplink to L-Band communications satellites. The uplink sites for the network are equipped with C-Nav-built modulation equipment, which interfaces with the satellite system transmitter and uplinks the correction data stream to the satellite that broadcasts it over the coverage area. Each L-Band satellite covers more than a third of the earth. Users equipped with a C-Nav precision GNSS receiver actually have two receivers in a single package, a GNSS receiver and an L-Band communications receiver, both designed by C-Nav for this system. The GNSS receiver tracks all the satellites in view and makes pseudo-range measurements to the GNSS satellites. Simultaneously, the L-Band receiver receives the correction messages broadcast via the L-Band satellite. When the corrections are applied to the GNSS measurements, a position measurement of unprecedented real-time accuracy is produced.
The CCS network ground reference frame transitioned from the ITRF-2005 to the
ITRF-2008 system on January 21, 2014 at 0900 hours UTC. The back-up systems provide fully redundant transition as of January 27, 2014 at 00.00 hours
UTC. For information on this transition, please contact C-Nav Support.
1
A single-frequency operation mode is available for the C-Nav3050. Contact C-Nav Support for details on using this feature. Single-frequency is a receiver mode that uses only the L1 GPS/G1 GLONASS signals.
There is no compensation for ionospheric effects.
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Reliability
The entire system meets or exceeds a target availability of 99.99%. To achieve this, every part of the infrastructure has a built-in back-up system.
All the reference stations are built with duplicate receivers, processors, and communication interfaces, which switch automatically or in response to a remote control signal from the processing centers. The data links from the reference stations use the Internet as the primary data link and are backed up by dedicated communications lines, but in fact the network is sufficiently dense that the reference stations effectively act as back up for each other. If one or several fail, the net effect on the correction accuracy is not impaired.
There are two continuously running processing centers, each receiving all of the reference site inputs and each with redundant communications links to the uplink
LES. The LESs are equipped with two complete and continuously operating sets of uplink equipment arbitrated by an automatic fail over switch. Finally, a comprehensive team of support engineers maintains round the clock monitoring and control of the system.
The network is a fully automated self-monitoring system. To ensure overall system integrity, an independent integrity monitor receiver, similar to a standard
C-Nav user receiver, is installed at every reference station to monitor service quality. Data from these integrity monitors is sent to the two independent processing hubs in Torrance, California and Moline, Illinois. Through these integrity monitors the network is continuously checked for overall SBAS positioning accuracy, L-Band signal strength, data integrity and other essential operational parameters.
CCS Dual Frequency
The C-Nav Corrections Service remains unaffected and continues to provide customers with full GPS clock and orbit correctors has proven reliability since
2000, featuring C-Nav proprietary correction algorithms (CCS - C-Nav
Corrections Service), a global network of dual frequency reference sites, fully independent servers in geographically separated processing centers and simultaneous broadcasts from two independent satellite networks (Net-1 and
Net-2) to ensure a reliable worldwide positioning solution.
C-Nav now offers a second independent full constellation (GPS + GLONASS)
GNSS correction service called features include GLONASS and GPS (GNSS)
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The C-Nav3050 receiver combined with the C-Nav Corrections service (CCS) delivers PPP correctors for all operational GNSS satellites, showing significantly enhanced performance in shaded conditions and increased position accuracy.
There is up to 20 percent reduction in PPP start-up pull-in time accuracy. There are no additional fees for access to the new correction service.
C-Nav Corrections Service (CCS) Satellites
Satellite ID Longitude Satellite Name
402 98.0W PAC-E
525
643
446
25E
143.5E
54W
IND-W
PAC-W
AOR-W
484
564
678
15.5W
64E
AOR-E
IOR
178E POR
Table 32: C-Nav Satellites
Uplink Site
Laurentides
Burum
Auckland
Southbury
Southbury
Perth
Santa Paula
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CCS Over-The-Air C-Nav Licensing
CCS Over-The-Air (OTA) C-Nav licensing is the easiest way to install a C-Nav license. The installation of a purchased license is accomplished via radio broadcast. CCS Over-The-Air C-Nav licensing is especially convenient for receivers in remote locations in the field.
The requirements to obtain a C-Nav license are:
Valid Purchase Order
Signed License Agreement
Appropriate Credit Terms with C&C Technologies, Inc. or an Authorized
Dealer; including a valid P.O.
C-Nav recommends that customers process new C-Nav license requests through an authorized dealer or C-Nav Sales 15 to 30 days before the expiration of the current license.
The customer should do the following in order to properly receive the CCS Over-
The-Air broadcast of the C-Nav license:
1. Turn on the C-Nav3050 Receiver.
2. Ensure that the C-Nav3050 Antenna has clear access to the CCS tracking satellite.
3. Request the C-Nav license.
How to Obtain a C-Nav License
C-Nav corrections are based on a subscription service. The user pays a subscription fee, which licenses the use of the service for a predetermined period of time.
An authorized subscription will provide an encrypted code, which is specific to the Serial Number of the C-Nav receiver to be authorized. This is entered into the receiver Over-the-Air, or via the provided controller solution (C-Setup).
When contacting C-Nav regarding subscription or deactivation of service, please provide the following information:
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Vessel Info and brief project description (Name / Number, Location)
Customer Info (Company Name, PO / Ref. Num. Point of Contact)
C-Nav Equipment Details (Receiver Type, Firmware version, Serial
Number, P/N’s, etc.)
Required Start / Stop Date or Period
Service Type (Land or Offshore / Activation or Deactivation)
Operational Region (Asia, Australia, China, South and Central America,
Caribbean, Africa, Middle East, or Other)
Detailed Contact Information (Phone, Fax, E-Mail, Billing / Shipping
Addresses)
Requests for Service Activation / Deactivation can be made using the web form at www.cnav.com/code or by emailing the above information to [email protected]
or by contacting the C-Nav authorized representative in your region.
Over-The-Air (OTA) Broadcast
The C-Nav license is broadcast at the scheduled time and five minutes later as a backup.
Please note:
To ensure reception, turn on the receiver before the specified broadcast time. Do not turn off the receiver until verifying that the license is saved.
The receiver must be tracking C-Nav satellites at the broadcast times, though the receiver is not required to be operating in CCS mode during the broadcasts.
Verify License Is Active
Once a C-Nav license is activated, the C-Nav Status LED on the C-Nav3050
Front Panel will be solid green.
Figure 48: Front Panel C-Nav Status LED - Showing Active C-Nav License
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For special-case scenarios, customers may request to receive the C-Nav license via email to manually upload via a C-Nav controller solution. The request must be specified in the P.O.
The broadcast procedure for Over-The-Air C-Nav Corrections Service licensing is subject to change.
Figure 49: C-Nav Corrections Service (CCS) Coverage Map
C-Nav Corrections Service Over-The-Internet (CCS OTI)
C-Nav Corrections Service can also be received over the Internet. This feature allows the user to request messages from a single independent NTRIP server / caster by means of an Internet Connection. The user can select from two different locations and can choose between four data delivery rates (1 s, 15 s, 30 s, and 60 s) for maximum ability. A delivery rate of 1 s will provide a daily data requirement of 20.7 Mb, 15 s is 4.3 Mb and 60 s is 1.08 Mb.
CCS OTI is available as a software option. Contact C-Nav Support
).
As with the OTA, the CCS OTI requires a normal Authcode license to operate as well. Contact C-Nav Authcode ( [email protected]
) to purchase a license as you normally would to access other corrections.
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Hardware Setup and Configuration
For information regarding the setup and configuration of CCS OTI, please refer to the C-Nav3050 CCS OTI Manual .
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Appendix D - NMEA Data Output
Messages
NMEAALM (ASCII)
This output message reports orbital data (almanac) for the specified GPS satellite, and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$GPALM,total,message,prn,week,health,eccentricity,reftime,inclination, ascension,axis,perigee,node,anomaly,F0clock,F1clock*checksum
Field #
F5
F6
F7
F8
F1
F2
F3
F4
F9
F10
F11
F12
F13
F14
Field
Name
total message Message number (01 to 32)
PRN week health eccentricity Eccentricity (ASCII hex, 4 bytes) reftime inclination Inclination angle (ASCII hex, 4 bytes) ascension Rate of right ascension (ASCII hex, 4 bytes) axis perigee node
Description
Total number of messages (01 to 32)
GPS Satellite PRN number (01 to 32)
GPS week number (4 digits)
SV health (ASCII hex, 2 bytes)
Almanac reference time (ASCII hex, 2 bytes)
Root of semi-major axis (ASCII hex, 2 bytes)
Argument of perigee (ASCII hex, 6 bytes) longitude of ascension node (ASCII hex, 6 bytes) anomaly Mean anomaly (ASCII hex, 6 bytes)
F0clock F0 clock Parameter (ASCII hex, 3 bytes)
F15 F1clock F0 clock Parameter (ASCII hex, 3 bytes)
F16 Checksum
Table 33: ALM Message Output Format
Example:
$GPALM,32,1,01,1423,00,35BF,7B,1F38,FD5B,A10D8B,78C23F,B7E3C6, 379706,080,001*36
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NMEADTM (ASCII)
This output stream reports the local geodetic datum and datum offsets from a reference datum. It is in compliance with NMEA-0183 Standards version 3.0.
Default: The NMEADTM message will be scheduled to display automatically before the most frequent NAV message (NMEAGGA, NMEAGLL or NMEARMC).
If the frequency or any other NAV message is changed, the adjusted NMEADTM message will automatically display before the most frequent one
If the user is running an earlier version of the software (v3.0.13 and earlier), the NMEADTM must be manually scheduled to display at the same rate as the NMEAGGA, the NMEAGLL or the NMEARMC to meet
IMO and MED certification requirements.
When the datum code is unknown (e.g. RTK mode), the output will be empty.
Field # Field Name
F1
F2
F3
F4
F5
F6
F7
F8
F9
Local datum code
Local datum subdivision code
Description
Local Datum Code
W84 = WGS84
W72 = WGS72
S85 = SGS85
PE90 = P90
999 = User defined
Local datum subdivision code
(if available)
Lat offset
N/S
Lon offset
Latitude offset from reference position (in minutes)
Direction of latitude (N=north, S= south)
Longitude offset from reference position (in minutes)
Direction of longitude (E= east, W= west) E/W
Altitude offset
Reference datum code
Altitude offset from reference position (in meters)
Reference Datum Code
W84 = WGS84
W72 = WGS72
S85 = SGS85
PE90 = P90
Checksum
Table 34: DTM Message Output Format
Output values depend on navigation mode and [DATUM] selection.
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Navigation Mode
[DATUM]
(user command)
Non-Diff, SBAS
DEFAULT or
WGS84
GDA94 or
USERDATUM
Local
Datum
W84
Reference
Datum
W84
Offsets
0
C-Nav Correction
Services
DEFAULT
WGS84
GDA94 or
USERDATUM
999
999
W84
999
W84
999
W84
W84
Offsets from
WGS84
0
0
Offsets from
WGS84
RTK, RTK-X,
RTCM-code
Any blank blank blank
Table 35: DTM Message Output for Each Nav Mode
This message will be scheduled onchange automatically on the port which NMEAGGA, NMEAGLL or NMEARMC is output. This applies to all ports except for the NTRIP port
FYI - In the current firmware, 3.3.x, for the C-Nav3050 receiver, the
NMEA DTM message is automatically scheduled at the same rate as the
NAV messages (GGA, GLL, or RMC) for MED certification requirements.
This may not be desirable for some users. The message can be easily turned off through the controller software.
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NMEAGBS (ASCII)
This output stream reports Receiver Autonomous Integrity Monitoring (RAIM) data. Given that a GNSS receiver is tracking enough satellites to perform integrity checks of the positioning quality of the position solution, this sentence reports the output of the process, in compliance with NMEA-0183 Standards version 3.0. The addition of Fields F9 and F10 bring this message in compliance with version 4.1 of the NMEA standard.
Output
Format:
$xxGBS,UTC,Lat,Lon,Alt,SVID,Det,Bias,StdDev*checksum (As
NMEA v 3.0)
Field#
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
Field
Name
Description
UTC
Lat
Lon
Alt
SVID
Det
UTC time of the associated GGA or GNS fix
(hhmmss.ss)
Expected error in latitude (+/- 9.9)
Expected error in longitude (+/- 9.9)
Expected error in altitude (+/- 9.9)
ID number of most likely failed satellite (01-32)
Probability of missed detection for most likely failed satellite (9.9)
Bias
StdDev
Bias estimate on most likely failed satellite (9.9 meters)
Standard deviation of bias estimate (9.9)
System ID 1 for GPS, 2 for GLONASS (NMEA v4.1 only)
SigID
Specific frequency likely failed for the given satellite
(NMEA v4.1 only)
Checksum
Table 36: GBS Message Output Format
Example:
$GPGBS,161816.00,0.0,-0.0,-0.0,13,0.8,0.0,0.0*6C (As NMEA v3.0)
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NMEAGFA (ASCII)
This sentence is used to report the results of the data quality check associated with a position solution. If only a single constellation (GPS, GLONASS, etc.) is used for the reported position solution, the talker ID is GP, GL, etc. and the data pertain to the individual system. If satellites from multiple systems are used to obtain the reported position solution, the talker ID is GN and the parameters pertain to the combined solution. This provides the quality data of the position fix and is associated with the GNS sentence. This sentence is in compliance with
NMEA-0183 Standards version 3.0.
Output
Format:
$xxGFA,UTC,HPL,VPL,Std_X,Std_Y,Theta,Std_H,SAL,IntStatus*c hecksum
Field#
Field
Name
Description
F1
F2
F3
F4
F5
F6
UTC
HPL
VPL
Std_X
Std_Y
Theta
UTC time of the associated GGA or GNS fix
(hhmmss.ss)
Horizontal protection levels in meters (xxxx.x).
