Novatel | WAAS-GUS Receiver | User manual | Novatel WAAS-GUS Receiver User Manual

Novatel WAAS-GUS Receiver User Manual
Software Version 5.44 / 4.44
OM-20000015 Rev. 2.0
WAAS / GUS RECEIVER SUBSYSTEM
Installation and Operation Manual
NovAtel Inc.
WAAS / GUS Receiver Subsystem
Installation and Operation Manual
Publication Number:
OM-20000015
Revision Level:
2.0
97/11/18
This manual reflects WAAS / GUS firmware revision level 5.44 / 4.44.
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment on the part of
NovAtel Inc. The software described in this document is furnished under a license agreement or non-disclosure
agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against the
law to copy the software on any medium except as specifically allowed in the license or non-disclosure agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical,
including photocopying and recording, for any purpose without the express written permission of a duly authorized
representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of publication.
P-Code Delayed Correlation Technology, GPSAntenna, GPSCard, MEDLL, MET, MiLLennium and Narrow
Correlator are trademarks of NovAtel Inc.
Belden is a registered trademark of Belden Inc.
© 1997 NovAtel Inc. All rights reserved
Unpublished rights reserved under International copyright laws.
Printed in Canada on recycled paper. Recyclable.
ii
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Table of Contents
TABLE OF CONTENTS
Foreword ............................................................................................................................ xi
Scope.......................................................................................................................... .............................................. xi
Prerequisites .................................................................................................................. ........................................... xi
Compliance with GPS Week Rollover.............................................................................................. ....................... xi
Compliance with Year 2000 Rollover............................................................................................. ........................ xii
What’s New in this Edition? .................................................................................................... ............................... xii
1
Introduction............................................................................................................... 13
WAAS Overview .................................................................................................................. ...................................13
The NovAtel WAAS / GUS Receiver ......................................................................................................................14
Operational Overview ........................................................................................................... ............................15
MEDLL .......................................................................................................................... ...............................16
GEO Processing................................................................................................................. ............................16
Dual Frequency L1/L2 I ......................................................................................................... .......................16
Dual Frequency L1/L2 II........................................................................................................ .......................16
Other Outputs & Inputs ......................................................................................................... ........................17
2
Installation of WAAS Receiver ................................................................................ 18
Minimum Configuration .......................................................................................................... ................................18
Connecting the External Frequency Reference.................................................................................... ....................19
Connecting Data Communications Equipment ....................................................................................... .................20
Using the 1PPS Output.............................................................................................................................................21
Connecting the GPS Antenna..................................................................................................... ..............................21
Connecting the External Power Input ............................................................................................ ..........................22
Using the 20.473 MHz Output Signal............................................................................................. .........................22
Accessing the Strobe Signals ................................................................................................... ................................23
3
Operation .................................................................................................................. 24
Pre-Start Check List ........................................................................................................... ......................................24
Serial Ports - Default Settings ...........................................................................................................................24
Boot-Up........................................................................................................................ .....................................24
Initial Communications With the WAAS / GUS Receiver.......................................................................................25
4
Firmware Updates .................................................................................................... 26
Contact Customer Service ....................................................................................................... .................................26
Download Compressed Files...................................................................................................... ..............................27
Decompress Files ............................................................................................................... ......................................27
Run LOADER ..................................................................................................................... .....................................27
Menu Mode...................................................................................................................... .................................28
Command-Line Mode .............................................................................................................. .........................29
Updating Individual GPSCards ................................................................................................... ..................29
Updating the GPSCards in the MEDLL Subsystem ................................................................................... ...29
Entire Receiver Update Mode...........................................................................................................................31
Updating Remotely Over a Network (PROPOSED) ................................................................................................31
5
Command Descriptions ........................................................................................... 32
$AGC .......................................................................................................................................................................35
ASSIGN ...................................................................................................................................................................37
$ASSIGNG2TOPRN ...............................................................................................................................................38
$CCRATIO ..............................................................................................................................................................39
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
iii
Table of Contents
CLOCKADJUST..................................................................................................................................................... 40
COMn...................................................................................................................................................................... 40
CONFIG.................................................................................................................................................................. 41
CSMOOTH ............................................................................................................................................................. 41
$DLLORDER.......................................................................................................................................................... 42
ECUTOFF ............................................................................................................................................................... 42
FIX POSITION ....................................................................................................................................................... 43
$JAMMODE ........................................................................................................................................................... 43
LOG ........................................................................................................................................................................ 44
$PLLBW ................................................................................................................................................................. 45
RESET..................................................................................................................................................................... 46
$SETFRAMETYPE ................................................................................................................................................ 46
$THRESHOLD ....................................................................................................................................................... 46
UNASSIGN............................................................................................................................................................. 47
UNASSIGNALL ..................................................................................................................................................... 47
$UNASSIGNG2TOPRN......................................................................................................................................... 48
UNDULATION ...................................................................................................................................................... 48
UNFIX..................................................................................................................................................................... 49
UNLOG................................................................................................................................................................... 49
UNLOGALL ........................................................................................................................................................... 49
VERSION ............................................................................................................................................................... 50
6
Output Logging ......................................................................................................... 51
7
NovAtel Format Data Logs....................................................................................... 54
ASCII Log Structure ............................................................................................................................................... 54
Binary Log Structure ............................................................................................................................................... 54
Time Conventions ................................................................................................................................................... 55
Log Descriptions ..................................................................................................................................................... 55
$ACPA/B AGC Control Parameter Information............................................................................................ 55
$AGCA/B AGC and A/D Information........................................................................................................... 58
ALMA/B Decoded Almanac.......................................................................................................................... 60
CDSA/B Communication and Differential Decode Status............................................................................. 61
CLKA/B Receiver Clock Offset Data ............................................................................................................ 63
DOPA/B Dilution of Precision....................................................................................................................... 65
ETSA/B Extended Tracking Status................................................................................................................ 67
FRMA/B Framed Raw Navigation Data ........................................................................................................ 71
IONA/B Ionospheric Model Parameters ........................................................................................................ 72
POSA/B Computed Position .......................................................................................................................... 73
RBTA/B Satellite Broadcast Data: Raw Bits ................................................................................................. 75
RCCA Receiver Configuration ...................................................................................................................... 76
REPA/B Raw Ephemeris................................................................................................................................ 77
RGEA/B Channel Range Measurements........................................................................................................ 77
Receiver Status – Detailed Bit Descriptions of Self-Test Word ................................................................... 80
RVSA/B Receiver Status................................................................................................................................ 84
SATA/B Satellite Specific Data ..................................................................................................................... 85
SBTA/B Satellite Broadcast Data: Raw Symbols .......................................................................................... 87
TM1A/B Time of 1PPS.................................................................................................................................. 88
UTCA/B UTC Time Parameters .................................................................................................................... 89
WRCA/B Wide Band Range Correction (Grouped Format).......................................................................... 90
iv
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Table of Contents
Appendices
A
B
C
D
E
Installation of GUS Receiver................................................................................................................91
Minimum Configuration......................................................................................................................91
Connecting the External Frequency Reference ...................................................................................92
Connecting Data Communications Equipment ...................................................................................94
Using the 1PPS Output ........................................................................................................................94
Connecting the Antennas.....................................................................................................................95
Connecting the External Power Input..................................................................................................95
Using the 20.473 MHz Output Signal .................................................................................................96
Accessing the Strobe Signals...............................................................................................................96
WAAS Receiver - Technical Specifications.........................................................................................98
GUS Receiver - Technical Specifications ..........................................................................................103
Information Messages ........................................................................................................................108
Associated Suppliers...........................................................................................................................113
Index ................................................................................................................................ 114
TABLES
1
2
3
4
5
6
7
8
9
10
11
12
13
14
WAAS / GUS Commands by Category ............................................................................................................33
WAAS / GUS Command Summary..................................................................................................................34
Obsolete Commands .........................................................................................................................................34
WAAS / GUS Logs by Category ......................................................................................................................52
WAAS / GUS Log Summary ............................................................................................................................53
Obsolete Logs ...................................................................................................................................................53
GPSCard Solution Status ..................................................................................................................................69
Channel Tracking Status Bits............................................................................................................................69
Range Reject Codes ..........................................................................................................................................70
Receiver Self-Test Status Codes....................................................................................................................79
Additional information about WAAS / GUS Receiver Self-Test Status word ..............................................83
Type 1 !ERRA Messages ............................................................................................................................109
Type 1 !MSGA Messages............................................................................................................................109
Type 2 Information Messages .....................................................................................................................110
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
v
Table of Contents
FIGURES
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
vi
The WAAS Concept......................................................................................................................................... 13
The NovAtel WAAS / GUS Receiver .............................................................................................................. 14
WAAS / GUS Receiver Functional Block Diagram......................................................................................... 15
WAAS Minimum System Configuration ........................................................................................................ 18
Rear Panel of WAAS Receiver ........................................................................................................................ 19
10 MHz In (External Frequency Reference) - WAAS ..................................................................................... 19
Lights on Front Panel of WAAS Receiver ....................................................................................................... 20
Pinout for L1-C/A, L1/L2 I, & L1/L2 II Ports - WAAS .................................................................................. 21
Pinout for TIME Port - WAAS ........................................................................................................................ 21
1 PPS Output - WAAS ................................................................................................................................. 21
Antenna Input - WAAS ................................................................................................................................ 22
External Power Connections - WAAS.......................................................................................................... 22
20.473 MHz Output – WAAS ...................................................................................................................... 23
Strobe 9-pin D-Connector Pinout - WAAS .................................................................................................. 23
Main screen of LOADER program............................................................................................................... 28
Height Relationships..................................................................................................................................... 48
GUS Minimum System Configuration ........................................................................................................ 91
Rear Panel of GUS Receiver ........................................................................................................................ 92
10 MHz In (External Frequency Reference) - GUS ..................................................................................... 93
Lights on Front Panel of GUS Receiver ....................................................................................................... 93
Pinout for L1-C/A, L1/L2 I, & L1/L2 II Ports - GUS .................................................................................. 94
Pinout for TIME Port - GUS ........................................................................................................................ 94
1 PPS Output - GUS ..................................................................................................................................... 94
Antenna Input - GUS.................................................................................................................................... 95
External Power Connections - GUS ............................................................................................................. 96
20.473 MHz Output - GUS........................................................................................................................... 96
Strobe 9-pin D-Connector Pinout - GUS...................................................................................................... 96
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Warranty Policy
WARRANTY POLICY
Warranty Period: one (1) year from the date of delivery. NovAtel warrants that during the Warranty Period the WAAS /
GUS Receiver (Part No. 01016247) will be free from defects in material and workmanship, will conform to applicable
specifications, and the software will be free from errors which materially affect performance. These warranties are
expressly in lieu of all other warranties, expressed or implied, including, without limitation, all implied warranties of
merchantability and fitness for a particular purpose. NovAtel shall in no event be liable for special, indirect, incidental
or consequential damages of any kind or nature due to any cause.