Vertical protection levels in meters (xxxx.x)
Standard deviation of semi-major axis of error ellipse in meters (xxx.xx)
Standard deviation of semi-minor axis of error ellipse in meters (xxx.xx)
Orientation of semi-major axis of error ellipse (xxx.xxxx degrees from true north)
Standard deviation of altitude in meters (xxx.xx)
Selected accuracy level in meters (xxxx.x)
F7
F8
Std_H
SAL
F9
F10
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IntStatus
Integrity status:
The integrity status field is a variable length character field which indicate the status of the various integrity sources. This field shall not be Null.
V= Not in use
S= Safe (when integrity is available and Horizontal
Protection Limit (HPL) < Horizontal Alert Level (HAL)
C= Caution (no integrity is available)
U= Unsafe (when integrity is available and HPL >
HAL)
Checksum
Table 37: GFA Message Output Format
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Example:
$GNGFA,224229.00,0001.7,0002.9,000.43,000.22,014.4868,000.83,0010.0,SCC*0C
In RTK mode, fields F2, F3, F4 and F5 are zeroes. They are correct values since RTK provides very accurate solutions, beyond the resolution provided by the NMEA standard
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NMEAGGA (ASCII)
These output messages reports position and fix related status information and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$xxGGA,time,lat,N/S,lon,E/W,quality,used,hdop,alt,M,separation,M,age
,id*checksum
Field #
Field
Name
Description
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11 time
Lat
N/S
Lon
E/W quality used hdop
Alt
M separation
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Latitude in degrees and decimal minutes
(ddmm.mmmmmm) (0000.000000 to 8959.999999)
Direction of latitude (N = north, S = south)
Longitude in degrees and decimal minutes
(dddmm.mmmmmm) (00000.000000 to 17959.999999)
Direction of longitude (E = east, W = west)
Quality of the position fix (0 to 8)
0 = fix not available, or invalid
1 = GPS SPS Mode, fix valid
2 = Differential GPS SPS Mode, fix valid
3 = GPS PPS Mode, fix valid
4 = Real Time Kinematic, fixed integers
5 = Float RTK, floating integers
6 = estimated (dead reckoning) Mode
7 = Manual input mode
8 = Simulation mode
Number of satellites in the position fix, 00 - 12
Horizontal Dilution of Precision, 1 (ideal) to > 20 (poor)
Altitude above mean sea level (geoidal height) in meters, a theoretical value for practical purposes can range from -
50 or so for low places on Earth, to very large positive values for the heights.
Units for altitude (M = meters)
Geoidal separation: the difference between the WGS-84 earth ellipsoid surface and mean-sea-level (geoid) surface. “-“ = mean-sea-level surface below WGS-84
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F12
F13
F14
F15
M age
Id earth ellipsoid surface.
Note: if no geiod is loaded, geoidal separation is reported as 0.
Units for geoidal separation (M = meters)
Time since last dGPS data was received, in seconds
Reference station ID number (0000 -1023) checksum
Table 38: GGA Message Output Format
Example:
$GNGGA,161611.00,3350.477102,N,11820.624805,W,2,15,0.8,8.911,M,0.000,M,10.0,0402*42
When the GGA message goes invalid, the time of the last known position fix is output as is the last known position, and the quality flag in F6 is changed to “0” or invalid. This is the correct behavior as defined by international regulatory agencies.
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NMEAGLL (ASCII)
This output message reports geographic position (latitude and longitude) information and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$xxGLL,lat,N/S,lon,E/W,time,status,mode*checksum
Field# Field Name Description
Latitude in degrees and decimal minutes
F1 lat
(ddmm.mmmmmm) (0000.000000 to 8959.999999)
F2 N/S Direction of latitude (N=north, S= south)
F3
F4 lon
E/W
Longitude in degrees and decimal minutes
(dddmm.mm) (00000.000000 to 17959.999999)
Direction of longitude (E= east, W= west)
F5
F6 time status
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99) status indicator
A= Data valid
V= Data not valid
F7
F8 mode
Position mode indicator
A= Autonomous
D= Differential
E= Estimated (dead reckoning)
M= Manual Input
S= Simulator
N= Data not valid
Checksum
Table 39: GLL Message Output Format
Example:
$GPGLL,3713.870070,N,12148.058706,W,032618.00,A,D*7C
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NMEAGNS (ASCII)
This output message reports geographic position (latitude and longitude) information for single or combined satellite navigation systems and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$xxGNS,time,lat,N/S,lon,E/W,mode,used,HDOP,alt,separation,age,I
D,status*checksum
Field# Field Name Description
F1 Time
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
F2
F3
F4
F5
Lat
N/S
Lon
E/W
Latitude in degrees and decimal minutes
(ddmm.mmmm) (0000.0000) to 8959.9999)
High precision: (ddmm.mmmmmm) (0 to
8959.999999)
Direction of latitude (N=north, S= south)
Longitude in degrees and decimal minutes
(dddmm.mmmm) (00000.0000 to 17959.9999)
High precision: (dddmm.mmmmmm) (0 to
17959.999999)
Direction of longitude (E= east, W= west)
F6
F7
F8
F9
F10
F11
F12
Mode indicator
Used
HDOP
Alt
Separation
Age
ID
A variable length character field with the first two characters defined: the first character indicates use of
GPS satellites and the second character indicates use of GLONASS satellites.
A= Autonomous
D= Differential
F= Float RTK
N= No fix
P= Precise
R= Real Time Kinematic (RTK)
Total number of satellites in use (00-99)
Horizontal Dilution of Position, 1 (ideal) to >20 (poor)
Altitude above mean sea level (geoidal height) in meters.
Geoidal separation: the difference between the WGS-
84 ellipsoid surface and mean-sea-level (geoid) surface.
Note: If no geoid is loaded, then geoidal seoaration will be reported as 0.
Time since last dGPS data was received, in seconds.
Reference station ID number (0000-1023)
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F13
F14
Status
Navigational status indicator
S= Safe (If the Horizontal Position Error is less than or equal to the Selected Accuracy Level)
C= Caution (If there is no valid Horizontal Position
Error (no RAIM data))
U= Unsafe (If the Horizontal Position Error is greater than or equal to the Selected Accuracy Level)
V= Navigational status not valid (If there is no Nav
Solution)
Checksum
Table 40: GNS Message Output Format
Examples:
Tracking both GPS and GLONASS satellites in Precise mode:
$GNGNS,232439.00,3350.4708,N,11820.6172,W,PP,16,0.8,45.0,-36.0,,,S*28
$GPGNS,232439.00,,,,,,08,,,,6.0,0402,S*1B
$GLGNS,232439.00,,,,,,08,,,,6.0,0402,S*07
Tracking both GPS and GLONASS satellites in Autonomous mode (note: one
GNGNS message):
$GNGNS,233839.00,3350.4710,N,11820.6173,W,AA,16,0.7,45.0,-36.0,,,S*22
Tracking only GPS satellites in Precise mode:
$GPGNS,232744.00,3350.4708,N,11820.6172,W,PN,08,1.3,44.8,-36.0,,,S*0A
Tracking only GPS satellites in Autonomous mode:
$GPGNS,232939.00,3350.4708,N,11820.6172,W,AN,08,1.2,44.8,-36.0,,,U*3F
Tracking both GPS and GLONASS satellites in Differential mode:
$GNGNS,233459.00,3350.4709,N,11820.61723W,DD,16,1.2,44.1,-36.0,,,S*24
$GPGNS,233459.00,,,,,,08,,,,5.0,0138,S*13
$GLGNS,233459.00,,,,,,08,,,,5.0,0138,S*0F
Please note:
Mode 0 means the residuals were used to calculate the position given in the matching GGA or GNS sentence.
Mode 1 means the residuals were recomputed after the GGA or GNS position was computed.
The order of the range residuals must match the order of the satellite ID numbers given in the GSA command.
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NMEAGRS (ASCII)
This output stream reports Receiver Autonomous Integrity Monitoring (RAIM) data, reporting Range Residuals in compliance with NMEA-0183 Standards version 3.0. NMEA-0183 version 4.1 are given by the addition of fields F9 and
F10.
Output
Format:
$xx
GRS,UTC,Mode,Res…, Res, *checksum (As NMEA v3.0)
Field# Field Name Description
F1
F2
UTC
Mode
UTC time of the associated GGA or GNS fix
(hhmmss.ss)
How the residuals were calculated (see notes below)
F3
F9
Res
System ID
Up to 12 range residuals (+/- 999 meters) (See notes below)
1 for GPS (GP), 2 for GLONASS (GL) (NMEA v4.1 only)
F10 Signal ID
1 for Single Mode and 0 for Dual Mode (See Table
55: Signal ID ) (NMEA v4.1 only)
Checksum F11
Table 41: GRS Message Output Format
Example:
$GPGRS,162404.00,0,-0.2,-0.9,-0.3,0.2,0.4,0.1,0.6,0.7,0.5,*4F (As NMEA v3.0)
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NMEAGSA (ASCII)
This output message reports 2D / 3D solution mode, DOP values and active satellite information, and is in compliance with NMEA-0183 Standards version
3.0. Field F7 is added to comply with version 4.1 of the NMEA standard.
Output
Format:
$xxGSA,mode,solution,used,pdop,hdop,vdop,*checksum (As NMEA v3.0)
Field#
Field
Name
Description
F1
F2 mode solution
Mode
M= manual (forced to operate in 2D or 3D mode)
A= automatic (allowed to automatically switch between
2D/3D)
Solution
1= fix not available
2= 2D
3= 3D
F3
F4
F5
F6 used ID numbers of satellites used in solution. pdop Dilution of position hdop Horizontal dilution of position vdop Vertical dilution of position
F7
F8
GNID 1 for GPS (GP), 2 for GLONASS (GL) (NMEA v4.1 only)
Checksum
Table 42: GSA Message Output Format
Example:
$GPGSA,A,3,03,08,13,16,20,23,25,27,,,,,2.4,1.4,1.9,1*36 (As NMEA v3.0)
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NMEAGST (ASCII)
This output message reports pseudo-range noise (PRN) statistic information, and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$xxGST,time,rms,majoraxis,minoraxis,orientation,lateer,loner,alterr*c hecksum
Field#
F1
F2
F3
F4
F5
F6
F7
F8
F9
Field
Name
Description
time rms majoraxis
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Total RMS standard deviation of ranges inputs to the navigation solution
Standard deviation of semi-major axis of error ellipse in meters minoraxis orientation laterr lonerr alterr
Standard deviation of semi-minor axis of error ellipse in meters
Orientation of semi-major axis of error ellipse in true north degrees (0 to 180°)
Standard deviation of latitude error in meters
Standard deviation of longitude error in meters
Standard deviation of altitude error in meters
Checksum
Table 43: GST Message Output Format
Example:
$GPGST,032746.00,22236.0738,0.0552,0.0355,019.4414,0.0543,0.0368,0.0991*6A
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NMEAGSV (ASCII)
This output message reports data associated with satellites in view, based on almanac data. Data includes PRN number, elevation, azimuth, and SNR values.
Note that one GSV sentence can only provide data for up to 4 satellites, so several sentences may be require d for full “satellite in view” information. The format for this message is in compliance with NMEA-0183 Standards version 3.0.
The addition of Field F8 brings this message compliant to NMEA version 4.1.
Output
Format:
$xxGSV,total,message,totalsv,prn1,e lev1,azim1,snr1,…..,prn4,elev4, azim4,snr4*checksum (As NMEA v3.0)
Field#
F1
F2
F3
F4
Field
Name
Description
Total Total number of messages for full information
Message Message number
Totalsv
Prn
Total number of satellites in view that will be included in the sentences (up to 4 satellites per sentence)
Satellite ID numbers 1-99
1-32= reserved for GPS
33-64= reserved for SBAS
65-96= reserved for GLONASS
F5
F6
F7
Elev
Azim
Snr
Elevation for the corresponding satellite in degrees (0 to
90)
Azimuth for the corresponding satellite in degrees (0 to
359)
Signal to Noise ratio for the corresponding satellite
F8 Signal ID
1 for L1CA, and 0 for L1+L2 (See Table 55 ) (NMEA v4.1
only)
Checksum F9
Table 44: GSV Message Output Format
Examples (As NMEA v3.0):
$GPGSV,3,1,11,13,68,347,50,23,66,87,50,25,56,40,0,27,45,277,46*78
$GPGSV,3,2,11,16,23,44,45,20,22,174,36,08,21,259,38,03,21,103,36*43
$GPGSV,3,3,11,19,09,128,32,04,05,266,34,02,01,301,30,,,,*44
Example of NMEA v4.1 format:
$GPGSV,3,1,10,26,20,048,47,06,19,316, 46, , , , , , , ,,1*66
$GPGSV,3,2,10,18,71,254,53,21,65,360,51,29,46,145,52,15,43,083,51,0*6C
$GPGSV,3,3,10,22,29,237,49,30,22,265,50,16,21,298,48,03,04,320,43,0*69
$GLGSV,2,1,07,81,77,060,54,66,66,018,54,67,56,229,51,82,34,331,51,1*7D
$GLGSV,2,2,07,88,28,132,49,65,12,034,,68,05,219,46,,,,,1*4C
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NMEAMLA (ASCII)
This output stream reports orbital data (almanac) for the specified GLONASS satellite and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
Field#
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
F12
F13
F14
F15
F16
$GLMLA,total,Sentence,SID,Na,CH,eccentricity,Tn,perigee,tMSB,dtn aco,tascmd,Long_asc,Corr_incl,tLSB,tss*checksum
Field
Name
Description
total Total number of sentences (24)
Sentence Sentence number (01 to 24)
SID
Na
Satellite ID (slot) number (01 to 24)
Calendar day count within the four year period beginning with the previous leap year
CH
Cn(a) and Hn(a), generalized health of the satellite
(0x80) and carrier frequency number (0x7F) eccentricity Eccentricity (S32)
Tn
DOT, rate of change of the draconic circuling time
(S32) perigee tMSB dtnaco tascmd
Argument of perigee (S32)
16 MSB of system timescale correction (U16)
Correction of average value of the draconic circuling time (S32)
Time of the ascension node, almanac reference time
(S32)
Long_asc Greenwich longitude of the ascension node (S32)
Corr_incl
Correction to the average value of the inclination angle
(S32) tLSB tss
12 LSB of system timescale correction (U16)
Course value of the timescale shift (S32)
Checksum
Table 45: MLA Message Output Format
Example:
$GLMLA,24,1,65,568,18,0000,0000,0000,8000,000000,000000,000000,000000,16F,000*18
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NMEARMC (ASCII)
This output message reports minimum recommended GPS information, including position, velocity, and time information, and is in compliance with NMEA-0183
Standards version 3.0. The update of Field F12 and the addition of Field F13 comply with NMEA version 4.1.