The Customer’s exclusive remedy for a claim under this warranty shall be limited to the repair or replacement, at
NovAtel’s option, of defective or nonconforming materials, part or components. The foregoing warranties do not extend
to (i) nonconformities, defects or errors in the WAAS / GUS Receivers (Part No. 01016247) due to accidents, abuse,
misuse or negligent use of the WAAS / GUS Receivers (Part No. 01016247) or use in other than a normal and
customary manner, environmental conditions not conforming to applicable specifications, or failure to follow prescribed
installation, operating and maintenance procedures, (ii) defects, errors or nonconformities in the WAAS / GUS Receiver
(Part No. 01016247) due to modifications, alterations, additions or changes not made in accordance with applicable
specifications or authorized by NovAtel, (iii) normal wear and tear, (iv) damages caused by force of nature or act of any
third person, (v) service or repair of the WAAS / GUS Receiver (Part No. 01016247 by the Customer without prior
written consent from NovAtel, (vi) units with serial numbers or other factory identification removed or made illegible,
(vii) shipping damage not applicable to improper packaging.
There are no user serviceable parts in the WAAS / GUS Receiver and no maintenance is required. When the status code
or the lights on the front panel indicate that a unit is faulty, call NovAtel Customer Service to confirm the fault
diagnosis.
You must obtain a RETURN MATERIAL AUTHORIZATION (RMA) number by calling GPS Customer
Service at 800-280-2242 before shipping any product to NovAtel.
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return any defective
product. When returning any product to NovAtel, please return the defective product in the original packaging to avoid
ESD and shipping damage.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
vii
Customer Service
CUSTOMER SERVICE
If you require customer service, please provide the following information along with a detailed description of the
problem when you call or write:
Serial No. _____________________________________ Model No. ________________________________________
Software Release No. ____________________________ Authorization No. __________________________________
Date Purchased: ________________________________
Purchased from: __________________________________________________________________________________
User name: ____________________________________ Title: ____________________________________________
Company:_______________________________________________________________________________________
Address: ________________________________________________________________________________________
City: _________________________________________ Prov/State: ________________________________________
Zip/Postal Code:________________________________ Country: _________________________________________
Phone #: ______________________________________ Fax #:____________________________________________
Receiver interface:
Computer type: __________________________ Operating Shell: _____________________
Other interface used: ______________________________________________________________________________
Please provide a complete description of any problems you may be experiencing, or the nature of your inquiry (attach
additional sheets if needed):
_______________________________________________________________________________________________
_______________________________________________________________________________________________
_______________________________________________________________________________________________
_______________________________________________________________________________________________
_______________________________________________________________________________________________
You may photocopy and fax this page, call, or mail the above information to the address listed below.
For customer support, contact the NovAtel GPS Hotline by phone at 1-800-280-2242 (in North America) or 1-403-295-4900 (worldwide); by fax at 1-403-295-4901; by e-mail at support@novatel.ca; over the World Wide Web at http://www.novatel.ca; or by
mail at:
NovAtel Inc.
GPS Customer Service
1120 – 68 Avenue N.E.
Calgary, Alberta, Canada
T2E 8S5
viii
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Notice
NOTICE
The United States Federal Communications Commission (in 47 CFR 15) has specified that the following notices be
brought to the attention of users of this product.
“This equipment has been tested and found to comply with the limits for a class A digital device, pursuant to Part 15 of
the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case
the user will be required to correct the interference at his own risk.”
“Equipment changes or modifications not expressly approved by the party responsible for compliance could void the
user’s authority to operate the equipment.”
IMPORTANT: In order to maintain compliance with the limits of a Class A digital device, it is required to use
properly shielded interface cables when using the Serial Ports, such as Belden #9539, or equivalent, double-shielded
cables when using the Strobe Port, such as Belden #9945, or equivalent, and Belden #8770 cable for input power source
(ensuring the shield is connected to the protection ground).
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
ix
Foreword
FOREWORD
SCOPE
The WAAS / GUS Receiver Subsystem Installation and Operation Manual is written for users of the WAAS / GUS
Receiver Subsystem. The manual describes both the WAAS and GUS receivers. Except for those cases where a section
states that it specifically applies to a WAAS receiver or a GUS receiver, everything else applies to both receivers.
This manual describes the NovAtel WAAS / GUS Receiver Subsystem in sufficient detail to allow effective integration
and operation. The manual is organized into sections, which allow easy access to appropriate information. From here
on, the WAAS / GUS Receiver Subsystem shall be referred to as the “WAAS / GUS receiver”.
It is beyond the scope of this manual to provide service or repair details. Please contact your NovAtel Service Center for
any customer service inquiries.
PREREQUISITES
The WAAS / GUS receiver is a stand-alone fully functional GPS and WAAS receiver. Refer to Chapter 2 Installation
of WAAS receiver or Appendix A Installation of GUS receiver for more information on installation requirements and
considerations.
The NovAtel WAAS / GUS receiver module utilizes a comprehensive user interface command structure which requires
communications through its serial (COM) ports. To utilize the built-in command structure to its fullest potential, it is
recommended that some time be taken to review and become familiar with Chapters 5-7 of this manual before operating
the WAAS / GUS receiver.
COMPLIANCE WITH GPS WEEK ROLLOVER
The GPS week rollover issue refers to the way GPS receivers store information regarding the current GPS week.
According to the official GPS system specifications document (ICD-GPS-200, paragraph 20.3.3.3.1.1), “… 10 bits shall
represent the number of the current GPS week…”. This means the GPS week is represented by an integer number
between 0 and 1023. As GPS time started on Sunday January 6, 1980 at 0:00 hours, week 1023 will end on Saturday
August 21, 1999 at 23:59:59.
As of yet, there is no consensus regarding what will happen after that moment. According to the ICD-GPS
specifications, the receiver should reset the GPS week number. This means that the week number should not advance to
1024, but start back at 0. However, another way to handle this issue is to extend the number of bits used to represent the
GPS week number. This way, the GPS week would be able to increment as per usual and would not have to be reset.
As per the GPS system specifications document, NovAtel firmware will reset the receiver’s GPS week number back to
zero. Different manufacturers will no doubt handle this situation differently. This issue will not be fully resolved until
the U.S. Department of Defense, which controls GPS, issues a clear and definitive statement regarding the GPS week
rollover issue. Therefore, users should be aware of this issue and keep in mind that there may be a compatibility issue
when purchasing and using different makes of GPS receivers.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
xi
Foreword
COMPLIANCE WITH YEAR 2000 ROLLOVER
There has been significant concern about the impact of the year 2000 on computer systems because some applications
and operating systems use two digits rather than four digits to represent and store the year in a date field (e.g., January 1,
2011). Software relying on two-digit identifiers for dates may not work as expected after December 31, 1999.
The software used in the WAAS / GUS receivers accurately represents the date information. Testing shows that this
software will be unaffected by the change to the year 2000.
WHAT’S NEW IN THIS EDITION?
This edition now documents the features of the GUS receiver, in addition to those of the standard WAAS receiver.