Output
Format:
$GPRMC,time,status,lat,N/S,lon,E/W,speed,course,date,variation,E/
W,mode*checksum (As NMEA v3.0)
Field#
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
F12
Field
Name
Description
time status lat
N/S lon
E/W speed
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Status
V= void (invalid data)
A= active (valid data)
Value set to V for all modes listed is F12 except for A and
D
Latitude in degrees and decimal minutes
(ddmm.mmmmmm) (0000.000000 to 8959.999999)
Direction of latitude (N=north, S= south)
Longitude in degrees and decimal minutes
(dddmm.mmmmmm) (00000.000000 to 17959.999999)
Direction of longitude (E= east, W= west)
Speed over ground in knots (the product puts no upper limit on this value, reporting the actual data, which itself is likely limited to an extreme upper limit of mach 3 or so) course date
Course over ground in degrees true (0 to 359.9)
Current date in the format: ddmmyy
Variation Magnetic variation in degrees (0-359.99)
E/W Direction of variation (E= east, W= west) mode
Position mode indicator
A= Autonomous
D= DGPS
E= Estimated (dead reckoning)
S= Simulator
N= Data not valid
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F13
Nav
Status
P= Precise (NMEA v4.1 only)
R= RTK solutions (except RTK Float) (NMEA v4.1 only)
F= Float (NMEA v4.1 only)
Navigational Status Indicator (NMEA v4.1 only)
S= Safe.
C= Caution.
U= Unsafe.
V= Not valid
Checksum F14
Table 46: RMC Message Output Format
Example:
$GPRMC,033341.00,A,3713.870096,N,12148.058706,W,0.03,0.0,180407,0.0,E,D*19
(As NMEA v3.0)
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NMEARRE (ASCII)
Field#
F1
F2
F3
F4
F5
F6
This output stream report Receiver Autonomous Integrity Monitoring (RAIM) data, reporting Range Residual Errors. Note that this command is not defined in
NMEA-0183 Standards version 3.0.
Output
Format:
$xxRRE,count,<SVID,Res>...,Herr,Verr*checksumrms,majoraxis,min oraxis,orientation,lateer,loner,alterr*checksum
Field
Name
count
SVID
Res
Herr
Verr
Description
Count of satellites included here (01 - 12)
Satellite ID for this residual (+/- 9999)
Residual for this satellite (+/- 9999)
Horizontal position error (+/- 9999)
Vertical position error (+/- 9999)
Checksum
Table 47: RRE Message Output Format
Example:
$GPRRE,10,03,-0.2,07,-0.1,08,0.3,10,-0.5,13,-0.3,19,0.5,23,- 0.5,25,0.5,27,0.6,28,0.0,000.1,
000.1*7E
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NMEATTM (ASCII)
This output stream is only supported on MBRTK Rover and displays baseline information including the baseline distance, bases speed and direction and closest point of approach based on NMEA-0183 Standards version 4.0.
Output
Format:
$xxTTM,Base Number,Base Distance,...,UTC, Type of
Acq*checksum
Field# Field Name
F1 Base Number
F2
F3
F4
Description
Last 2 digits of the MBRTK BaseID
Base Distance 3D Baseline Distance (m)
Base Bearing
Bearing Units
Base 2D bearing from the Rover, N=0°, E=90°
(0°-360°)
True or Relative (T/R), R is not supported
F5
F6
F7
F8
F9
F10
F11
F12
F13
Base Speed
Base Course
Course Units
CPA Dist
CPA Time
Speed/Dist Units
Base Name
Base Link Status
Tracking Ref
3D speed of the Base (m/s)
Base 2D direction, N=0°, E=90° (0°-360°)
True or Relative (T/R), R is not supported
Distance at the closest point of approach. This is how close the Base and Rover would ever get given their course and speed in 2D (m)
Time until 2D CPA -means it has passed (min)
Units of measurements used:
K= Kilometers (metric, used)
N= Knots (unused)
S= Statute miles (unused)
Full Base ID
Tracking status of the Base:
L= Lost track of Base (Non RTK Mode)
Q= Query, acquiring (RTK Float)
T= Tracking (RTK Fixed)
R if base is used to determine own position
(always true)
F14
F15
F16
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UTC
Type of
Acquisition
Standard UTC time (hhmmss.ss)
A= Automatic (used)
M= Manual (unused)
Checksum
Table 48: TTM Message Output Format
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Example:
$GNTTM,30,16.75,134.27,T,0.03,34.96,T,15.99,2.63,K,530,T,R,201345.00,A*45
Please note:
There will be some noise in the base velocity due to the baseline velocity of the rover. This noise will increase if the rover is moving in a non-linear path.
The conventional use of the TTM message is to carry the information on a “tracked” target generated by the ARPA section of the radar on the ship where it is being used. Usual usage on the ship is to convey the target information to an ECDIS or ECS for display on the navigational chart. However when the TTM message is used from the
GNSS rover receiver, it is not intended to be used in this manner. An example of the intended use is to give MBRTK users ASCII access to the rover-base distance; for example, where the rover is mounted on a seismic cable tail buoy with TTM message sent back to the vessel by radio.
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NMEAVTG (ASCII)
This output message reports velocity and course over ground information, and is in compliance with NMEA-0183 Standards version 3.0.
Output
Format:
$xxVTG,track,T,track,M,speed,N,speed,K,mode*checksum
(As NMEA v3.0)
F5
F6
F7
F8
F1
F2
F3
F4
Field#
F9
Field
Name
track
T track
M speed
N speed
K mode
Description
True track (course over ground) in degrees (0 to 359.9)
True track orientation (T= true north)
Magnetic track in degrees (0 to 359.9)
Magnetic track orientation (M= magnetic north)
Speed over ground in knots (0 to 1000)
Speed over ground units (N= knots)
Speed over ground in kilometers (0 to 1852)
Speed over ground units (K= km/h (kilometers/ hour))
Position mode indicator
A= Autonomous
D= DGPS
E= Estimated (dead reckoning)
S= Simulator
N= Data not valid
P= Precise (NMEA v4.1 only)
Checksum F10
Table 49: VTG Message Output Format
Example:
$GPVTG,0.0,T,,M,0.03,N,0.06,K,D*0D (As NMEA v3.0)
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NMEAZDA (ASCII)
This output message reports date and time information, and is in compliance with
NMEA-0183 Standards version 3.0.
Output
Format:
$xxZDA,time,day,month,year,offset_hour,offset_min*checksum
Field# Field Name Description
F1 time
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
F2
F3
F4
F5 day month year
Current day (01 to 31)
Current month (01 to 12)
Current year (0000 to 9999)
Offset_hour Local zone hours (-13 to +13)
F6
F7
Offset_min Local zone minutes (00 to 59)
Checksum
Table 50: ZDA Message Output Format
Example:
$GPZDA,035751.00,18,04,2007,00,00*6B
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NMEAPNCTDTM (ASCII)
This output stream reports local geodetic datum and datum offsets from a reference datum. It is in compliance with NMEA-0183 Standards version 3.0.
The difference between NMEADTM and NMEAPNCTDTM is the added datum codes for ITRF2005, ITRF2008 and GDA94. When the datum code is unknown
(e.g. RTK mode), the output will be empty.
Field# Field Name
F1
F2
F3
F4
F5
F6
F7
F8
F9
Local datum code
Description
Local Datum Code
W84 = WGS84
W72 = WGS72
S85 = SGS85
PE90 =P90
999 = User defined
I05 = ITRF2005
G94 = GDA94
Local datum subdivision code
Local datum subdivision code (if available)
Lat offset
N/S
Lon offset
E/W
Altitude offset
Latitude offset from reference position (in minutes)
Direction of latitude (N=north, S= south)
Longitude offset from reference position (in minutes)
Direction of longitude (E= east, W= west)
Altitude offset from reference position (in meters)
Reference Datum Code
Reference datum code
W84 = WGS84
W72 = WGS72
S85 = SGS85
PE90 = P90
I05 = ITRF2005
I08 = ITRF2008
G94 = GDA94
Checksum
Table 51: PNCTDTM Message Output Format
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Navigation
Mode
[DATUM]
(user command)
Non-Diff,
SBAS
DEFAULT or
WGS84
GDA94
Local
Datum
W84
G94
USERDATUM 999
C-Nav
Corrections
Service
DEFAULT
WGS84
I05
W84
GDA94 G94
USERDATUM 999
RTK, RTK-
X, RTCMcode
Any blank
Reference
Datum
W84
W84
W84
I05
W84
W84
W84 blank
0
Offsets from WGS84
Offsets from WGS84
0
0
Offsets from WGS84
Offsets from WGS84 blank
Offsets
Table 52: PNCTDTM Message Output for Each Nav Mode
Please note:
There will be some noise in the base velocity due to the baseline velocity of the rover. This noise will increase if the rover is moving in a non-linear path.
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NMEAPNCTGGA (ASCII)
This message reports position and fix related status information. It is a C-Nav proprietary NMEA type message, and it conforms to the header, checksum and electrical characteristics of a standard NMEA string, but is not recognized by the
NMEA governing body as an officially sanctioned message.
Output
Format:
$PNCTGGA,time,lat,N/S,lon,E/W,quality,used,hdop,alt,M,separation,
M,age,Id*checksum
Field #
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
F11
Field
Name
Description
time
Lat
N/S
Lon
E/W quality
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Latitude in degrees and decimal minutes
(ddmm.mmmmmm) (0000.000000 to 8959.999999)
Direction of latitude (N = north, S = south)
Longitude in degrees and decimal minutes
(dddmm.mmmmmm) (00000.000000 to 17959.999999)
Direction of longitude (E = east, W = west)
Quality of the position fix (0 to 8)
0 = fix not available, or invalid
1 = GPS SPS Mode, fix valid
2 = Differential GPS SPS Mode, fix valid
3 = GPS PPS Mode, fix valid
4 = Real Time Kinematic, fixed integers
5 = Float RTK, floating integers
6 = estimated (dead reckoning) Mode
7 = Manual input mode
8 = Simulation mode used hdop
Alt
Number of satellites in the position fix, 00 - 12
Horizontal Dilution of Precision, 1 (ideal) to > 20 (poor)
Altitude above mean sea level (geoidal height) in meters, a theoretical value for practical purposes can range from -50 or so for low places on Earth, to very large positive values for the heights.
M Units for altitude (M = meters) separation Geoidal separation: the difference between the WGS-84
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F12
F13
F14
M age
Id
Units for geoidal separation (M = meters)
Time since last dGPS data was received, in seconds
4-digit integer as denoted as XXYY, where XX is the
satellite beam in use (See Table 54 ), and YY is the GPS
correction signal type being used (See Table 56 )
F15 checksum
Table 53: PNCTGGA Message Output Format
Example:
$PNCTGGA,032215.00,3713.870081,N,12148.058703,W,2,08,1.8,59.608,M,-
33.440,M,8.0,0122*47
Network
Net 1
Net 2
Code
(XX)
00
01
02
03
04
05
06
07
09
Designation
Satellite
ID
Longitude Uplink Site
N/A
4F3
4F2
4F1
3F3
3F4
N/A
402
525
643
678
446
Unknown
98.0W
25E
143.5E
178E
54W
3F1
3F2
564
484
64E
15.5W
N/A N/A Manual
Override
Table 54: Beam Selection ID
Unknown
Laurentides
Burum
Auckland
Santa Paula
Southbury
Perth
Southbury
Please note:
Satellites 609 and 643 have been reassigned to provide improved reception.
Satellite 609 (109°E), which was Net-1, is now Net-2, and satellite 643
(143.5°E), which was Net-2, is now Net-1.
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System
GPS
GLONASS
5
6
7
8
9-F
0
Signal
ID
0
1
2
3
4
Signal Channel
All Signals
L1 C/A
L1 P(Y)
L1 M
L2 P(Y)
L2C-M
L2C-L
L5-I
L5-Q
Reserved
All Signals
1
2
3
4
5-F
G1 C/A
G1 P
G2 C/A
GLONASS (M) G2 P
Reserved
Table 55: Signal ID
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ID
(YY)
GPS Correction Signal
00 Non dGPS
01 dGPS, RTCM type 1 (GPS-code); and type 31 (GLONASS
– code) or type 9 (GPS
– code); and type 34 (GLONASS partial correction set – code), Single Freq. and Dual Freq.
02 WAAS/EGNOS, Single Freq. (GPS)
03 WAAS/EGNOS, Dual Freq. (GPS)
04 Reserved
05 Reserved
06
C-Nav
Correction Services (CCS), Single Freq. (no “Tide” Adjustment)
(GPS)
07 Reserved
08 Reserved
09 Reserved
10 dGPS/dGLONASS, RTCM type 1 or 9 and 31 or 34, Dual Freq.
11
C-
Nav Correction Services (CCS), Dual Freq. (no “Tide” Adjustment)
(GPS)
12 Code base Nav, Single Freq. NCT Proprietary Format
13 Code base Nav, Single Freq. RTCM 18/19 (GPS and GLONASS)
14 Code base Nav, Single Freq. RTCM 20/21 (GPS and GLONASS)
15 Code base Nav, Single Freq. CMR (GPS and GLONASS)
16
Code base Nav, Dual Freq. NCT Proprietary Format (GPS and
GLONASS)
17 Code base Nav, Dual Freq. RTCM 18/19 (GPS and GLONASS)
18 Code base Nav, Dual Freq. RTCM 20/21 (GPS and GLONASS)
19 Code base Nav, Dual Freq. CMR (GPS and GLONASS)
20
RTK Mode, NCT Proprietary Format 5e/5c (GPS and GLONASS) or
5b/5c (GPS)
21 RTK Mode, RTCM 18/19 (GPS and GLONASS)
22 RTK Mode, RTCM 20/21 (GPS and GLONASS)
23 RTK Mode, CMR (GPS and GLONASS)
24
C-
Nav Correction Services (CCS), Single Freq., Adjusted for “Tides”
(GPS)
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25
C-Nav Correction Services (CCS), Dual Freq.,
Adjusted for “Tides”
(GPS)
26
RTK Extend Active (C-Nav Correction Services filling in for missing RTK epochs) (GPS)
33 GNSS, Single Freq., no “Tides”
34 GNSS, Dual Freq., no “Tides”
35 GNSS, Single Freq.,
Adjusted for “Tides”
36 GNSS,
Dual Freq., Adjusted for “Tides”
Table 56: Navigation Mode
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NMEAPNCTGST (ACSII)
This message satisfies the UKOOA compliance requirements by starting with the standard NMEA GST message and scaling all error statistics by 1.96, and by adding a value for the F-Test of Unit Variance.
Output
Format:
$PNCTGST,time,rms,majoraxis,minoraxis,orientation,lateer,loner,alte rr,fisher*checksum
Field#
F1
F2
F3
F4
F5
F6
F7
F8
F9
F10
Field
Name
Description
time rms
Majoraxis*
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Total RMS standard deviation of ranges inputs to the navigation solution
Standard deviation of semi-major axis of error ellipse in meters
Minoraxis* orientation
Laterr*
Loner*
Alter* fisher
Standard deviation of semi-minor axis of error ellipse in meters
Orientation of semi-major axis of error ellipse in true north degrees (0 to 180°)
Standard deviation of latitude error in meters
Standard deviation of longitude error in meters
Standard deviation of altitude error in meters
Fisher Test Result
Checksum
Table 57: PNCTGST Message Output Format
*Indicates the result is scaled by 1.96. This output stream reports pseudo-range noise statistic information, and is in compliance with NMEA-0183 Standards version 3.0.
Examples:
$GNGST,192518.00,0.3762,0.1054,0.0953,074.8583,0.0960,0.1048,0.2168*7A
$PNCTGST,193028.00,0.2993,0.1722,0.1448,084.7181,0.1451,0.1720,0.3391,1*65
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NMEAPNCTMDE (ASCII)
This output stream reports the Marginally Detectable Error (MDE) generated by the receiver as part of the self-monitoring duties performed to support Receiver
Autonomous Integrity Monitoring (RAIM). It is a C-Nav proprietary NMEA type message, and it conforms to the header, checksum and electrical characteristics of a standard NMEA string, but is not recognized by the NMEA governing body as an officially sanctioned message.
Output
Format:
$PNCTMDE,time,svid,Type,bias,mde,laterr,longerr,alterr,*checksum
F5
F6
F7
F8
F9
Field#
F1
F2
F3
F4
Field
Name
Description
time svid
Type
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
The GNSS svid
Measurement type: 0 = CA, 1 = P1, 2 = L1, 3 = P2, 4 =
L2, 5 = RC Code, 6 = RC PHASE bias mde laterr longerr alterr
Standardized bias which is noncentrality parameter for w-test
MDE in meters
Expected error in latitude (meters)
Expected error in longitude (meters)
Expected error in altitude (meters)
Checksum
Table 58: PNCTMDE Message Output Format
Example:
$PNCTMDE,165535.00,,,,,,,*6A
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NMEAPNCTSET (ASCII)
This output message reports C-Nav proprietary SET (Solid Earth Tides), PT
(Polar Tides) and OL (Ocean Loading) values. It is a C-Nav proprietary NMEA type message, and it conforms to the header, checksum and electrical characteristics of a standard NMEA string, but is not recognized by the NMEA governing body as an officially sanctioned message.
Output
Format:
$PNCTSET,time,SET_dN,SET_dE,SET_dU,PT_dN,PT_dE,PT_dU,O
L_dN,OL_dE,OL_dU*checksum
Field#
Field
Name
Description
F1
F2
F3
F4
F5
F6
F7
F8
F9 time
SET_dN
SET_dE
UTC time for position fix in hours, minutes, seconds
(hhmmss.ss) (000000.00 to 235959.99)
Solid earth tides, delta North (meters)
Solid earth tides, delta East (meters)
SET_dU Solid earth tides, delta Up (meters) (range TBD)
PT_dN Polar Tides, delta North (meters) (range TBD)
PT_dE
PT_dU
OL_dN
OL_dE
Polar Tides, delta East (meters) (range TBD)
Polar Tides, delta Up (meters) (range TBD)
Ocean Loading, delta North (meters) (range TBD)
Ocean Loading, delta East (meters) (range TBD)
F10 OL_dU Ocean Loading, delta Up (meters) (range TBD)
F11 Checksum
Table 59: PNCTSET Message Output Format
Example:
$PNCTSET,214040.00,-0.060,-0.018,0.110,,,,,,*47
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Appendix E - L-Band Correction
Signals
402
525
643
678
446
The C-Nav3050 GNSS Receiver can obtain C-Nav Corrections Service (CCS) corrections from six separate and independent geostationary communication satellites.
The Satellite-Based Augmentation System (SBAS) signals obtained from geostationary communication satellites are selected by GPS L1 PRN ID.
The L-Band identifiers for the tracking and decoding of the C-Nav Corrections
Service corrections are as follows:
L-Band
ID
SV Name Network
C-NavC
1
/
C-NavC
2
SBAS
Geostationary
Position
INMARSAT-4-F3
INMARSAT-4-F2
INMARSAT-4-F1
INMARSAT-3-F3
INMARSAT-3-F4
Net-1
Net-1
Net-1 YES
Net-2 YES
Net-2
YES
YES
YES
NO
NO
NO
NO
NO
98° W
25° E
143.5° E
178° E
54° W
564
484
INMARSAT-3-F1
INMARSAT-3-F2
Net-2
Net-2
PRN 120 Inmarsat-3-F2 / AOR-E NA
YES
YES
NO
PRN 124 ARTEMIS NA
PRN 126 Inmarsat-3-F5 / IOR-W NA
PRN 127 Inmarsat-4-F1 / IOR
PRN 129 MTSAT-1R
PRN 137 MTSAT-2
PRN 135 Intelsat Galaxy XV
NA
NA
NA
NA
NO
NO
NO
NO
NO
NO
NO
NO
64° E
15.5° W
EGNOS 15.5° W
EGNOS 21.5° E
EGNOS 25° E
GAGAN 82° E
MSAS
MSAS
WAAS
140° E
145° E
133° W
PRN 138 TeleSat Anik F1R NA NO WAAS 107.3° W
Table 60: L-Band Correction Signals*
*Refer to Appendix C, Tables C1 & C2 for information on changes to Asia/Pacific Network satellites based on C-Nav3050 firmware version.
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Appendix F - Event Input
Configuration
Figure 50 details the wiring of the optional Event cable assembly (P/N NAV94-
310274-3010LF). Refer to
(Page
for detailed electrical specifications and details.
Table 61 details the wiring configuration required for Event pulse sensing.
1PPS Out *
Ignition
2
1
Signal Ground unused
8
Event 3
9 unused
7
4
6 Power Input
5
Power Return
Figure 50: Event Cable Wiring Diagram
Pin # Signal Name
3 Event
Event Sync Wiring
Tie Event to Ground
9 Ground N/A
Table 61: Event Wiring Connections
Once the cable is wired to correspond with the event pulse requirements, configure the receiver to output the message containing a time mark, referenced to the time kept within the receiver, indicating when the event is sensed
(EVENTLATCH, EVENTLATCHA).
The Event Input can be triggered on the Rising or Falling edge of the input pulse.
Contact C-Nav Support for more information.
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Appendix G - Standards
Standards:
BS EN 61108
– 2003
BS EN 60945: 2002 (inc Corr.1:2008)
BS EN 61162-1: 2011
IMO Resolution
MSC.191(79)
MSC.112(73)
A.694(17)
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Appendix H - Software License
Agreement
Software License Agreement for C-Nav, A Division of C&C
Technologies, Inc. C-
Nav3050™ Receiver.
IMPORTANT
– READ CAREFULLY: THIS SOFTWARE LICENSE AGREEMENT
IS A LEGAL CONTRACT BETWEEN YOU AND THE LICENSOR C-NAV, A
DIVISION OF C&C TECHNOLOGIES, INC. ("LICENSOR" OR “C-NAV”) AND
GOVERNS YOUR USE OF THE C-
NAV3050 GNSS™ RECEIVER (THE
"RECEIVER"). AN ADDITIONAL END-
USER LICENSE AGREEMENT (“EULA”)
IS REQUIRED FOR USE OF THE C-
NAV3050™ GPS CORRECTIONS
SERVICE.
BY ACTIVATING OR OTHERWISE USING THE RECEIVER, YOU ARE
ACCEPTING AND AGREEING TO THE TERMS OF THIS LICENSE
AGREEMENT WITH RESPECT TO THE SOFTWARE (THE "SOFTWARE")
THAT HAS BEEN PRE-INSTALLED ON YOUR RECEIVER OR PROVIDED BY
C-NAV. YOU AGREE THAT THIS SOFTWARE LICENSE AGREEMENT,
INCLUDING THE WARRANTY DISCLAIMERS, LIMITATIONS OF LIABILITY
AND TERMINATION PROVISIONS BELOW, IS BINDING UPON YOU, AND
UPON ANY COMPANY ON WHOSE BEHALF YOU USE THE SOFTWARE, AS
WELL AS THE EMPLOYEES OF ANY SUCH COMPANY (COLLECTIVELY
REFERRED TO AS "YOU" IN THIS SOFTWARE LICENSE AGREEMENT). IF
YOU DO NOT AGREE TO THE TERMS OF THIS AGREEMENT, OR IF YOU
ARE NOT AUTHORIZED TO ACCEPT THESE TERMS ON BEHALF OF YOUR
COMPANY OR ITS EMPLOYEES, PLEASE DISCONTINUE ACTIVATION OR
USE OF THE RECEIVER. THIS LICENSE AGREEMENT REPRESENTS THE
ENTIRE AGREEMENT CONCERNING THE SOFTWARE BETWEEN YOU AND
THE LICENSOR AND IT REPLACES ANY PRIOR PROPOSAL,
REPRESENTATION, OR UNDERSTANDING BETWEEN YOU AND THE
LICENSOR.
1
.
Description of Software.
Your RECEIVER comes with all Software preinstalled or on the memory device accompanying the RECEIVER or if
Software is purchased separately from the RECEIVER it is delivered on a memory device shipped pursuant to such separate purchase. License fees for your use of some features of the Software are included in the purchase price for the RECEIVER when purchased with the RECEIVER. License fees for Software purchased separately from the RECEIVER must be paid for separately. Use of other features of the Software requires an additional payment of license fees, for which you will receive an activation license
(“Activation License”) that, when entered into the RECEIVER – following the
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– will make those features operational. You are responsible for maintaining the confidentiality of all
Activation Licenses and will not disclose them to any third party or permit any third party to use them without paying the applicable license fees.
2.
License.
Licensor hereby grants to you, and you accept, a non-exclusive license to use the Software in machine-readable, object code form, only as authorized in this License Agreement and the applicable provisions of the
User Manual(s), which you agree to review carefully prior to using the
Software. The Software may be used only on the RECEIVER in which it was initially installed or for which it was initially purchased; or, in the event of the inoperability of that RECEIVER, on a replacement RECEIVER provided to you by an authorized dealer pursuant to the Limited Warranty of Section 5.
You agree that you will not assign, sublicense, transfer, pledge, lease, rent, or share your rights under this License Agreement, except that you may permanently transfer all of your rights under this License Agreement in connection with the sale of the RECEIVER on which the Software covered by this Agreement is installed. Please consult the Open Source Software
License appendix for further information concerning additional licenses, rights, or responsibilities associated with any Open Source Software components which may be included with this Software.
3.
Licensor's Rights. You acknowledge and agree that the Software is proprietary to Licensor and is protected under copyright law. You further acknowledge and agree that all right, title, and interest in and to the Software, including associated intellectual property rights, are and shall remain with
Licensor. This License Agreement does not convey to you any title or interest in or to the Software, but only a limited right of use revocable in accordance with the terms of this License Agreement. You agree that you will not: (a) reverse assemble, reverse compile, modify, or otherwise translate the
Software, or attempt to defeat the copyright protection and application enabling mechanisms therein; (b) copy or reproduce the Software; or, (b) remove or obliterate any copyright, trademark or other proprietary rights notices from the Software. You also agree not to permit any third party acting under your control to do any of the foregoing.
4.
License Fees.
The license fees paid by you are paid in consideration of the licenses granted under this License Agreement.
5.
Limited Warranty. Licensor warrants, for your benefit alone and not for the benefit of any other party, that during the "Warranty Period" defined below, the Software will operate substantially in accordance with the applicable functional specifications ("Specifications") set forth in the User Manual(s). If, prior to expiration of the Warranty Period, the Software fails to perform substantially in accordance with the Specifications, you may return the
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RECEIVER to the place of purchase for repair or replacement of the nonperforming Software. As used in this Agreement, the "Warranty Period" is 12 months from the date you take delivery of the Receiver.