Also, this manual incorporates revisions due to the latest version of software (5.44 / 4.44). There are descriptions of new
commands ($AGC, $DLLORDER, $JAMMODE, $PLLBW, $SETFRAMETYPE, $THRESHOLD, ECUTOFF) and
new logs ($ACPA/B, $AGCA/B, ALMA/B, DOPA/B, IONA/B, POSA/B, RBTA/B, RCCA/B, REPA/B, SATA/B,
SBTA/B, UTCA/B, WRCA/B). Notice is given that the DYNAMICS command has been replaced by the $PLLBW
command, and that the WBRB log has been replaced by the WRCA/B log. Obsolete commands and logs will not be
supported in future releases of software.
xii
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
1 - Introduction
1
INTRODUCTION
The Wide Area Augmentation System (WAAS) is a safety-critical system which is designed to enable the GPS to meet
the US Federal Aviation Administration (FAA) navigation performance requirements for domestic en route, terminal,
non-precision approach and precision approach phases of flight. The primary functions of WAAS include:
•
•
•
•
•
•
•
•
data collection
determining ionospheric corrections
determining satellite orbits
determining satellite clock corrections
determining satellite integrity
independent data verification
WAAS message broadcast and ranging
system operations & maintenance
Figure 1
The WAAS Concept
WAAS OVERVIEW
As shown in Figure 1, the WAAS is made up of a series of Wide Area Reference Stations, Wide Area Master Stations,
Ground Uplink Stations and Geostationary Satellites (GEOs). The Wide Area Reference Stations, which are
geographically distributed, pick up GPS satellite data and route it to the Wide Area Master Stations where wide area
corrections are generated. These corrections are sent to the Ground Uplink Stations which up-link them to the GEOs for
re-transmission on the GPS L1 frequency. These GEOs transmit signals which carry accuracy and integrity messages,
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
13
1 - Introduction
and which also provide additional ranging signals for added availability, continuity and accuracy. These GEO signals
are available over a wide area and can be received and processed by ordinary GPS receivers. GPS user receivers are
thus able to receive WAAS data in-band and use not only differential corrections, but also integrity, residual errors and
ionospheric information for each monitored satellite.
The signal broadcast via the WAAS GEOs to the WAAS users is designed to minimize modifications to standard GPS
receivers. As such, the GPS L1 frequency (1575.42 MHz) is used, together with GPS-type modulation - e.g. a
Coarse/Acquisition (C/A) pseudorandom (PRN) code. In addition, the code phase timing is maintained close to GPS
time to provide a ranging capability.
THE NOVATEL WAAS / GUS RECEIVER
In this context, the NovAtel WAAS Receiver Subsystem (see Figure 2) is designed to be used in a Wide Area Reference
Station. The NovAtel WAAS Receiver Subsystem is designed to provide the GPS monitoring function for the ground
installations in the WAAS network. As such, a number of significant, customized functions have been designed into the
receiver. The principal function is to provide GPS outputs which are virtually free from multipath effects. This is
particularly important for roof-top installations where signal reflections are likely to result in significant multipath
effects.
By comparison, the NovAtel GUS Receiver Subsystem is designed to be used in the Ground Uplink Station.
Figure 2
The NovAtel WAAS / GUS Receiver
There are many similarities between the WAAS Receiver Subsystem and the GUS Receiver Subsystem. For example,
the user interface - the commands by which you can enter information, and the logs by which you can extract data - is
common to both receivers. Therefore, throughout this manual they are both referred to as the “WAAS / GUS receiver”
whenever the text is sufficiently general to refer to either one. However, in those sections of the manual where one or
the other is being specifically described, “WAAS receiver” or “GUS receiver” is used.
14
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
1 - Introduction
The NovAtel WAAS / GUS receiver is a high-performance GPS & WAAS receiver that automatically achieve a high
level of multipath reduction, without any user intervention. NovAtel has developed a multipath elimination technology
that approaches the theoretical limits of multipath-free GPS signal reception. This patented technology, known as
“Multipath Estimation Delay-Lock-Loop” (MEDLL), uses a combination of hardware and software techniques which
together are capable of reducing the combined effects of pseudorange and carrier-phase multipath errors by as much as
90% compared to a system using Narrow Correlator alone. The MEDLL technology takes advantage of NovAtel’s
parallel channel Narrow Correlator sampling techniques. MEDLL uses a proprietary coupled correlator sampling
technique combined with “maximum likelihood estimation” techniques to break down the received signals into direct
path and reflected path components. MEDLL determines the amplitude, delay, and phase angle of both the direct and
multipath signals and analyses the signal with the least delay to determine the direct path. All other signals with greater
delay are considered to be multipath components and are removed. To do this, MEDLL utilizes a multi-card
configuration. Each L1 GPSCard in the MEDLL receiver is linked to one common RF deck and an OCXO which
minimizes inter-channel biases.
The WAAS / GUS receiver also incorporates two L1/L2 GPSCards, which incorporate NovAtel’s P-Code Delayed
Correlation Technology, providing superior performance even in the presence of P-code encryption. Each GPSCard is
an independent GPS receiver.
The WAAS / GUS receiver is packaged in a standard 4U x 19” sub-rack . Easy I/O access is provided by the rear
panel’s 9-pin D connectors as well as the antenna and external oscillator connectors.
OPERATIONAL OVERVIEW
The NovAtel WAAS / GUS Receiver has three functional blocks (see Figure 3):
•
•
•
MEDLL which receives and minimizes multipath on GPS C/A code and GEOs
Dual Frequency L1/L2 I
Dual Frequency L1/L2 II
Figure 3
WAAS / GUS Receiver Functional Block Diagram
Serial Ports
Strobe Port
BACKPLANE: Clocks and Digitized IF Signals
5 VDC
20.473 MHz
Output
MASTER
CARD
CLK/STATUS
CARD
SLAVE
SLAVE
CARD
CARD
L1/L2 - I
L1/L2 - II
MEDLL
MEDLL
/ DSP
/ DSP
RF/IF
Digitizing
RF/IF
Digitizing
+/- 12 VDC
MEDLL / DSP
20.473
OCXO
MHz
RF/IF
Digitizing
RF/IF
Digitizing
10 MHz
Ext Osc
Input
Antenna
Input
POWER
SUPPLY
19-36 VDC
Power
WAAS Receiver Functional Block Diagram
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
15
1 - Introduction
MEDLL
MEDLL is implemented across a number of standard NovAtel Narrow Correlator 12 channel GPS receivers. Through
parallel linking of these separate receiver modules, MEDLL may be configured to behave as a single GPS receiver,
capable of simultaneously tracking either 14 GPS satellites and 2 GEOs (default configuration), or 12 GPS satellites and
4 GEOs.
A single incoming RF signal is routed to a Master Card, which down converts the signal to baseband frequency for
parallel processing by seven Slave receivers. The baseband signal is then processed by eight parallel digital signal
processing sections (Master, plus seven Slaves), through MINOS Application Specific Integrated Circuits (ASICs) and
NovAtel patented Narrow Correlation tracking software.
Across the eight processing sections, there are a total of 96 tracking channels. Six channels are dedicated to tracking
each GPS or GEO satellite, and these channels are dynamically adjusted around the associated correlation envelope. By
a process of continuous comparison of signal measured by each channel, any distortion from the ideal correlation
envelope can be detected, tracked, qualified and removed. This process allows the receiver to isolate and eliminate
multipath distortions from the received signal.
The Master and Slave receivers are mounted in a standard 19” sub-rack, and are supplied power from an integrated
power conditioner. Stable clock signals are derived from a precision Oven Controlled Crystal Oscillator (OCXO).
Status indicators on the front panel provide visual confirmation of the health of each electronic sub-assembly within the
19” sub-rack.
Signals are routed to and from the MEDLL receiver via an RF antenna input, power and digital I/O signal connector on
the rear of the unit.
The unit is controlled via RS-232 using standard NovAtel commands, and data is output in slightly modified NovAtel
output logs. Specific MEDLL logs provide access to the MEDLL processing data.
GEO Processing
Specific channels in the MEDLL and L1/L2-2 groups have the capability to receive and process the GEO WAAS signal.
The signal is in-band at L1 and is identified with WAAS-specific PRN numbers. The WAAS message is decoded and
separated into its various components. The WAAS message and associated pseudorange is provided as an output.
Dual Frequency L1/L2 I
This functional block is based on the standard NovAtel dual frequency MiLLennium receiver. It is configured to track
12 L1 C/A-code signals (Narrow Correlator), and 12 L2 P-code codeless signals. The output is used to compute
ionospheric corrections.
Dual Frequency L1/L2 II
There are several sub-functions within this group:
•
14 channels are configure to track L1 with ‘Wide’ Correlator
•
3 L1 and 3 L2 are configured as extra channel pairs for tracking more than 12 satellites
•
2 channels are configured to track L1 C/A code GEOs
•
2 channels are configured to track L2 C/A code GEOs
The ‘Wide Correlation’ C/A code signals are used for integrity checking against MEDLL and L1/L2 I C/A code
measurements, and the L1 C/A code and L2 C/A code measurements are used to derive ionospheric corrections for the
GEOs.
16
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
1 - Introduction
Other Outputs & Inputs
•
A 1PPS strobe output is available for synchronization with the time port receiver time message.
•
A 20.473 MHz output is available for use with an external GEO receiver.
•
Three serial ports provide:
- raw satellite measurements (pseudorange, carrier & time)
- receiver status data (communications & tracking)
- raw satellite data (ephemeris & almanac)
- fast code corrections for signal stability monitoring
•
The receiver accepts an external input from a 10MHz atomic clock for synchronization.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
17
2 - Installation of WAAS Receiver
2
INSTALLATION OF WAAS RECEIVER
This chapter provides sufficient information to allow you to set up and prepare the WAAS receiver for initial operation.
The corresponding information for the GUS receiver is contained in Appendix A Installation of GUS receiver.
MINIMUM CONFIGURATION
In order for the WAAS receiver to function as a complete system, a minimum equipment configuration is required. This
is illustrated in Figure 4.
Figure 4
WAAS Minimum System Configuration
GPS & GEO
Antenna (L1 & L2)
Oscillator
10 MHz
Power Supply
22 - 30 V DC
Data processing
equipment
The recommended minimum configuration and required accessories are listed below:
•
•
•
•
•
•
NovAtel WAAS receiver
User-supplied and powered L1/L2 GPS antenna and LNA
User-supplied power supply (22-30 V DC, 5 A maximum)
User-supplied external frequency reference (10 MHz)
User-supplied interface, such as a PC or other data communications equipment, capable of standard serial
communications (RS-232C).
User-supplied data and RF cables
See Appendix E Associated Suppliers, for a list of associated suppliers of WAAS subsystem components.
Of course, your intended set-up may differ significantly from this minimum configuration. The WAAS receiver has
many features that would not be used in the minimum configuration shown above. This section merely describes the
basic system configuration, which you can modify to meet your specific situation.
18
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
2 - Installation of WAAS Receiver
For the minimum configuration, setting up the WAAS receiver involves the following steps:
1.
2.
3.
Connect the external frequency reference to the WAAS receiver (“10 MHz IN” connector)
Connect the user interface to the WAAS receiver (“L1-C/A”, “L1/L2 I” and/or “L1/L2 II” connectors)
Install the GPS antenna and low-noise amplifier, and make the appropriate connections to the WAAS receiver
(“ANT” connector) and a power supply
Supply power to the WAAS receiver (“22-30 VDC” connector)
4.
The connections on the rear panel are shown in Figure 5 below:
Figure 5
Rear Panel of WAAS Receiver
CONNECTING THE EXTERNAL FREQUENCY REFERENCE
The WAAS receiver requires an external, user-supplied frequency reference; this would typically take the form of a
high-accuracy oscillator. Please refer to Appendix B WAAS receiver - Technical Specifications, for the recommended
specifications of this device. See Appendix E
Associated Suppliers, for a list of associated suppliers of WAAS
subsystem components.
The frequency reference is connected to the 10 MHz BNC female connector on the rear panel of the WAAS receiver.
Refer to Figure 6 below.
Figure 6
10 MHz In (External Frequency Reference) - WAAS
th
The 11 (bottom) LED on the front panel indicates the status of the connection between the WAAS receiver and the
external clock reference. A clear LED indicates that no external reference is present, red indicates the external clock is
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
19
2 - Installation of WAAS Receiver
not locked (undergoing the locking process, or the signal is not within the capture range), and green indicates that the
clock is locked and stabilized. Refer to Figure 7 below.
Figure 7
Lights on Front Panel of WAAS Receiver
CONNECTING DATA COMMUNICATIONS EQUIPMENT
There are four serial ports on the back panel of the WAAS receiver; all are configured for RS-232C protocol. These
ports make it possible for external data communications equipment - such as a personal computer - to communicate
with the WAAS receiver. Each of these ports has a DE9P connector.
•
The L1-C/A, L1/L2 I and L1/L2 II ports (see Figure 8) allow two-way communications. Each one is configured
as COM1 if you attempt to communicate directly with it. The L1/L2 I and L1/L2 II ports are each connected to an
L1/L2 GPSCard within the WAAS receiver unit; the L1-C/A port is connected to the L1-only GPSCard which
controls the MEDLL subsystem. Each of these ports can be addressed independently of the other.
• The TIME port (see Figure 9) allows only output from the receiver; note that it is not possible to transmit data to
this port. It is configured as COM2 if you attempt to communicate directly with it. Data is available on this port at a
rate of 0.1 Hz, and is synchronized to the clock signal available at the 1 PPS connector. The data transfer rate is
fixed at 9600 bps, with one stop bit.
20
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
2 - Installation of WAAS Receiver
Figure 8
Pinout for L1-C/A, L1/L2 I, & L1/L2 II Ports - WAAS
DCD RXD TXD DTR GND
DSR RTS CTS NC
Figure 9
Pinout for TIME Port - WAAS
NC
NC
TXD DTR GND
NC RTS NC NC
USING THE 1PPS OUTPUT
The clock signal available on the 1 PPS port (see Figure 10) is synchronized to the data available on the Time port. The
specifications and electrical characteristics of this signal are described in Appendix B
WAAS receiver - Technical
Specifications. The pulse train is accessed from the BNC female connector on the back of the WAAS receiver.
Figure 10
1 PPS Output - WAAS
CONNECTING THE GPS ANTENNA
Selecting and installing an appropriate antenna system is crucial to the proper operation of the WAAS receiver. See
Appendix E
Associated Suppliers, for a list of associated suppliers of WAAS subsystem components.
Keep these points in mind when installing the antenna system:
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
21
2 - Installation of WAAS Receiver
•
Ideally, select an antenna location with a clear view of the sky to the horizon so that each satellite above the horizon
can be tracked without obstruction.
•
Ensure that the antenna is mounted on a secure, stable structure capable of withstanding relevant environmental
loading forces (e.g. due to wind or ice).
Use high-quality coaxial cables to minimize signal attenuation. When using active antennas, remember that you also
need to connect each low-noise amplifier (LNA) to a suitable power source. The gain of the LNA must be sufficient to
compensate for the cabling loss.
The antenna port on the WAAS receiver has a TNC female connector, as shown in Figure 11.
Figure 11
Antenna Input - WAAS
CONNECTING THE EXTERNAL POWER INPUT
The WAAS receiver requires one source of external regulated power. The input can be in the 22-30 V DC range. The
receiver draws up to 5 A at start-up, but the steady-state requirement is approximately 3.5 A.
The power-input connector on the WAAS receiver is a 3-position chassis jack. It mates to a 3-position inline plug (see
Appendix E
Associated Suppliers, for a list of associated suppliers of WAAS subsystem components). Pin 1 (+2230V DC), and Pin 2 (GND) connect to the WAAS receiver’s internal power supply, which performs filtering and voltage
regulation functions. Pin 3 serves as a protection ground connection. Refer to Figure 12.
Figure 12
External Power Connections - WAAS
Notch
Pin 3
Pin 1
Pin 2
USING THE 20.473 MHz OUTPUT SIGNAL
The 20.473 MHz output provides a high-stability reference clock signal to another device in system. It permits the
synchronization of another unit to the WAAS receiver. This signal can be accessed by means of the BNC female
connector on the WAAS receiver’s rear panel (see Figure 13).
22
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
2 - Installation of WAAS Receiver
Figure 13
20.473 MHz Output – WAAS
ACCESSING THE STROBE SIGNALS
The WAAS receiver’s output strobe lines are available on the rear panel from the DE9S connector (see Figure 14). The
specifications and electrical characteristics of these signals are described in Appendix B WAAS receiver - Technical
Specifications. These signals are provided for diagnostic purposes.
The L1/L2 I and L1/L2 II ports are each connected to an L1/L2 GPS receiver within the WAAS receiver unit; the L1C/A port is connected to the L1 GPS receiver which controls the MEDLL subsystem.
Figure 14
Strobe 9-pin D-Connector Pinout - WAAS
MSR L1/L2 II
MSR L1/L2 I
MSR L1-C/A
1 PPS L1/L2 II
1 PPS L1-C/A
1 PPS L1/L2 I
GND
GND
GND
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
23
3 - Operation
3
OPERATION
Before operating the WAAS receiver for the first time, ensure that you have followed the installation instructions in
Chapter 2
Installation of WAAS receiver. Or, before operating the GUS receiver for the first time, ensure that
you have followed the installation instructions in Appendix A Installation of GUS receiver.
From here on, it will be assumed that testing and operation of the WAAS / GUS receiver will be performed while using
a personal computer (PC); this will allow the greatest ease and versatility.
PRE-START CHECK LIST
Before turning on power to the WAAS / GUS receiver, ensure that all of the following conditions have been met:
•
The external frequency reference is properly installed, connected, powered-up, and stabilized.
•
The antenna(s) is (are) properly installed, powered, and connected.
•
The PC is properly connected using a null-modem cable, and its communications protocol has been set up to match
that of the WAAS / GUS receiver.
Supply power to the WAAS / GUS receiver only after all of the above checks have been made. Note that the warm-up
process may take several minutes, depending on ambient temperature. The green stage of the Ext. Osc LED on the front
panel indicates that the WAAS / GUS receiver has locked onto the external frequency reference, and is ready for
operation.
SERIAL PORTS - DEFAULT SETTINGS
Because the WAAS / GUS receiver communicates with the user’s PC via serial ports, both units require the same port
settings. The communications settings of the PC should match these on the receiver:
•
•
•
•
•
•
•
RS-232C protocol
9600 bits per second (bps)
No parity
8 data bits
1 stop bit
No handshaking
Echo off
Once initial communications are established, the port settings for the WAAS / GUS receiver can be changed using the
COMn command, which is described in Chapter 5, Command Descriptions.
BOOT-UP
The WAAS / GUS receiver’s firmware resides in non-volatile memory. Supply power to the unit, wait a few moments
for self-boot, and the WAAS / GUS receiver will be ready for command input.
There are two initial start-up indicators to let you know that the WAAS / GUS receiver’s serial ports are ready to
communicate:
1.
Status lights on the WAAS / GUS receiver’s front panel (upper ten LEDs) should turn from red to green to indicate
that all cards are healthy. If any one of the LEDs does not turn green, then the system should be considered
unreliable. If this situation occurs, contact NovAtel Customer Service for assistance.
24
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
3 - Operation
2.
Your external terminal screen will display one of the following prompts:
Com1> if you are connected to the L1-C/A, L1/L2 I or L1/L2 II serial port.
Com2> if you are connected to the TIME serial port.