6. DISCLAIMER OF WARRANTIES. YOU HEREBY AGREE THAT THE
LIMITED WARRANTY PROVIDED ABOVE (THE "LIMITED WARRANTY")
CONSTITUTES YOUR SOLE AND EXCLUSIVE REMEDY FOR ANY
PROBLEM WHATSOEVER WITH THE SOFTWARE. EXCEPT AS
PROVIDED IN THE LIMITED WARRANTY, THE SOFTWARE IS LICENSED
“AS IS,” AND LICENSOR, ITS AFFILIATES AND THIRD PARTY
SUPPLIERS EXPRESSLY DISCLAIM AND YOU EXPRESSLY WAIVE,
RELEASE AND RENOUNCE ALL WARRANTIES ARISING BY LAW OR
OTHERWISE WITH RESPECT TO THE SOFTWARE, INCLUDING, BUT
NOT LIMITED TO: ANY IMPLIED WARRANTY OF MERCHANTABILITY OR
FITNESS FOR A PARTICULAR PURPOSE; ANY IMPLIED WARRANTY
ARISING FROM COURSE OF PERFORMANCE, COURSE OF DEALING
OR TRADE USAGE; ANY WARRANTY OF TITLE OR NON-
INFRINGEMENT; AND, ANY OTHER WARRANTY ARISING UNDER ANY
THEORY OF LAW, INCLUDING TORT, NEGLIGENCE, STRICT LIABILITY,
CONTRACT OR OTHER LEGAL OR EQUITABLE THEORY. NO
REPRESENTATION OR OTHER AFFIRMATION OF FACT INCLUDING,
BUT NOT LIMITED TO, STATEMENTS REGARDING SUITABILITY FOR
USE, SHALL BE DEEMED TO BE A WARRANTY BY LICENSOR OR ANY
OF ITS AFFILIATES OR THIRD PARTY SUPPLIERS. LICENSOR DOES
NOT WARRANT THAT THE SOFTWARE IS ERROR-FREE OR WILL
OPERATE WITHOUT INTERRUPTION.
7. LIMITATION OF LIABILITY. EXCEPT AS SET FORTH IN THE LIMITED
WARRANTY, UNDER NO CIRCUMSTANCES SHALL LICENSOR, ITS
AFFILIATES OR ITS THIRD PARTY SUPPLIERS BE LIABLE TO YOU OR
TO ANY THIRD PARTIES FOR DIRECT, INDIRECT, INCIDENTAL OR
CONSEQUENTIAL DAMAGES OF ANY KIND, INCLUDING ANY LOSS OR
DAMAGE CAUSED BY THE SOFTWARE; ANY PARTIAL OR TOTAL
FAILURE OF THE SOFTWARE; PERFORMANCE, NONPERFORMANCE
OR DELAYS IN CONNECTION WITH ANY INSTALLATION,
MAINTENANCE, WARRANTY OR REPAIRS OF THE SOFTWARE,
DAMAGE TO PROPERTY, LOSS OF PROFITS, LOSS OF BUSINESS OR
LOSS OF GOODWILL, LOSS OF USE OF EQUIPMENT OR SERVICES OR
DAMAGES TO BUSINESS OR REPUTATION ARISING FROM THE
PERFORMANCE OR NON-PERFORMANCE OF ANY ASPECT OF THIS
AGREEMENT, WHETHER IN CONTRACT, TORT OR OTHERWISE, AND
WHETHER OR NOT LICENSOR, ITS AFFILIATES OR ITS THIRD PARTY
SUPPLIERS HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES. IN NO EVENT SHALL LICENSOR'S CUMULATIVE LIABILITY
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TO YOU OR TO ANY OTHER PARTY FOR ANY LOSSES OR DAMAGES
RESULTING FROM ANY CLAIMS, LAWSUITS, DEMANDS, OR ACTIONS
ARISING FROM OR RELATING TO USE OF THE SOFTWARE EXCEED
YOUR TOTAL PAYMENT FOR THE RECEIVER AND FOR THE LICENSE
OF THE SOFTWARE.
8
.
Software Maintenance. Licensor may, at its sole option, offer you maintenance of the Software, even though the Warranty Period (as defined above) has expired. Such maintenance may include providing modifications, corrections or enhancements ("Upgrades") to the Software and/or the applicable User Manual(s). Licensor reserves the right, in its sole discretion, to charge you for maintenance (except in cases where corrections are provided under the Limited Warranty). Your acceptance of this License
Agreement constitutes your agreement that any Upgrades will be deemed included in the Software as defined in this License Agreement and that they shall be governed by the terms and conditions applicable to the Receiver
Software under this License Agreement.
9
.
Termination of License.
Licensor may terminate the license granted under this
Agreement upon written notice of termination provided to you if you violate any material term of this Agreement pertaining to your use of the Software or
Licensor's rights, including, without limitation, the provisions of Sections 2 and
3 above.
10
.
Compliance with Law.
You agree that you will use the Software in accordance with United States law and the laws of the country in which you are located, as applicable, including foreign trade control laws and regulations. The
Software may be subject to export and other foreign trade controls restricting re-sales and/or transfers to other countries and parties. By accepting the terms of this Agreement, you acknowledge that you understand that the
Software may be so controlled, including, but not limited to, by the Export
Administration Regulations and/or the foreign trade control regulations of the
Treasury Department of the United States. Any other provision of this
Agreement to the contrary notwithstanding, you agree that the Software will not be resold, re-exported or otherwise transferred. The Software remains subject to applicable U.S. laws.
11
.
Indemnification.
You agree to defend, indemnify and hold Licensor, its affiliates and third party supplier, and their officers, directors, employees, agents and representatives (each an "Indemnified Party"), harmless from and against all claims, demands proceedings, injuries, liabilities, losses, or costs and expenses (including reasonable legal fees) brought by any third party against any such persons arising from or in connection with your use of the
Software, regardless of whether such losses are caused, wholly or partially, by any negligence, breach of contract or other fault of an Indemnified Party.
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12
.
Trademark.
C-
Nav3050™ is a trademark of Licensor. No right, license, or interest to such trademark is granted hereunder, and you agree that no such right, license, or interest shall be asserted by you with respect to such trademark.
13
.
Costs of Litigation.
If any claim or action is brought by either party to this
License Agreement against the other party regarding the subject matter hereof, the prevailing party shall be entitled to recover, in addition to any other relief granted, reasonable attorney fees and expenses of litigation.
14
.
Severability and Waiver.
Should any term of this License Agreement be declared void or unenforceable by any court of competent jurisdiction, such declaration shall have no effect on the remaining terms hereof. The failure of either party to enforce any rights granted hereunder or to take action against the other party in the event of any breach hereunder shall not be deemed a waiver by that party as to subsequent enforcement of rights of subsequent actions in the event of future breaches.
15.
Language Clause.
If you are a resident of Canada at the time you accept this
License Agreement, then the parties hereby acknowledge that they have required this License Agreement, and all other documents relating hereto, be drawn up in the English language only. Les parties reconnaissent avoir demandé que le présent contrat ainsi que toute autre entente ou avis requis ou permis à être conclu ou donné en vertu des stipulations du présent contrat, soient rédigés en langue anglaise seulement. If you are a resident of any country other than the United States, Canada, Great Britain, Australia or
New Zealand then you agree as follows: there may be a translated version of this License Agreement. If there is an inconsistency or contradiction between the translated version and the English version of this License Agreement, the
English version of this License Agreement shall control.
16. Assignment by Licensor.
Licensor may assign this Agreement without your prior consent to any company or entity affiliated with Licensor, or by an assignment associated with a corporate restructuring, merger or acquisition.
17. Governing Law and Forum.
This Agreement will be governed by and construed in accordance with the substantive laws in force in the County of
Los Angeles in the State of California. This Agreement will not be governed by the conflict of law rules of any jurisdiction or the United Nations Convention on Contracts for the International Sale of Goods, the application of which is expressly excluded.
18.
Specific Exceptions.
18.1
Limited Warranty for Users Residing in European Economic Area Countries and Switzerland.
If you obtained the Software in any European Economic
Area countries and Switzerland, and you usually reside in such country,
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"
agreed upon functionalities
") for the Warranty Period. As used in this Section,
"Warranty Period" means one (1) year. Non-substantial variation from the agreed upon functionalities shall not be considered and does not establish any warranty rights. THIS LIMITED WARRANTY DOES NOT APPLY TO
Software PROVIDED TO YOU FREE OF CHARGE, FOR EXAMPLE,
UPDATES, OR SOFTWARE THAT HAS BEEN ALTERED BY YOU, TO
THE EXTENT SUCH ALTERATIONS CAUSED A DEFECT. To make a warranty claim, during the Warranty Period you must return, at our expense, the Software and proof of purchase to the location where you obtained it. If the functionalities of the Software vary substantially from the agreed upon functionalities, Licensor is entitled -- by way of re-performance and at its own discretion -- to repair or replace the Software. If this fails, you are entitled to a reduction of the purchase price (reduction) or to cancel the purchase agreement (rescission). For further warranty information, please contact Licensor at the address listed in Section 21.
18.2
Limitation of Liability for Users Residing in European Economic Area
Countries and Switzerland.
(a)
If you obtained the Software in any European Economic Area country or
Switzerland, and you usually reside in such country, then Sections 7 and 11 do not apply, Instead, subject to the provisions in Section 13.2.2, Licensor's statutory liability for damages shall be limited as follows:
(a
) Licensor shall be liable only up to the amount of damages as typically foreseeable at the time of entering into this License Agreement in respect of damages caused by a slightly negligent breach of a material contractual obligation and
(b)
Licensor shall not be liable for damages caused by a slightly negligent breach of a non-material contractual obligation.
(b)
The aforesaid limitation of liability shall not apply to any mandatory statutory liability, in particular, to liability under the German Product Liability
Act, liability for assuming a specific guarantee or liability for culpably caused personal injuries.
(c)
You are required to take all reasonable measures to avoid and reduce damages, in particular to make back-up copies of the Software and your computer data subject to the provisions of this Agreement.
19. Representations of Licensee.
BY ACCEPTING THIS AGREEMENT, YOU: (A)
ACKNOWLEDGE THAT YOU HAVE READ AND UNDERSTAND THIS
AGREEMENT; (B) REPRESENT THAT YOU HAVE THE AUTHORITY TO
ENTER INTO THIS AGREEMENT; (C) AGREE THAT THIS AGREEMENT IS
ENFORCEABLE AGAINST YOU AND ANY LEGAL ENTITY THAT
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OBTAINED THE Software AND ON WHOSE BEHALF IT IS USED; AND, (D)
AGREE TO PERFORM THE OBLIGATIONS OF THIS AGREEMENT.
20. Identification of Licensor and Notices
.
The Licensor is C-Nav, a Division of
C&C Technologies, Inc. All notices to Licensor shall be sent by email, certified or registered mail to the corresponding address for the Licensor given below.
All notices required to be given to you shall, in Licensor’s sole discretion, either be sent via email, facsimile transmission, first class, certified or registered mail to the relevant address given to Licensor in connection with your purchase of the RECEIVER. Any of the foregoing methods of notification used by Licensor shall be effective upon dispatch. You agree to notify
Licensor of any change in your designated addresses in the manner set forth above.
Place of Purchase Address
North America
Asia, Australia,
New Zealand
Europe
Africa, Middle East
Latin & South
America
C-Nav World DGNSS
ATTN: GNSS Receiver Customer
Support
730 East Kaliste Saloom Road
Lafayette, LA 70508
United States of America [email protected]
All notices to Licensor shall be effective upon receipt.
Open Source Software License Appendix
Listing of modules/components not licensed under the C-Nav proprietary license:
License Text - Module/Component: freeRTOS v4.7.2
GNU GENERAL PUBLIC LICENSE
Version 2, June 1991
Copyright (C) 1989, 1991
Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA
02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.
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See the end of this section for a special exception to the General Public License
(GPL).
Preamble
The licenses for most software are designed to take away your freedom to share and change it. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change free software--to make sure the software is free for all its users. This General Public License applies to most of the Free Software Foundation's software and to any other program whose authors commit to using it. (Some other Free Software Foundation software is covered by the GNU Library General Public License instead.) You can apply it to your programs, too.
When we speak of free software, we are referring to freedom, not price. Our
General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for this service if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs; and that you know you can do these things.
To protect your rights, we need to make restrictions that forbid anyone to deny you these rights or to ask you to surrender the rights. These restrictions translate to certain responsibilities for you if you distribute copies of the software, or if you modify it.
For example, if you distribute copies of such a program, whether gratis or for a fee, you must give the recipients all the rights that you have. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.
We protect your rights with two steps: (1) copyright the software, and (2) offer you this license which gives you legal permission to copy, distribute and/or modify the software.
Also, for each author's protection and ours, we want to make certain that everyone understands that there is no warranty for this free software. If the software is modified by someone else and passed on, we want its recipients to know that what they have is not the original, so that any problems introduced by others will not reflect on the original authors' reputations.
Finally, any free program is threatened constantly by software patents. We wish to avoid the danger that redistributors of a free program will individually obtain patent licenses, in effect making the program proprietary. To prevent this, we have made it clear that any patent must be licensed for everyone's free use or not licensed at all.
The precise terms and conditions for copying, distribution and modification follow.
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GNU GENERAL PUBLIC LICENSE: TERMS AND CONDITIONS
FOR COPYING, DISTRIBUTION AND MODIFICATION
0
.
This License applies to any program or other work which contains a notice placed by the copyright holder saying it may be distributed under the terms of this General Public License. The "Program", below, refers to any such program or work, and a "work based on the Program" means either the
Program or any derivative work under copyright law: that is to say, a work containing the Program or a portion of it, either verbatim or with modifications and/or translated into another language. (Hereinafter, translation is included without limitation in the term "modification".) Each licensee is addressed as
"you".
Activities other than copying, distribution and modification are not covered by this License; they are outside its scope. The act of running the Program is not restricted, and the output from the Program is covered only if its contents constitute a work based on the Program (independent of having been made by running the Program). Whether that is true depends on what the Program does.
1. You may copy and distribute verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice and disclaimer of warranty; keep intact all the notices that refer to this License and to the absence of any warranty; and give any other recipients of the Program a copy of this License along with the Program.
You may charge a fee for the physical act of transferring a copy, and you may at your option offer warranty protection in exchange for a fee.
2. You may modify your copy or copies of the Program or any portion of it, thus forming a work based on the Program, and copy and distribute such modifications or work under the terms of Section 1 above, provided that you also meet all of these conditions: a) You must cause the modified files to carry prominent notices stating that you changed the files and the date of any change. b) You must cause any work that you distribute or publish, that in whole or in part contains or is derived from the Program or any part thereof, to be licensed as a whole at no charge to all third parties under the terms of this
License. c) If the modified program normally reads commands interactively when run, you must cause it, when started running for such interactive use in the most ordinary way, to print or display an announcement including an appropriate copyright notice and a notice that there is no warranty (or else, saying that you provide a warranty) and that users may redistribute the program under these conditions, and telling the user how to view a copy of
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These requirements apply to the modified work as a whole. If identifiable sections of that work are not derived from the Program, and can be reasonably considered independent and separate works in themselves, then this License, and its terms, do not apply to those sections when you distribute them as separate works. But when you distribute the same sections as part of a whole which is a work based on the Program, the distribution of the whole must be on the terms of this License, whose permissions for other licensees extend to the entire whole, and thus to each and every part regardless of who wrote it.
Thus, it is not the intent of this section to claim rights or contest your rights to work written entirely by you; rather, the intent is to exercise the right to control the distribution of derivative or collective works based on the Program.
In addition, mere aggregation of another work not based on the Program with the
Program (or with a work based on the Program) on a volume of a storage or distribution medium does not bring the other work under the scope of this
License.
3. You may copy and distribute the Program (or a work based on it, under
Section 2) in object code or executable form under the terms of Sections 1 and 2 above provided that you also do one of the following: a) Accompany it with the complete corresponding machine-readable source code, which must be distributed under the terms of Sections 1 and 2 above on a medium customarily used for software interchange; or, b) Accompany it with a written offer, valid for at least three years, to give any third party, for a charge no more than your cost of physically performing source distribution, a complete machine-readable copy of the corresponding source code, to be distributed under the terms of Sections
1 and 2 above on a medium customarily used for software interchange; or, c) Accompany it with the information you received as to the offer to distribute corresponding source code. (This alternative is allowed only for noncommercial distribution and only if you received the program in object code or executable form with such an offer, in accord with Subsection b above.)
The source code for a work means the preferred form of the work for making modifications to it. For an executable work, complete source code means all the source code for all modules it contains, plus any associated interface definition files, plus the scripts used to control compilation and installation of the executable. However, as a special exception, the source code distributed need not include anything that is normally distributed (in either source or binary form)
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If distribution of executable or object code is made by offering access to copy from a designated place, then offering equivalent access to copy the source code from the same place counts as distribution of the source code, even though third parties are not compelled to copy the source along with the object code.
4.
You may not copy, modify, sublicense, or distribute the Program except as expressly provided under this License. Any attempt otherwise to copy, modify, sublicense or distribute the Program is void, and will automatically terminate your rights under this License. However, parties who have received copies, or rights, from you under this License will not have their licenses terminated so long as such parties remain in full compliance.
5
.
You are not required to accept this License, since you have not signed it.
However, nothing else grants you permission to modify or distribute the
Program or its derivative works. These actions are prohibited by law if you do not accept this License. Therefore, by modifying or distributing the Program
(or any work based on the Program), you indicate your acceptance of this
License to do so, and all its terms and conditions for copying, distributing or modifying the Program or works based on it.
6
.
Each time you redistribute the Program (or any work based on the Program), the recipient automatically receives a license from the original licensor to copy, distribute or modify the Program subject to these terms and conditions.
You may not impose any further restrictions on the recipients' exercise of the rights granted herein. You are not responsible for enforcing compliance by third parties to this License.
7. If, as a consequence of a court judgment or allegation of patent infringement or for any other reason (not limited to patent issues), conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this
License. If you cannot distribute so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not distribute the Program at all. For example, if a patent license would not permit royalty-free redistribution of the Program by all those who receive copies directly or indirectly through you, then the only way you could satisfy both it and this License would be to refrain entirely from distribution of the Program.
If any portion of this section is held invalid or unenforceable under any particular circumstance, the balance of the section is intended to apply and the section as a whole is intended to apply in other circumstances.
It is not the purpose of this section to induce you to infringe any patents or other property right claims or to contest validity of any such claims; this section has the
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This section is intended to make thoroughly clear what is believed to be a consequence of the rest of this License.
8.
If the distribution and/or use of the Program is restricted in certain countries either by patents or by copyrighted interfaces, the original copyright holder who places the Program under this License may add an explicit geographical distribution limitation excluding those countries, so that distribution is permitted only in or among countries not thus excluded. In such case, this
License incorporates the limitation as if written in the body of this License.
9. The Free Software Foundation may publish revised and/or new versions of the General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the Program specifies a version number of this License which applies to it and "any later version", you have the option of following the terms and conditions either of that version or of any later version published by the Free Software Foundation. If the
Program does not specify a version number of this License, you may choose any version ever published by the Free Software Foundation.
10.
If you wish to incorporate parts of the Program into other free programs whose distribution conditions are different, write to the author to ask for permission. For software which is copyrighted by the Free Software
Foundation, write to the Free Software Foundation; we sometimes make exceptions for this. Our decision will be guided by the two goals of preserving the free status of all derivatives of our free software and of promoting the sharing and reuse of software generally.
NO WARRANTY
11
.
BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS
NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING
THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE
PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER
EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND
PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE
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PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL
NECESSARY SERVICING, REPAIR OR CORRECTION.
12
.
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED
TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER
PARTY WHO MAY MODIFY AND/OR REDISTRIBUTE THE PROGRAM AS
PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING
ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES
ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM
(INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY
OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS
BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively convey the exclusion of warranty; and each file should have at least the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.> Copyright
(C) <year> <name of author>
This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software
Foundation; either version 2 of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful, but WITHOUT ANY
WARRANTY; without even the implied warranty of MERCHANTABILITY or
FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public
License for more details.
You should have received a copy of the GNU General Public License along with this program; if not, write to the Free Software Foundation, Inc., 59 Temple
Place, Suite 330, Boston, MA
02111-1307 USA
Also add information on how to contact you by electronic and paper mail.
If the program is interactive, make it output a short notice like this when it starts in an interactive mode:
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Gnomovision version 69, Copyright (C) year name of author Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'. This is free software, and you are welcome to redistribute it under certain conditions; type
`show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, the commands you use may be called something other than `show w' and `show c'; they could even be mouseclicks or menu items--whatever suits your program.
You should also get your employer (if you work as a programmer) or your school, if any, to sign a "copyright disclaimer" for the program, if necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the program
`Gnomovision' (which makes passes at compilers) written by James Hacker.
<signature of Ty Coon>, 1 April 1989
Ty Coon, President of Vice
This General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Library General Public License instead of this
License.
-----------------------------------------------------------------------
I have included the following exception to the GPL. The exception should only be used should you wish to combine FreeRTOS with a proprietary product. If you opt to use this exception you are encouraged to make a donation to the
FreeRTOS project. The link on the www.FreeRTOS.org can be used for this purpose. Any such donation is entirely voluntary and does not result in any enhanced support or any warranty rights.
This exception can only be used if you use FreeRTOS solely through the API published on the www.FreeRTOS.org WEB site, and on condition that the combined work is not itself an RTOS.
-----------------------------------------------------------------------
EXCEPTION TEXT:
Linking FreeRTOS statically or dynamically with other modules is making a combined work based on FreeRTOS. Thus, the terms and conditions of the GNU
General Public License cover the whole combination.
As a special exception, the copyright holder of FreeRTOS gives you permission to link FreeRTOS with independent modules that communicate with FreeRTOS solely through the FreeRTOS API interface, regardless of the license terms of these independent modules, and to copy and distribute the resulting combined work under terms of your choice, provided that every copy of the combined work
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C-Nav3050 User Guide is accompanied by a written statement that details to the recipient the version of
FreeRTOS used and an offer by yourself to provide the FreeRTOS source code should the recipient request it. Any FreeRTOS source code, whether modified or in its original release form, or whether in whole or in part, can only be distributed by you under the terms of the GNU General Public License plus this exception.
An independent module is a module which is not derived from or based on
FreeRTOS.
Note that people who make modified versions of FreeRTOS are not obligated to grant this special exception for their modified versions; it is their choice whether to do so. The GNU General Public License gives permission to release a modified version without this exception; this exception also makes it possible to release a modified version which carries forward this exception.
Notice / Acknowledgement Obligations
FreeRTOS.org V4.7.2 - Copyright (C) 2003-2008 Richard Barry.
FreeRTOS v4.7.2 source code is available through email request to: [email protected]
License Text - Module/Component: lwIP v1.2.0
Open Source package license
/*
* Copyright (c) 2001, 2002 Swedish Institute of Computer Science.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. The name of the author may not be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY
EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT
* SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT
* OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
OTHERWISE) ARISING
* IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
OF THE POSSIBILITY
* OF SUCH DAMAGE.
*
* This file is part of the lwIP TCP/IP stack.
*
* Author: Adam Dunkels < [email protected]
>
Notice / Acknowledgement Obligations
Copyright (c) 2001-2004 Swedish Institute of Computer Science.
All rights reserved.
THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL,EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT
NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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Appendix I - RoHS Certification
RoHS (Restriction of Use of Hazardous Substances) regulations limit or ban specific substances
– lead, cadmium, polybrominated biphenyl (PBB), mercury, hexavalent chromium, and polybrominated diphenyl ether (PBDE) flame retardants
– in new electronic and electric equipment.
For Cadmium and Hexavalent chromium, there must be less than 0.01% of the substance by weight at raw homogeneous materials level. For Lead, PBB, and
PBDE, there must be no more than 0.1% of the material, when calculated by weight at raw homogeneous materials. Any RoHS compliant component must have 100 ppm or less of mercury and the mercury must not have been intentionally added to the component.
The following components are RoHS compliant. They have been tested for
RoHS controlled substances and found to be in accordance with RoHS regulations.
CNV92-310413-3002LF
Part
Name
PCBAs
Switch
Clamp
Housing
Labels
End Plate
End Cover
Cable
Hardware
Gaskets
Brackets
Lead
(Pb)
X
O
O
O
O
O
O
O
O
O
O
Mercury
(Hg)
Toxic or hazardous substances and elements
O
O
O
O
O
O
O
O
O
O
O
Cadmium
(Cd)
O
O
O
O
O
O
O
O
O
O
O
Hexavalent
Chromium
(Cr(VI))
O
O
O
O
O
O
O
O
X
O
O
Polybrominated biphenyls
(PBB)
O
O
O
O
O
O
O
O
O
O
O
Polybrominated dephenyl ethers
PBDE)
O
O
O
O
O
O
O
O
O
O
O
Table 62: Toxic or Hazardous Substances or Elements Discloure by Part Number
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“O” indicates that this toxic or hazardous substance contained in all of the homogeneous materials for this part is below the limit requirement in
SJ/T11363-
2006 (Standard of the Electronics Industry of the People’s
Republic of China).
“X” indicates that this toxic or hazardous substance contained in at least one of the homogeneous materials for this part is above the limit requirement in
SJ/T11363-
2006 (Standard of the Electronics Industry of the People’s
Republic of China).
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Glossary
Abbreviations
1PPS - 1 Pulse Per Second
2dRMS - Twice the distance Root Mean Square
A/S -
APC -
Antispoofing
Antenna Phase Center
BER - bps -
BSW -
Bit Error Rate bits per second
British Standard Whitworth
C/A - Coarse/Acquisition
CCS - C-Nav Corrections Service
CCS OTI - C-Nav Corrections Service Over-The-Internet
CEP -
CDU -
COM -
CMR -
Circular Error Probable
Control Display Unit
Communication
Compact Measurement Record
Db -
DCE -
Deg -
DGPS -
DOP -
DTE -
Decibel
Data Communications Equipment
Degree
Differential Global Positioning System
Dilution of Precision
Data Terminal Equipment
ECDIS - Electronic Chart Display & Information System
ECEF - Earth Centered, Earth Fixed
EGNOS - European Geostationary Navigation Overlay Service
FCC - Federal Communications Commission (U.S.)
GAGAN - GPS Aided Geo Augmented Navigation
GDOP - Geometric Dilution of Precision
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GIS - Geographic Information System
GLONASS - GLObalnaya NAvigatsionnaya Sputnikovaya Sistema
GMT - Greenwich Mean Time
GNSS - Global Navigation Satellite System
GPS - Global Positioning System
HDOP - Horizontal Dilution of Precision
HF - High Frequency
HOW -
Hz -
I/O -
IGN -
Hand Over Word
Hertz
Input / Output
Ignition
IMO - International Maritime Organization
INMARSAT - International Maritime Satellite Consortium, Ltd.
INS - Inertial Navigation System
IODC -
ITRF -
JPL -
Issue of Data, Clock
International Terrestrial Reference Frame
Jet Propulsion Laboratory
Kbps -
KHz -
LAN -
Lat -
LCD -
LED -
LES -
Kilobits per second
Kilohertz
Local Area Network
Latitude
Liquid Crystal Display
Light Emitting Diode
Land Earth Station
LF -
Long -
Low Frequency
Longitude
LORAN - Long Range Navigation System
LNA - Low Noise Amplifier
MED -
MSAS -
Marine Equipment Directive
MTSAT Satellite-based Augmentation System
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MSL - Mean Sea Level
NAD27 - North American Datum 1927
NAD83 - North American Datum 1983
NASA -
NGS -
National Aeronautics and Space Administration
National Geodetic Survey
NOAA - National Oceanic and Atmospheric Administration (U.S.)