The WAAS / GUS receiver is now ready for command input from any of the three COM1 ports. Data output from the
TIME COM2 port is restricted for special use.
INITIAL COMMUNICATIONS WITH THE WAAS / GUS RECEIVER
Communicating with the WAAS / GUS receiver is a straightforward process and is accomplished by issuing desired
commands to the COM1 ports from an external serial communications device. For your initial testing and
communications, you will probably be using either a remote terminal or a personal computer that is directly connected to
a WAAS / GUS receiver’s serial port by means of a null modem cable.
To change the default communication settings, such as bit rate, use COMn command, which is described in Chapter 5,
Command Descriptions.
It is to your advantage to become thoroughly familiar with Chapters 5 through 7 of this manual to ensure maximum
utilization of the WAAS / GUS receiver’s capabilities.
When the WAAS / GUS receiver is first powered up, no activity information is transmitted from the serial ports except
for the COM1> or COM2> prompt described in the Boot-Up section above.
Commands are directly input to WAAS / GUS receiver using the external terminal. It should be noted that most
commands do not echo a response to a command input. Your indicator that the command has actually been accepted is a
return of the COM1> prompt from WAAS / GUS receiver. Note that VERSION is the only command that does provide
an echo response other than the port prompt.
Examples:
1.
If you type VERSION <Enter> from a terminal, this will cause the WAAS / GUS receiver to echo the firmware
version information.
2.
An example of a no-echo response to an input command is the FIX POSITION command. It can be input as
follows:
COM1>fix position 51.113 -114.043 1060 <Enter>
This example illustrates command input to the COM1 port which sets the WAAS / GUS receiver’s position.
However, your only confirmation that the command was actually accepted is the return of the COM1> prompt.
If a command is erroneously input, the WAAS / GUS receiver will respond with the “Invalid Command Option”
response followed by the COM1> prompt.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
25
4 - Firmware Updates
4
FIRMWARE UPDATES
As described in the Introduction, the WAAS / GUS receiver comprises single and dual frequency GPSCards. All
GPSCards store their firmware (program software) in on-board, non-volatile memory. This unique feature allows a
receiver’s firmware to be updated in the field. Thus, a procedure such as updating software model WAASMEDLL rev.
5.43 to WAASMEDLL rev. 5.44 takes only a few minutes instead of the several days which would be required if the
receiver had to be sent to a service depot.
When updating the firmware on the GPSCards, it is recommended that all the cards be updated together. The MEDLL
subsystem is updated by means of a serial connection to the host PC using the L1–C/A port, while each of the L1/L2
cards are updated using their respective L1/L2 I and L1/L2 II ports. Therefore three separate operations are required to
update the entire WAAS / GUS receiver. However, software provided along with the firmware update may be used to
automate this procedure.
NOTE: Updating the firmware versions of these GPSCards is based on approved combinations of MEDLL and
L1/L2 software that have been tested to work together. For example, WAAS software release 5.44/4.44 implies that the
single-frequency GPSCards in the MEDLL subsystem will be updated to 5.44 revision firmware, while the dualfrequency GPSCards will be updated to 4.44 revision firmware.
When updating to a higher revision level, you will need to transfer the new firmware to the appropriate GPSCard with
the aid of the NovAtel-supplied utility program, “LOADER”. To update firmware while using LOADER, you will need
a personal computer with the following features:
•
•
•
•
MS-DOS 6.0 or later
one available RS-232 serial port
null-modem cable
at least 1 MB of available hard drive space
Below is shown an outline of the procedure for updating your receiver’s firmware:
1.
2.
3.
4.
Contact NovAtel Customer Service
Download compressed files
Decompress files
Run LOADER in one of three modes: Menu, Command Line, or Entire Receiver Update.
CONTACT CUSTOMER SERVICE
The first step in updating the receiver is to contact NovAtel GPS Customer Service via any of the methods described in
the Customer Service section at the beginning of this manual.
When you call, be sure to have available the WAAS / GUS receiver’s serial number, and program revision level. This
information is printed on the rear panel of the WAAS / GUS receiver. You can also verify the information by powering
up the receiver and issuing the “VERSION” command for the serial port you are connected to. Remember that the L1C/A serial port is connected to the L1-only GPSCard controlling the MEDLL subsystem, and the L1/L2 I and L1/L2 II
serial ports are each connected to an L1/L2 GPSCard. The firmware for the L1 GPSCard is different than that of the
L1/L2 GPSCards.
After conferring with Customer Service to establish the required revision level, (as well as the terms and conditions of
your firmware update), Customer Service will issue you up to three authorization codes (auth-codes), one for the
MEDLL subsystem and one each for the two L1/L2 cards. The auth-code is required to unlock the WAAS / GUS
features according to your authorized model type.
26
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
4 - Firmware Updates
If it is determined that you will be updating to a higher revision level with the use of the LOADER utility, Customer
Service will confirm with you as to the procedures, files, and methods required for using LOADER. As the LOADER
and update programs are generally provided in a compressed file format, you will also be given a file decompression
password. The LOADER and update files are available from Customer Service by FTP, e-mail, or diskette.
DOWNLOAD COMPRESSED FILES
Typically, there are two files required when performing software revision updates on a particular GPSCard:
LOADER.EXE (the LOADER utility program) and XXX.BIN (the firmware update file). Typical WAAS / GUS
firmware files might be named 444.BIN (for the L1/L2 GPSCards), M544.BIN (for the MEDLL Master GPSCard) and
S544.BIN (for the MEDLL Slave GPSCards).
To proceed with your program update, you will first need to download the appropriate files from NovAtel’s FTP site
(ftp://ftp.novatel.ca), or via e-mail (support@novatel.ca). If downloading is not possible, the files can be mailed to you
on diskette.
The files are available in compressed, password-protected file format. The compressed form of the files will have
differing names; Customer Service will advise you as to the exact names of the files you need. As well, Customer
Service will provide you with a file de-compression password.
DECOMPRESS FILES
After copying the compressed files to an appropriate directory on your PC, each file must be decompressed. The syntax
for decompression is as follows:
Syntax:
[filename] -s[password]
Where:
filename:
-s:
password:
is the name of the compressed file (excluding the extension)
is the password command switch
is the password required to allow decompression
Example:
m544 -s12345678<Enter>
RUN LOADER
LOADER should be copied to the hard drive of your personal computer and run from the command (DOS) prompt.
Once LOADER is installed and running, it allows you to select and configure a PC serial port, as well as choose the
directory path and file name of the new program software to be transferred to the GPSCard. After the LOADER
parameters have been selected and the auth-code entered, the actual file transfer only takes a few minutes, depending on
the data transfer rate selected. LOADER also contains built-in terminal software.
LOADER can be run in one of three different modes:
1.
Menu mode – contains a graphical interface to facilitate the procedure of updating one GPSCard at a time. This is
the preferred method to update individual L1/L2 GPSCards in the WAAS / GUS receiver.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
27
4 - Firmware Updates
2.
Command-Line mode – allows you to update either one GPSCard at a time, or set up a batch process. Use this
mode to update the multiple cards within the MEDLL subsystem. Or, use this as an alternate method to update
individual L1/L2 GPSCards.
3.
Entire Receiver Update mode – use this if you wish to update all of the GPSCards (L1/L2 & MEDLL subsystems)
within an entire WAAS / GUS receiver in a single operation.
Choose the mode which best suits the task which needs to be done.
MENU MODE
The procedure shown below can be used to update the firmware on either of the two L1/L2 GPSCards in the WAAS /
GUS receiver. This procedure will not work to update the MEDLL subsystem firmware; for that, see the next section.
LOADER can operate from the DOS prompt of any directory or drive on your PC. The program is comprised of three
parts: Program Card (authorization procedure), Setup (communications configuration) and Terminal (terminal
emulator). The main screen is shown in Figure 15.
Figure 15
Main screen of LOADER program
If you are running LOADER for the first time, be sure to access the Setup menu (step 3 below) before proceeding to
Program Card (step 4 below); otherwise, you can go directly from step 2 below to step 4. To update the firmware on a
GPSCard, follow this procedure:
1.
Turn off power to the WAAS / GUS receiver.
2.
Start LOADER.
3.
From the main menu screen, select Setup to configure the PC’s serial port over which communication will occur
(default: COM1), and the data transfer rates for both programming (default: 115 200 bits per second) and terminal
emulation (default: 9600 bps). To minimize the time required, select the highest serial bit rate your PC can reliably
support. LOADER will verify and save your selections in a file named LOADER.SET, and return to the main menu
screen.
4. From the main screen, select Program Card.
5.
Select the disk drive (e.g. A, B, C, D) in which the update file (e.g. M544.BIN) is located. Select the path where the
update file is located (e.g. C:\WAAS\LOADER\BINFILES); the directory from which you started LOADER is the
default path. Select the required update file (e.g. M544.BIN).
28
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
4 - Firmware Updates
6.
At the prompt, enter your update auth-code (e.g. 17b2,32df,6ba0,92b5,e5b9,waasmedll).
7.
When prompted by the program, turn on power to the WAAS / GUS receiver. LOADER will automatically
establish communications with it, and begin the file transfer. The time required to transfer the new program data
will depend on the bit rate that was selected earlier.
8.
When the file transfer is complete, use the terminal emulator in LOADER (select Terminal), or any other one, to
issue the VERSION command; this will verify your new program version number. When using the terminal
emulator in LOADER, a prompt does not initially appear; you need to enter the command first, which then produces
a response, after which a prompt will appear.
9.
Exit LOADER (select Quit).
COMMAND-LINE MODE
LOADER may also be used by entering parameters directly at the command prompt. In this mode of operation the
filename and authorization code can be specified on the command line. When the program detects a filename and
authorization code, it immediately proceeds to read the specified file, authorize it and send it to the WAAS / GUS
receiver.
When this mode is used, the current setup parameters are used. If different port settings are desired, LOADER should be
run in Menu mode (see previous section) to change the default settings.
There are two syntactical forms. The first is for updating individual GPSCards, while the second one is for updating the
GPSCards in the MEDLL subsystem.
Updating Individual GPSCards
Syntax #1:
LOADER
-f<filename.bin>
-a<auth code>
-c<card>
-f<filename.bin>
Specifies BIN file to be loaded.
-a<auth code>
Specifies authorization code to insert in file.
-c<card>
(optional) Specifies a target card. This option is used on units with multiple GPSCards to
specify which particular card is to be programmed. The default is 1.
-h
Requests on-line help.
Examples:
loader -h
loader -fc:\work\m544.bin -a120a,26dc,ae75,a344,9859,waasmedll
The second example causes LOADER to read and authorize C:\WORK\M544.BIN with the specified authorization code,
then transfer the update file to the WAAS / GUS receiver using the port settings previously defined. It is important to
ensure that no spaces exist in the entry of the authorization code. Ensure that the WAAS / GUS receiver is turned off.
Once the program has been started, you are prompted to turn the WAAS / GUS receiver back on, at which point the
screen will display the progress.
Updating the GPSCards in the MEDLL Subsystem
A batch file can be used to provide a convenient way to program multiple GPSCards with the same or different loads of
software. Rather than having to run LOADER once for each card, you can specify the card number, firmware filename
and an optional authorization code in a batch file.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
29
4 - Firmware Updates
NOTE: This is the only way to update the GPSCards in the MEDLL subsystem of the WAAS / GUS receiver, other
than the proposed software that would allow remote reprogramming over a network.
The batch file is a simple ASCII text file and should be formatted as shown in the example below. In this example, Card
#1 is to be loaded with software in the M544.BIN file, and remaining cards with the S544.BIN file. Cards #2-#8 have
no authorization codes. The batch file should be in the same directory as the LOADER program.
Syntax #2:
LOADER
-b<batchfile>
-h
-b<batchfile>
Specifies file with multiple load commands.
Requests on-line help.
Examples:
loader –h
loader -bmedll.txt
In the second example, this would be the listing of the MEDLL.TXT file for a MEDLL subsystem consisting of one
master card and seven slave cards:
1 m544.bin 1234,5678,9012,3456,waasmedll
2 s544.bin
3 s544.bin
4 s544.bin
5 s544.bin
6 s544.bin
7 s544.bin
8 s544.bin
The LOADER program will only initialize the number of cards required to complete the programming. Once the cards
have been initialized, the screen will show this:
Programming card: 1 with M544.BIN
As the card is being programmed, a character to the right of the filename will spin indicating programming activity.
When the first card has been programmed, the screen will show this:
Programming card: 1 with M544.BIN
Erasing card: 2
\
Okay
This process will continue until all of the requested cards are programmed and the screen will look similar to this:
Programming card: 1 with
Programming card: 2 with
.
.
Programming card: 8 with
Done. Resetting Cards
Initialization took:
Programming took:
Total Time:
Press ENTER to exit
M544.BIN
S544.BIN
Okay
Okay
S544.BIN
Okay
27 seconds
114 seconds
141 seconds
Once all of the cards have been programmed, they will be reset. Using PC communication software or the terminal
emulator in the Menu mode of LOADER, issue the VERSION command to verify your new program version number.
30
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
4 - Firmware Updates
ENTIRE RECEIVER UPDATE MODE
If you wish to perform an update of all the GPSCards in a WAAS / GUS receiver, this mode of LOADER will guide you
through the process and simplify the operation considerably. Together with the LOADER program and the update files
which you received from Customer Service, there will also be a file with a name such as UPDATE.BAT. This is a batch
file which runs LOADER in Command Line mode as described above, with all the commands already prepared.
To run the software, you will need to issue the following command :Syntax:
UPDATE
<serial port>
<data transfer rate>
<serial port>
<data transfer rate>
Specifies which serial port (COM port) on your computer is to be used
Specifies the data transfer rate which is to be used
Examples:
update 2 115200
This example instructs the UPDATE utility to upgrade the GPSCard which is connected to the PC's serial port 2 (COM2)
at 115,200 bits per second. The utility will prompt you to turn the power to the WAAS / GUS receiver on or off; it will
also prompt you to connect your personal computer to a specific port on the WAAS / GUS receiver.
By the time this utility completes its task, you will have connected your computer to the L1-C/A, L1/L2 1, and L1/L2 II
ports on the WAAS / GUS receiver and updated all the GPSCards inside.
UPDATING REMOTELY OVER A NETWORK (PROPOSED)
NovAtel has proposed software that would allow an authorized individual to establish communication with a remote
WAAS / GUS receiver. Once the communication session is connected, the user would be required to log in before
gaining access to the system. Then, the user could connect to any GPSCard within a remote WAAS / GUS unit.
This application would allow an operator, at a central location, to send files and issue commands to GPSCards in remote
WAAS / GUS units. This would greatly simplify the updating of a nation-wide system of WAAS / GUS receivers by
eliminating the time and expense associated with having someone travel to each site to perform the update.
More information on this subject will be available as details are finalized.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
31
5 – Command Descriptions
5
COMMAND DESCRIPTIONS
This chapter describes the commands accepted by the WAAS / GUS receiver. They are listed in alphabetical order.
The WAAS / GUS receiver is capable of responding to many different input commands. You will find that once you
become familiar with these commands, the WAAS / GUS receiver offers a wide range in operational flexibility.
Commands can be sent to the WAAS / GUS receiver through the L1-C/A, L1/L2 I and L1/L2 II serial ports. Each of
these ports can be addressed independently of the other.
You can issue these commands to control the following:
1.
2.
3.
Overall status of the WAAS / GUS receiver
Input & output functions
Configuration of a specific channel of the WAAS / GUS receiver
Table 1 shows the list of commands, clustered according to these three categories; Table 2 shows the list of commands,
arranged alphabetically. Table 3 shows which commands have been obsoleted since the last version of this manual.
When the WAAS / GUS receiver is first powered up, all commands revert to the factory default settings. Each
command description in this chapter also lists its default setting. The RCCA log can be used to view the instantaneous
settings of all commands.
The following rules apply when communicating with the card:
32
1.
•
•
The commands are not case sensitive.
e.g.
VERSION or version
e.g.
FIX POSITION or fix position
2.
•
•
•
•
•
•
All commands and required entries can be separated by a space or a comma.
e.g.
fix,position,51.3455323,-117.289534,1002
e.g.
fix position 51.3455323 -117.289534 1002
e.g.
com1,9600,n,8,1,n,off
e.g.
com1 9600 n 8 1 n off
e.g.
log,com1,frmb,onnew
e.g.
log com1 frmb onnew
3.
At the end of a command or command string, press <Enter>.
4.
Most command entries do not provide a response to the entered command. The exception to this statement is
the VERSION command. Otherwise, successful entry of a command is verified by receipt of the COM port
prompt (i.e. COM1>).