NMEA - National Marine Electronics Association (U.S.)
NTRIP - Network transport of RTCM Internet Protocol
P/N - Part Number
RTK -
S/A -
SBAS -
SEP -
SI -
SNR -
SPS -
SSR -
SV -
TDOP -
PCM -
PDOP -
PPS - prn -
PVT -
Pulse Code Modulation
Positional Dilution of Precision
Precise Positioning Service pseudo-random noise
Position, Velocity, Time
RAIM -
RHCP -
Receiver Autonomous Integrity Monitoring
Right-hand Circular Polarization
RINEX - Receiver Independent Exchange
RMS - Root Mean Square
RTCM - Radio Technical Commission for Maritime Services
Real-time Kinematic
Selective Availability
Satellite Based Augmentation System
Spherical Error Probable
International System of Units
Signal-to-Noise Ratio
Standard Positioning Service
Spread Spectrum Radio
Space Vehicle
Time Dilution of Precision
UHF -
USB -
USGS -
UTC -
VDOP -
VHF -
Ultra High Frequency
Universal Serial Bus
U.S. Geological Survey
Universal Time Coordinated
Vertical Dilution of Precision
Very High Frequency
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WAAS - Wide Area Augmentation System
WADGPS - Wide Area Differential Global Positioning System
WDOP - Weighted Dilution of Precision
WGS84 - World Geodetic System 1984
Definitions
1 Pulse Per Second (1PPS) is a precision electronic pulse output (at TTL levels) from the GNSS receiver that marks exact second intervals. It is used for precise timing and to synchronize receivers and acquisition computers.
.yym files see meteorological files (where yy = two digit year data was collected).
.yyn files see navigation files (where yy = two digit year data was collected).
.yyo files see observation files (where yy = two digit year data was collected).
Absolute Positioning is the ability of a GNSS receiver to produce positional values without another receiver for reference.
Accuracy is the degree of conformity of a measured or calculated quantity to a standard or true value. Accuracy is therefore related to the quality of the results.
Almanac is found in subframe 5 of the Navigation Message. It is a data file that helps the receiver track and lock-on to satellites as it contains a summary of orbital parameters for all GPS satellites. The almanac can be acquired from any
GPS satellite.
Altitude is the vertical distance above the ellipsoid or geoid. It is always stored as height above ellipsoid in the GNSS receiver but can be displayed as height above ellipsoid (HAE) or height above mean sea level (MSL).
Ambiguity is the unknown number of whole carrier wavelengths between satellite and receiver.
Antenna is a device used to collect and amplify the electromagnetic GNSS signals broadcast by a satellite. These electromagnetic waves are then
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Microstrip antennas are most commonly used in GNSS.
Antenna Phase Center (APC) is the point in an antenna where the GNSS signal from the satellites is received. The height above ground of the APC must be measured accurately to ensure accurate GNSS readings. The APC height can be calculated by adding the height to an easily measured point, such as the base of the antenna mount, to the known distance between this point and the APC.
Antispoofing (A/S) is an encryption technique developed by the US Department of Defense (DoD) that when implemented, denies access to the P-Code by any unauthorized users.
With Antispoofing on, the user will need a DoD issued “key” in order to gain access to the P-Code.
Apogee is the point in the orbit of a satellite about the earth that is the greatest distance from the center of the earth.
Autocorrelation in reference to code is a plot of the scalar product of the noise sequence with a delayed copy of itself.
Autonomous positioning (GNSS) is a mode of operation in which a GNSS receiver computes position fixes in real time from satellite data alone, without reference to data supplied by a reference station or orbital clock corrections.
Autonomous positioning is typically the least precise positioning procedure a
GNSS receiver can perform, yielding position fixes that are precise to 100 meters with Selective Availability on, and 30 meters with S/A off.
Average Deviation is a measure of variability in a data set but it is more robust than standard deviation. It is not related to the bell-shaped curve. It is the average of the absolute deviations of the values from the mean. The data values are subtracted from the mean producing a list of deviations from the mean. The deviations are not squared like they are for the standard deviation; the absolute values of the deviations are used.
Azimuth the azimuth of a line is its direction as given by the angle between the meridian and the line measured in a clockwise direction from the north branch of the meridian.
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Bad Packets refer to the number of bad C-Nav Corrections Service (CCS) packets received since the unit was turned on.
Bandwidth is a measure of the width of the frequency spectrum of a signal expressed in Hertz.
Baseline is the resultant three-dimensional vector (V) between any two stations from which simultaneous GP data have been collected and processed.
Generally given in earth-centered Cartesian coordinates where: V =
(Δx, Δy, Δz)
Base Station see reference station.
Baud Rate (bits per second) is the number of bits sent or received each second. For example, a baud rate of 9600 means there is a data flow of 9600 bits each second. One character roughly equals 10 bits.
Beat Frequency is either of the two additional frequencies obtained when two signals of two frequencies are mixed, equal to the sum or difference of the original frequencies.
Binary Biphase Modulation is a phase change on a constant frequency carrier of either 0 or 180 degrees. These represent the binary digits 0 and 1, respectively.
Binary Code is a system used in communication where selected strings of 0s and 1s are assigned definite meanings.
Binary Pulse Code Modulation is a two-state phase modulation using a string of binary numbers or codes. The coding is generally represented by 1 and 0 with definite meanings attached to each.
Bits per second see baud rate.
Broadcast Ephemeris is the ephemeris broadcast by the GNSS satellites.
British Standard Whitworth (BSW) is a type of coarse screw thread. A 5/8” diameter BSW is the standard mount for survey instruments. (1” Mount included).
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C-Nav Corrections Service (CCS) is a set of real-time global orbit and clock corrections for GNSS satellites. C-Nav equipped receivers are capable of real-
time decimeter positioning (see Appendix C - C-Nav Corrections Service (CCS)
C/A code see Coarse Acquisition code.
CAN BUS is a balanced (differential) 2-wire interface that uses an asynchronous transmission scheme. Often used for communications in vehicular applications.
Carrier is a high-frequency radio wave having at least one characteristic
(frequency, amplitude, or phase), which may be varied by modulation from an accepted value. In general, the carrier wavelength is much shorter than the wavelength of the codes.
Carrier Beat Phase is the difference between the phase of the incoming Doppler shifted satellite carrier signal and the phase of the nominally constant reference frequency generated in the receiver.
Channel a channel of a GNSS receiver consists of the circuitry necessary to receive the signal for a single GNSS satellite.
Chip a. The minimum transition time interval for individual bits of either a 0 or 1 in a binary pulse code usually transmitted in a pseudo-random sequence. b. A tiny square piece of thin semiconductor material on which an integrated circuit is formed or is to be formed.
Circular Error Probable (CEP) is a measurement of precision using standard deviation that is applicable in horizontal stations. Probability for CEP is 50%, meaning that if 100 observations are made, half of them will be within the circular error probable with
Radius = 0.5887 (ơx + ơy)
Civilian code see Coarse Acquisition code.
Clock Bias is the difference between GNSS Time and UTC.
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Coarse Acquisition code (C/A or Civilian code)
is the pseudo-random code generated by GPS satellites. It is intended for civilian use and the accuracy of readings using this code can be degraded if selective availability (S/A) is introduced by the US Department of Defense.
Collimate is to physically align a survey target or antenna over a mark.
COM is the shortened form of the word Communications. Indicates a data communications port to/from the GNSS receiver to a controller or data collection device.
Compact Measurement Record (CMR / CMR+) is a standard format for
DGNSS corrections used to transmit corrections from a reference station to rover receivers. See Related Standards in Notices.
Controller is a device consisting of hardware and software used to communicate and manipulate the I/O functions of the GNSS receiver.
Control Point is a point to which coordinates have been assigned. These coordinates can then be held fixed and are used in other dependent surveys.
Control Segment is a worldwide network of GNSS monitoring and control stations that ensure the accuracy of the GNSS satellite orbits and operation of their atomic clocks. The original control segment for GPS consists of control facilities in Diego Garcia, Ascension Island, Kwajalein, and Hawaii, with a master control station at the Consolidated Space Operations Center (CSPOC) at
Colorado Springs, Colorado.
Convergence Period (C-Nav) is the time necessary for the received C-Nav signal corrections to be applied and the position filtered to optimal performance.
The convergence period is typically 30 to 45 minutes to achieve decimeter accuracy.
Cycle Ambiguity see Ambiguity.
Cycle Slip is a discontinuity in measured carrier beat phase resulting from a temporary loss of lock in the carrier-tracking loop of a GNSS receiver.
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Datum A reference datum is a known and constant surface, which can be used to describe the location of unknown points. Geodetic datums define the size and shape of the earth and the origin and orientation of the coordinate systems used to map the earth.
DB9P A type of electrical connector containing 9 contacts. The P indicates a plug pin (male).
DB9S A type of electrical connector containing 9 contacts. The S indicates a slot pin (female).
DCE Data Communications Equipment. Defined pin assignments based on the
IEEE RS-232 signaling standard. See Figure 51 :
Figure 51: DTE to DCE RS-232 Pin Assignments
Deflection of the Vertical is the angle between the perpendicular to the geoid
(plumb line) and the perpendicular to the ellipsoid.
DGNSS see Differential GPS / GNSS.
DGPS see Differential GPS / GNSS.
Differencing is a technique used in baseline processing to resolve the integer cycle ambiguity and to reduce a number of error sources including oscillator
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“differences” the measurement of the carrier beat phase across time, frequency, receivers, satellites, or any combination of these. The most popular differences are single, double and triple.
Differential GPS / GNSS (DGPS / DGNSS) is a positioning procedure that uses two receivers, a rover at an unknown location and a reference station at a known, fixed location. The reference station computes corrections based on the actual and observed ranges to the satellites being tracked. The coordinates of the unknown location can be computed with sub-meter level precision by applying these corrections to the satellite data received by the rover.
Dilution of Precision (DOP) is a class of measures of the magnitude of error in
GNSS position fixes due to the orientation of the GNSS satellites with respect to the GNSS receiver. There are several DOPs to measure different components of the error. Note: this is a unit-less value. See also PDOP.
Doppler Aiding is a signal processing strategy that uses measured Doppler shifts to help the receiver smoothly track the GNSS signal, allowing more precise velocity and position measurement.
Doppler Shift is the apparent change in frequency of a received signal due to the rate of change of the distance between the transmitter and receiver.
Double Difference between receivers and between satellites is found by differencing the single difference for one satellite with the single difference for another satellite where both single differences are from the same epoch.
Dual-Frequency is a type of GPS receiver that uses both L1 and L2 signals from
GPS satellites. A dual-frequency receiver can compute more precise position fixes over longer distances and under more adverse conditions because it compensates for ionospheric delays.
Dynamic Mode when a GNSS receiver operates in dynamic mode, it assumes that it is in motion and certain algorithms for GNSS position fixing are enabled in order to calculate a tighter position fix.
Dynamic Positioning (GNSS) is the determination of the position of a moving receiver such as one mounted on a boat. Generally, each set of coordinates is
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Eccentricity is the ratio of the distance from the center of an ellipse to its focus on the semi-major axis.
Elevation is the distance above or below Local Vertical Datum.
Elevation Mask the lowest elevation, in degrees, at which a receiver can track a satellite. Measured from the horizon to zenith, 0º to 90º.
Ellipsoid is a mathematical model approximating the e arth’s surface, generated by rotating an ellipse on its minor axis. GNSS positions are computed relative to the WGS-84 ellipsoid. An ellipsoid has a smooth surface, which does not match the earth’s geoidal surface closely, so GNSS altitude measurements can contain a large vertical error component. Conventionally surveyed positions usually reference a geoid, which has an undulating surface and approximates the earth’s surface more closely to minimize altitude errors.
Ephemeris is a tabulation of the positions of all GNSS satellites at given points in time.
Epoch is a period of time or a date selected as a point of reference.
Error Ellipse is a statistical measure of the positional error at a given point computed from the propagation of all errors affecting the position solution and expressed by its semi-major and semi-minor axis (vectors of greatest and least magnitude) and the covariance (rotation angle in the reference coordinate system). Two-dimensional errors are typically propagated at one standard deviation (39.4% probability that the positioning lies on or within the ellipse) or
2.1447 times the standard deviation (95% confidence) level.
European Geostationary Navigation Overlay Service (EGNOS) a European satellite system used to augment the two military satellite navigation systems now operating, the US GPS and Russian GLONASS systems.
Fractional Instantaneous Phase Measurement is a measurement of the carrier beat phase that does not include any integer cycle count.
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Frequency Band is a range of frequencies in a region of the electromagnetic spectrum.
Frequency Spectrum is the distribution of signal amplitudes as a function of frequency of the constituent signal waves.
Geodetic Leveling Network is a network of vertical control or benchmarks whose heights are known as accurately as possible, and whose horizontal position is known only approximately.
Geoid is the gravity-equipotential surface that best approximates mean sea level over the entire surface of the earth. The surface of a geoid is too irregular to use for GNSS readings, which are measured relative to an ellipsoid. Conventionally surveyed positions reference a geoid. Calculating the distance between the geoid and ellipsoid at each position and subtracting this from the GNSS altitude measurement can obtain more accurate GNSS readings.
Geoidal Height is the undulation of the geoid above or below the reference ellipsoid.
Geographical Information System (GIS) is a computer system capable of assembling, storing, manipulating, updating, analyzing and displaying geographically referenced information, i.e. data identified according to their locations. GIS technology can be used for scientific investigations, resource management, and development planning. GIS software is used to display, edit, query and analyze all the graphical objects and their associated information.
Global Positioning System (GPS) geometrically, there can only be one point in space, which is the correct distance from each of four known points. GPS measures the distance from a point to at least four satellites from a constellation of 24 NAVSTAR satellites orbiting the earth at a very high altitude (approximately
20,200 km)
. These distances are used to calculate the point’s position.