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Table 1
WAAS / GUS Commands by Category
Overall status of the WAAS / GUS receiver
Command
Description
$*&
&21),*
&60227+
(&872))
),; 326,7,21
-$002'(
3//%:
5(6(7
6(7)5$0(7<3(
&RQWUROV VHOHFWHG $*& FRQWURO PHFKDQLVP
,PSOHPHQWV SUHGHILQHG FRQILJXUDWLRQV
6HWV FDUULHU VPRRWKLQJ
6HW HOHYDWLRQ FXWRII DQJOH
6HW DQWHQQD FRRUGLQDWHV IRU PRQLWRU VWDWLRQ
&RQWUROV WKH VWDWH RI MDPPLQJ
6HW UHFHLYHU¶V SKDVHORFNORRS EDQGZLGWKV
3HUIRUPV D KDUGZDUH UHVHW
6HWV WKH W\SH RI QDYLJDWLRQ IUDPH GDWD RXWSXW LQ
Syntax
DJF DJFVWDWH>JDLQ@
FRQILJ NH\ZRUG
FVPRRWK YDOXH>YDOXH@
HFXWRII DQJOH
IL[ SRVLWLRQ ODWORQKHLJKW >VWDWLRQ LG@ >KHDOWK@
MDPPRGH DJFVWDWH
SOOEZ OBEZ>OBEZ@
UHVHW
VHWIUDPHW\SH W\SH
WKH )50$% ORJ
81'8/$7,21
81),;
9(56,21
&KRRVH XQGXODWLRQ
5HPRYH DOO UHFHLYHU ),; FRQVWUDLQWV
&XUUHQW VRIWZDUH OHYHO
XQGXODWLRQ VHSDUDWLRQ
XQIL[
YHUVLRQ
Input & output functions
Command
Description
&/2&.$'-867
&20Q
$GMXVW 336 FRQWLQXRXVO\
,QLWLDOL]H 6HULDO 3RUW
RU Syntax
FORFNDGMXVW VZLWFK
FRPQ EDXGSDULW\GDWDELWVVWRSELWV
KDQGVKDNHHFKR
/2*
81/2*
81/2*$//
&KRRVH GDWD ORJJLQJ W\SH
&HDVH ORJJLQJ D GDWD ORJ
&HDVH ORJJLQJ DOO GDWD ORJV
ORJ SRUWGDWDW\SHWULJJHU>SHULRGRIIVHW@
XQORJ SRUWGDWD W\SH
XQORJDOO
Configuration of a specific channel of the WAAS / GUS receiver
Command
$66,*1
$66,*1*72351
&&5$7,2
'//25'(5
7+5(6+2/'
Description
$VVLJQ D 351 WR D FKDQQHO $VVLJQ D * GHOD\ WR D 351
&DUULHU WR &RGH 5DWLR
&RQWUROV WKH ILOWHU RUGHU RI WKH 'HOD\/RFN /RRS
&RQWUROV VLJQDO DFTXLVLWLRQ DQG ORFN WKUHVKROGV
Syntax
DVVLJQ FKDQQHOSUQGRSSOHU VHDUFK ZLQGRZ
DVVLJQJWRSUQ SUQ JBGHOD\
GLIIHUHQW V\QWDFWLFDO IRUPV
GOORUGHU FKDQQHORUGHU>RUGHU@
WKUHVKROG
FKDQQHODFTXLVLWLRQORFNDFTXLVLWLRQORFN
81$66,*1
81$66,*1$//
81$66,*1*72351
8QDVVLJQ D FKDQQHO
8QDVVLJQ DOO FKDQQHOV
8QDVVLJQ D* GHOD\
XQDVVLJQ FKDQQHO
XQDVVLJQDOO
XQDVVLJQJWRSUQ SUQ
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
33
5 – Command Descriptions
Table 2
Command
$*&
$66,*1
$66,*1*72351
&&5$7,2
&/2&.$'-867
&20Q
WAAS / GUS Command Summary
Description
Syntax
&RQWUROV VHOHFWHG $*& FRQWURO PHFKDQLVP
DVVLJQ FKDQQHOSUQGRSSOHU VHDUFK ZLQGRZ
DVVLJQJWRSUQ SUQ JBGHOD\
$VVLJQ D 351 WR D FKDQQHO $VVLJQ D * GHOD\ WR D 351
GLIIHUHQW V\QWDFWLFDO IRUPV
&DUULHU WR &RGH 5DWLR
FORFNDGMXVW VZLWFK
FRPQ EDXGSDULW\GDWDELWVVWRSELWV
$GMXVW 336 FRQWLQXRXVO\
,QLWLDOL]H 6HULDO 3RUW
GLIIHUHQW V\QWDFWLFDO IRUPV
RU KDQGVKDNHHFKR
&21),*
&60227+
'//25'(5
(&872))
),; 326,7,21
-$002'(
/2*
3//%:
5(6(7
6(7)5$0(7<3(
,PSOHPHQWV SUHGHILQHG FRQILJXUDWLRQV
6HWV FDUULHU VPRRWKLQJ
&RQWUROV WKH ILOWHU RUGHU RI WKH 'HOD\/RFN /RRS
6HW HOHYDWLRQ FXWRII DQJOH
6HW DQWHQQD FRRUGLQDWHV IRU PRQLWRU VWDWLRQ
&RQWUROV WKH VWDWH RI MDPPLQJ
&KRRVH GDWD ORJJLQJ W\SH
6HW UHFHLYHU¶V SKDVHORFNORRS EDQGZLGWKV
3HUIRUPV D KDUGZDUH UHVHW
6HWV WKH W\SH RI QDYLJDWLRQ IUDPH GDWD RXWSXW LQ
FRQILJ NH\ZRUG
FVPRRWK YDOXH>YDOXH@
GOORUGHU FKDQQHORUGHU>RUGHU@
HFXWRII DQJOH
IL[ SRVLWLRQ ODWORQKHLJKW >VWDWLRQ LG@ >KHDOWK@
MDPPRGH DJFVWDWH
ORJ SRUWGDWDW\SHWULJJHU>SHULRGRIIVHW@
SOOEZ OBEZ>OBEZ@
UHVHW
VHWIUDPHW\SH W\SH
WKH )50$% ORJ
7+5(6+2/'
&RQWUROV VLJQDO DFTXLVLWLRQ DQG ORFN WKUHVKROGV
WKUHVKROG
FKDQQHODFTXLVLWLRQORFNDFTXLVLWLRQORFN
81$66,*1
81$66,*1$//
81$66,*1*72351
81'8/$7,21
81),;
81/2*
81/2*$//
9(56,21
8QDVVLJQ D FKDQQHO
8QDVVLJQ DOO FKDQQHOV
8QDVVLJQ D FKDQQHO
&KRRVH XQGXODWLRQ
5HPRYH DOO UHFHLYHU ),; FRQVWUDLQWV
&HDVH ORJJLQJ D GDWD ORJ
&HDVH ORJJLQJ DOO GDWD ORJV
&XUUHQW VRIWZDUH OHYHO
Table 3
Command
'<1$0,&6
XQDVVLJQ FKDQQHO
XQDVVLJQDOO
XQDVVLJQJWRSUQ SUQ
XQGXODWLRQ VHSDUDWLRQ
XQIL[
XQORJ SRUWGDWD W\SH
XQORJDOO
YHUVLRQ
Obsolete Commands
Description
6HWV UHFHLYHU¶V G\QDPLFV
For backwards compatibility, it is still possible to use this command; however, the use of the $PLLBW command in its
place is recommended. Obsolete commands will not be supported in future software releases.
34
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
$AGC
This command controls the selected AGC control mechanism, which has two primary functions:
1.
2.
Perform the analog-to-digital conversions in the receiver’s front end
Mitigate jamming
NOTE:
This command can fundamentally change the way that the receiver operates. Do not alter the default settings
unless you are confident that you understand the consequences.
There are five syntactical forms, as shown below. See also the $JAMMODE command.
Syntax #1 lets you enable or disable the AGC control mechanism. When enabled, the AGC control mechanism reads the
signal distribution and attempts to control the gain of the signal. However, the control mechanism may be disabled (i.e.
the feedback loop can be broken) and either a fixed gain applied or the last gain maintained. The default state is ‘auto’.
NOTE:
When the AGC mode is disabled the receiver status word will report the AGC as ‘good’ while the control
metric used in the feedback loop is within 7.5% of the set point.
Syntax #1:
$AGC
Keyword [gain]
agc
Syntax
Range Value
$*&
Description
Default
&RPPDQG
$JF
/ RU /
VHOHFW $*& FLUFXLW
.H\ZRUG
$872
$*& FRQWURO LV VHW WR DXWRPDWLF
),;
$*& LV VHW WR D IL[HG YDOXH
$872
,I QR JDLQ YDOXH LV JLYHQ WKH FXUUHQW
JDLQ YDOXH LV XVHG
&DOFXODWHV QHZ FDOLEUDWLRQ YDOXHV IRU $*&
&$/,%5$7(
IRU H[DPSOH LI DQWHQQDV
DUH VZLWFKHG ZLWKRXW UHVHWWLQJ WKH UHFHLYHU
*DLQ
WR 2SWLRQDO SDUDPHWHU
$*& FLUFXLW GXW\ F\FOH
KLJKHVW JDLQ
ORZHVW JDLQ Examples:
$agc l2 fix 2000
$agc l1 calibrate
Syntax #2:
$AGC
agc
Syntax
jamdetect
jamenter
Range Value
$*&
$JF
keyword
jamexit
Description
Default
&RPPDQG
/ RU /
VHOHFW $*& FLUFXLW
.H\ZRUG
'(7(&7/(9(/6
-DPGHWHFW
WR 7KH OHYHO DW ZKLFK WKH $*& MDP ELW LV VHW LQ WKH UHFHLYHU VWDWXV ZRUG
-DPHQWHU
WR 7KH OHYHO DW ZKLFK WKH VLJQDO SURFHVVLQJ LV VZLWFKHG WR MDP PRGH
7KLV YDOXH LV QRUPDOO\ KLJKHU WKDQ µMDPH[LW¶
-DPH[LW
WR 7KH OHYHO DW ZKLFK WKH VLJQDO SURFHVVLQJ LV VZLWFKHG WR QRUPDO
RSHUDWLRQ
7KLV YDOXH LV QRUPDOO\ ORZHU WKDQ µMDPHQWHU¶
Example:
$agc l1 detectlevels 0.03 0.05 0.04
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
35
5 – Command Descriptions
Syntax #3:
keyword
agc
$AGC
Syntax
mode
variance
Range Value
$*&
Description
Default
&RPPDQG
DJF
/ RU /
VHOHFW $*& FLUFXLW
NH\ZRUG
9$5,$1&(
7KH FRQWURO VHW SRLQWV XVHG LQ FRQMXQFWLRQ ZLWK WKH VXP RI WKH
SURGXFWV RI WKH ELQ ZHLJKWV DQG ELQ UDWLRV WR IRUP WKH $*& FRQWURO
IHHGEDFN 1HJDWLYH YDOXHV DOORZ DOWHUQDWH FRQWURO VWUDWHJLHV WR EH
LQYRNHG
PRGH
*$866,$1 RU -$00('
µ*DXVVLDQ¶ LV WKH QRUPDO PRGH
MDPPLQJ
±
YDULDQFH
PLWLJDWLRQ PRGH
VHW SRLQW
VHW SRLQW
µ-DPPHG¶ LV D