GLONASS short for GLObalnaya NAvigatsionnaya Sputnikovaya Sistema, is a
Russian satellite-based navigation system that works alongside GPS (Global
Positioning System) to provide position information to compatible devices. With an additional 24 satellites to utilize, GLONASS compatible receivers can acquire satellites up to 20% faster than devices that rely on GPS alone.
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GPS Time is a measure of time. GPS time is based on UTC, but does not add periodic ‘leap seconds’ to correct for changes in the earth’s period of rotation. As of June 2012 GPS time is 16 seconds ahead of UTC.
Greenwich Mean Time (GMT) is the local time of the 0° meridian passing through Greenwich, England.
Handover Word is the word in the GPS message that contains time synchronization information for the transfer from the C/A-code to the P-code.
Horizontal Geodetic Network is a network for which the horizontal, coordinate, latitude, and longitude of the control points in the network are determined as accurately as possible, and heights are known only approximately.
Independent Baseline those baselines that provide a unique position solution for a given station.
Integer-cycle Ambiguity is the unknown number of whole carrier cycles between the satellite and the receiver.
Ionosphere is the region of the earth’s atmosphere between the stratosphere and the exosphere approximately 50 to 250 miles above the earth’s surface.
Ionospheric Refraction Delay is a delay in the propagation of the GNSS signal caused by the signal traveling through the ionosphere.
Issue of Data, Clock (IODC) indicates the issue number of the data set and thereby provides the user with a convenient means of detecting any change in the correction parameters. The transmitted IODC will be different from any value transmitted by the satellite during the preceding seven days.
Kalman Filtering is a linear system in which the mean squared error between the desired output and the actual output is minimized when the input is a random signal generated by white noise. The Kalman filter looks at a target to remove the effects of the noise and get a good estimate of the location of the target at the present time (filtering), at a future time (prediction), or at a time in the past
(interpolation or smoothing). The Kalman filter is a recursive estimator with two phases: predict and update. The predict phase uses the estimate from a previous state to produce an estimate of the current state. The update phase uses the current state measurements to arrive at a new more accurate estimate.
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L-Band is the group of radio frequencies extending from approximately 400 MHz to approximately 1600 MHz. The GPS carrier frequencies L1 (1575.4 MHz) and
L2 (1227.6 MHz) are in the L-Band range.
L1 carrier frequency is the primary L-Band carrier used by GPS satellites to transmit satellite data. The frequency is 1575.42 MHz. It is modulated by C/A code, P-code, or Y-code, and a 50-bit / second navigation message. The bandwidth of this signal is 1.023 MHz.
L2 carrier frequency is the secondary L-Band carrier used by GPS satellites to transmit satellite data. The frequency is 1227.6 MHz. It is modulated by P-code, or Y-code, and a 50-bit/second navigation message. The bandwidth of this signal is 10.23 MHz.
Land Earth Station (LES) is the point on the earth’s surface where data is up linked to a satellite.
Latitude (Lat) is the north / south component of the coordinate of a point on the surface on the earth; expressed in angular measurement from the plane of the equator to a line from the center of the earth to the point of interest. It is often abbreviated as Lat.
Least Squares Adjustment is a mathematical technique used on data sets that attempts to find the number that provides the ‘best fit’ to the data. It does so by minimizing the sum of the squares of the residuals, which are the difference between the estimated ‘best fit’ and the data point squared. It is carried out using an iterative process. Furthermore, it is a method of determining the curve that best describes the relationship between expected and observed sets of data by minimizing the sums of the squares of deviation between observed and expected values.
LEMO is a type of data or power connector.
Logging Interval is the frequency at which positions generated by the receiver are logged to data files.
Longitude (Lon) is the east/west component of the coordinate of a point on the surface of the earth; expressed as an angular measurement from the plane that
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Mean Sea Level (MSL) is a vertical surface that represents sea level.
Meridian one of the lines joining the north and south poles at right angles to the equator, designated by degrees of longitude, from 0° at Greenwich to 180°.
Meteorological (.YYm) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected. A meteorological file contains atmospheric information.
Monitor Station is one of five worldwide stations maintained by the DoD and used in the GPS control segment to monitor and control satellite clock and orbital parameters. Corrections are calculated and uploaded to each satellite at least once per day. See Control Segment.
Multipath is a phenomenon whereby GNSS signals from a satellite arrive at an antenna having traversed different paths. The signal traversing the longer path may have been reflected off one or more objects - the ground, a vehicle, boat, building or some other surface - and once received by the antenna, will yield a larger pseudo-range estimate and increase the error.
Multipath Error is a positioning error resulting from interference between radio waves that has traveled between the transmitter and the receiver by two paths of different electrical lengths.
Navigation Code uses the two GPS carrier waves and operates on a very low frequency (about 50 Hz). This code communicates the GPS message (a string of data) from the GPS satellites to the GPS receivers on L1 and L2 carrier waves.
Navigation (.YYn) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected.
A navigation file contains satellite position and time information.
Navigation Message is the 1500-bit message broadcast by each satellite at
50bps on both L1 and L2 beacons. This message contains system time, clock correction parameters, ionospheric delay model parameters, and th e vehicle’s
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NAVSTAR is the name given to GPS satellites, originally manufactured by
Rockwell International.
National Marine Electronics Association (NMEA) is a worldwide organization promoting the standardization of digital interfaces to marine electronics devices.
Observation (.YYo) files one of the three file types that make up the RINEX file format. Where YY indicates the last two digits of the year the data was collected.
An observation file contains raw GPS position information.
P-code is the extremely long pseudo-random code generated by a GPS satellite.
It is intended for use only by the U.S. military, so it can be encrypted to Y-code, and then denies unauthorized user’s access.
Parity is a method of detecting communication errors by adding an extra parity bit to a group of bits. The parity bit can be a 0 or 1 value so that every byte will add up to an odd or even number (depending on whether odd or even parity is chosen).
PDOP Mask is the highest PDOP value at which a receiver computes positions.
Perigee is the point in the orbit of a satellite about the earth that is the least distant from the center of the earth.
Phase Center is the point in an antenna where the GNSS signal from the satellites is received. The height above ground of the phase center must be measured accurately to ensure accurate GNSS readings. The phase center height can be calculated by adding the height to an easily measured point, such as the base of the antenna mount, to the known distance between this point and the phase center.
Phase Lock is the technique where the phase of a signal is set to replicate the phase of a reference signal by comparing the phase of the two signals and then using the resultant phase difference to adjust the reference oscillator to eliminate the difference.
Phase Measurement is measurement expressed as a percentage of a portion of a wave (e.g. a sine wave). For example, a complete wavelength
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Position is the latitude, longitude, and altitude of a point. An estimate of error is often associated with a position.
Position Dilution of Precision (PDOP) is a measure of the magnitude of
Dilution of Position (DOP) errors in the x, y, and z coordinates.
Post-processing is a method of differential data correction, which compares data logged from a known reference point to data logged by a roving receiver over the same period of time. Variations in the position reported by the reference station can be used to correct the positions logged by the roving receiver. Postprocessing is performed after the user collects the data and returns to the office, rather than in real time as data is logged, so it can use complex, calculations to achieve greater accuracy.
Precise code see P-code.
Precise Ephemeris is the ephemeris computed after the transmission of the satellite signal and based on satellite tracking information. It is used in postprocessing of collected GNSS data.
Precision is the degree of agreement or repeatability among a series of individual measurements, values, or results. The precision of a numerical value can refer to the number of significant digits used to express a quantity or that an instrument can measure to. Precision is related to the quality of the operation through which the result is obtained.
PRN (Uppercase) typically indicates a GPS satellite number sequence from 1
–
32.
Projection is a mathematical formula that transforms feature locations between the earth’s curved surface and a map’s flat surface. A projected coordinate system includes the information needed to transform locations expressed as latitude values to x,y coordinates. Projections cause distortion in one or more of these spatial properties-distance, area, shape and direction.
Protected code see P-code.
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Pseudo-Random Noise (prn) is a sequence of data that appears to be randomly distributed but can be exactly reproduced. Each GNSS satellite transmits a unique PRN in its signals. GNSS receivers use PRNs to identify and lock onto satellites and to compute their pseudo-ranges.
Pseudo-range is the apparent distance from the reference station’s antenna to a satellite, calculated by multiplying the time the signal takes to reach the antenna by the speed of light (radio waves travel at the speed of light). The actual distance, or range, is not exactly the same because various factors cause errors in the measurement.
Radio Technical Commission for Maritime Services (RTCM) is a standard format for Differential GNSS corrections used to transmit corrections from a base station to rovers. RTCM allows both real-time kinematic (RTK) data collection and post-processed differential data collection. RTCM SC-104 (RTCM Special
Committee 104) is the most commonly used version of RTCM message.
Range is the distance between a satellite and a GNSS receiver’s antenna. The range is approximately equal to the pseudo-range. However, errors can be introduced by atmospheric conditions, which slow down the radio waves, clock errors, irregularities in the satellite’s orbit, and other factors. A GNSS receiver’s location can be determined if you know the ranges from the receiver to at least four GNSS satellites. Geometrically, there can only be one point in space, which is the correct distance from each of four known points.
Real-Time Kinematic (RTK) is a GNSS system that yields very accurate 3D position fixes immediately in real-time. The base station transmits its GNSS position to roving receivers as the receiver generates them, and the roving receivers use the base station readings to differentially correct their own positions. Accuracies of a few centimeters in all three dimensions are possible.
RTK requires dual frequency GNSS receivers and high speed radio modems.
Receiver Independent Exchange (RINEX) is a set of standard definitions and formats designed to be receiver or software manufacturer independent and to promote the free exchange of GNSS data. The RINEX file format consists of separate files, the three most commonly used are:
Observation (.YYo) file,
Navigation (.YYn) file,
Meteorological (.YYm) files;
Where YY indicates the last two digits of the year the data was collected.
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Reference station a reference station collects GNSS data for a fixed, known location. Some of the errors in the GNSS positions for this location can be applied to positions recorded at the same time by roving receivers which are relatively close to the reference station. A reference station is used to improve the quality and accuracy of GNSS data collected by roving receivers.
Right Hand Circular Polarization (RHCP) is used to discriminate satellite signals. GNSS signals are RHCP.
Root Mean Square (RMS) is a measurement of precision also applicable for horizontal stations. Probability for RMS is 68.3%, meaning that if 100 observations are made, 68 of them will be within the root mean square, 1 standard deviation.
Rover is any mobile GNSS receiver and field computer collecting data in the field. A roving receiver’s position can be differentially corrected relative to a stationary reference GNSS receiver or by using GNSS orbit and clock corrections from a SBAS such as the C-Nav Corrections Service (CCS).
Roving Receiver see rover
Satellite Based Augmentation System (SBAS) this is a more general term, which encompasses WAAS, C-Nav and EGNOS type corrections.
Satellite Constellation is the arrangement of a set of satellites in space.
Satellite Message is sometimes referred to as the Data (D) code. A lowfrequency (50 Hz) stream of data on both carriers (L1 and L2) of the satellite signal. The stream of data is designed to inform the user about the health and position of the satellite. The satellite message can be decoded by the receiver and used for positioning in real time.
Selective Availability (S/A) is the deliberate degradation of the GPS signal by encrypting the P-code and dithering the satellite clock. When the US Department of Defense uses S/A, the signal contains errors, which can cause positions to be inaccurate by as much as 100 meters.
Signal-to-Noise Ratio (SNR) is a measure of a satellite’s signal strength.
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Single Difference between receivers is the instantaneous difference in the complete carrier beat phase measurements made at two receivers simultaneous observing the same signal.
Single-frequency is a type of receiver that only uses the L1 GPS signal. There is no compensation for ionospheric effects. The C-Nav3050 could be optioned as a single frequency receiver.
Space Segment is the portion of the GNSS system with major components in space (e.g., satellites).
Space Vehicle (SV) a GNSS satellite.
Spread Spectrum Radio (SSR) is a radio that uses wide band, noise like
(pseudo-noise) signals that are hard to detect, intercept, jam, or demodulate making any data transmitted secure. Because spread spectrum signals are so wide, they can be transmitted at much lower spectral power density (Watts per
Hertz), than narrow band signals.
Standard Deviation is a measure of how widely values are dispersed from the mean. The larger the standard deviation is, the more spread out the values are from the mean. It is the square root of the average squared deviations of each of the values from the mean.
Time Tag is when a time value is appended to an actual measurement.
Triple Difference between receivers, between satellites, and between epochs
(time) is the difference between a double difference at one epoch and the same double difference at the following epoch.
Troposphere is the inner layer of the atmosphere, located between 6 and 12 miles above the earth’s surface.
Twice Distance Root Mean Square (2dRMS) is a measurement that varies in its probability from 95.4% to 98.2%, meaning that if 100 observations are taken, between 95 and 98 of those observations will be within the 2dRMS where approximation = 2ơ
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Universal Time Coordinated (UTC) a time standard maintained by the US
Naval Observatory, based on local solar mean time at the Greenwich meridian.
GPS time is based on UTC.
User Segment is the portion of the GNSS system with major components that can be interfaced by the user (e.g., GNSS receivers).
Wide Area Augmentation System (WAAS) is a set of corrections for the GPS satellites, which are valid for the Americas region. They incorporate satellite orbit and clock corrections.
Wide Area Differential GNSS (WADGNSS) is a set of corrections for the GPS satellites, which are valid for a wide geographic area.
World Geodetic System 1984 (WGS84) is the current standard datum for global positioning and surveying. The WGS-84 is based on the GRS-80 ellipsoid.
Y-code is the name given to encrypted P-code when the U.S. Department of
Defense uses selective availability.
Z-count Word is the GPS satellite clock time at the leading edge of the data subframe of the transmitted GPS message.
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