Example:
$agc l2 variance jammed 0.67
Syntax #4:
agc
$AGC
Syntax
keyword
mode
bin1
bin2
Range Value
$*&
bin3
bin4
bin5
Description
bin6
Default
&RPPDQG
$JF
/ RU /
VHOHFW $*& FLUFXLW
.H\ZRUG
%,19$/8(6 RU
([SHFWHG UDWLR RI WKH QXPEHU RI VDPSOHV LQ RQH ELQ GLYLGHG E\ WKH WRWDO RI DOO
%,1:(,*+76
ELQV IRU RQH WLPH VDPSOH
7KH ELQ UDWLRV DUH PXOWLSOLHG E\ WKHLU UHVSHFWLYH ELQ ZHLJKWV DQG VXPPHG
WRJHWKHU WR IRUP D FRQWURO PHWULF
7KLV LV XVHG DV WKH IHHGEDFN LQ WKH $*&
FRQWURO ORRS 1HJDWLYH YDOXHV DOORZ DOWHUQDWH FRQWURO VWUDWHJLHV WR EH
LQYRNHG
7KHVH YDOXHV DUH FDOFXODWHG GXULQJ FDOLEUDWLRQ EXW FDQ EH RYHUULGGHQ XVLQJ
WKLV FRPPDQG
%\ GHIDXOW WKH YDOXHV IRU WKH *DXVVLDQ PRGH DUH GLIIHUHQW
WKDQ WKRVH IRU WKH MDPPLQJ PLWLJDWLRQ PRGH
0RGH
*$866,$1 RU -$00('
µ*DXVVLDQ¶ LV WKH QRUPDO PRGH
PLWLJDWLRQ PRGH
ELQ
±
ELQ ZHLJKWV
WR ELQ
±
ELQ ZHLJKWV
WR ELQ
±
±
±
±
ELQ YDOXHV
ELQ ZHLJKWV
WR ELQ
ELQ YDOXHV
ELQ ZHLJKWV
WR ELQ
ELQ YDOXHV
ELQ ZHLJKWV
WR ELQ
ELQ YDOXHV
ELQ YDOXHV
ELQ ZHLJKWV
WR ELQ YDOXHV
VHW SRLQW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
'HIDXOW *DXVVLDQ ELQ ZHLJKW
'HIDXOW -DPPHG ELQ ZHLJKW
VHW SRLQW
µ-DPPHG¶ LV D MDPPLQJ
ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH ELQ YDOXH Example:
$agc l2 binvalues gaussian 0.12 0.14 0.26 0.26 0.14 0.12
36
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Syntax #5:
$AGC
keyword setting
agc
Syntax
Range Value
$*&
Description
Default
&RPPDQG
$JF
/ RU /
VHOHFW $*& FLUFXLW
.H\ZRUG
'($'%$1'
(QDEOH GLVDEOH RU VHW WKH UDWLR PDJQLWXGH RI WKH GHYLDWLRQ DZD\ IURP
6HWWLQJ
21
(QDEOH GHDG EDQG FRQWURO ZLWK WKH FXUUHQW PDJQLWXGH VHWWLQJ
2))
'LVDEOH GHDG EDQG FRQWURO
WR 5DWLR PDJQLWXGH XVHG WR GHWHUPLQH WKH VL]H RI WKH GHDG EDQG HJ D
WKH YDULDQFH FRQWURO VHW SRLQW IRU WKH GHDG EDQG FRQWURO RI WKH $*&
YDOXH RI ZLOO DOORZ D YDULDWLRQ RI
± LQ WKH DJF YDULDQFH YDOXH IRU
D FRQWURO VHW SRLQW RI 6HWWLQJ WKLV YDOXH DXWRPDWLFDOO\ HQDEOHV
GHDG EDQG FRQWURO
'HIDXOW
Example:
$agc l1 deadband 0.2
ASSIGN
At startup, the WAAS / GUS receiver automatically searches for GPS satellites (PRN 1-32). However, the PRN for
WAAS GEO satellites must be manually assigned using the ASSIGN command.
This command may be used to aid in the initial acquisition of a satellite by allowing you to override the automatic
satellite/channel assignment and reacquisition processes with manual instructions. The command specifies that the
indicated tracking channel searches for a specified satellite at a specified Doppler frequency within a specified Doppler
window. The instruction will remain in effect for the specified channel and PRN, even if the assigned satellite
subsequently sets. If the satellite Doppler offset of the assigned channel exceeds that specified by the ‘search-window’
parameter of the ASSIGN command, the satellite may never be acquired or re-acquired. To cancel the effects of
ASSIGN, you must issue the UNASSIGN or UNASSIGNALL command, or reboot the WAAS / GUS receiver.
When using this command, NovAtel recommends that you monitor the channel tracking status of the assigned channel
and then use the UNASSIGN or UNASSIGNALL commands to cancel the command once the L1 channel has reached
channel tracking state 4, the Phase Lock Loop (PLL) state. Refer to Table 8 in the ETSB log description for an
explanation of the various channel states.
NOTES: Assigning a PRN to a channel does not remove the PRN from the search space of the automatic searcher;
only the channel is removed.
By default, the automatic searcher only searches for the GPS satellites (PRNs 1-32).
See also the $ASSIGNG2TOPRN command.
There are two syntactical forms of this command, as shown below.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
37
5 – Command Descriptions
Syntax #1:
channel
ASSIGN
Syntax
prn
Doppler
Range Value
$66,*1
&KDQQHO
Description
&RPPDQG
KLJKHVW
FKDQQHO QXPEHU
3UQ
Search-window
'HVLUHG
FKDQQHO
QXPEHU
IURP
WR
PD[LPXP
FKDQQHO
Default
Example
XQDVVLJQDOO
DVVLJQ
QXPEHU
LQFOXVLYH
$ VDWHOOLWH 351 LQWHJHU QXPEHU IURP WR LQFOXVLYH
WR LQFOXVLYH
IRU
*36 IRU :$$6 RU WR LQFOXVLYH LI 351V DUH
DVVLJQHG XVLQJ WKH $66,*1*72351 FRPPDQG
'RSSOHU
WR
&XUUHQW 'RSSOHU RIIVHW RI WKH VDWHOOLWH
+]
1RWH
6DWHOOLWH
FORFN
IUHTXHQF\
PRWLRQ
HUURU
UHFHLYHU
PXVW
EH
DQWHQQD
LQFOXGHG
PRWLRQ
LQ
WKH
DQG
UHFHLYHU
FDOFXODWLRQ
IRU
'RSSOHU IUHTXHQF\
6HDUFKZLQGRZ
(UURU RU XQFHUWDLQW\ LQ WKH 'RSSOHU HVWLPDWH DERYH LQ +]
1RWH
$Q\
SRVLWLYH
YDOXH
IURP
WR
ZLOO
EH
DFFHSWHG
([DPSOH LPSOLHV “ +]
Example:
assign 0 29 0 2000
Syntax #2:
channel
ASSIGN
Syntax
Range Value
$66,*1
&KDQQHO
KLJKHVW FKDQQHO
QXPEHU
.H\ZRUG
keyword
,'/(
Description
&RPPDQG
'HVLUHG
FKDQQHO
QXPEHU
IURP
PD[LPXP
FKDQQHO
QXPEHU
Default
Example
XQDVVLJQDOO
DVVLJQ
LQFOXVLYH
,GOHV FKDQQHO
QRW FDVH VHQVLWLYH
,'/(
Example 1:
assign 0,29,0,2000
In Example 1, the first channel will try to acquire satellite PRN 29 in a range from -2000 Hz to 2000 Hz until the
satellite signal has been detected.
Example 2:
assign 11,idle
In Example 2, Channel 11 will be idled and will not attempt to search for satellites.
$ASSIGNG2TOPRN
This command allows you to link a satellite PRN with a particular G2 delay. This delay is then added to a user-defined
table which allows up to 100 entries. Hence, when an ASSIGN command is issued, the receiver will check the userdefined table first and if the PRN is listed there, it will use that G2 delay. Otherwise it will use the default values for
GPS and WAAS satellites. This command affects the C/A code tracking only.
Use the $UNASSIGNG2TOPRN command to delete a G2 delay assignment for a particular PRN from the user-defined
table.
Syntax:
$ASSIGNG2TOPRN
38
prn
G2 delay
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Syntax
Range Value
$66,*1*72351
3UQ
&RPPDQG
± * GHOD\
Description
± Example
DVVLJQJWRSUQ
351 1XPEHU
&$ FRGH * GHOD\
Example:
$assigng2toprn 32 862
$CCRATIO
This command is used to set the number of carrier cycles in each code chip. It is available on the L1/L2 II port only.
There are three different syntactical forms permitted.
NOTE: The $CCRATIO is meant for use in very specialized applications. In normal operation, the use of this
command can cause the receiver to malfunction.
Syntax #1:
Channel
$CCRATIO
Syntax
&&5$7,2
&KDQQHO
&\FOHV
cycles
Range Value
Description
Example
&RPPDQG
± KLJKHVW FKDQQHO QXPEHU
± FFUDWLR
'HVLUHG FKDQQHO QXPEHU IURP WR PD[LPXP FKDQQHO DYDLODEOH
&DUULHU WR FRGH UDWLR LQ F\FOHV SHU FRGH FKLS
7KLV YDOXH FDQ EH
HQWHUHG ZLWK XS WR GHFLPDO SODFHV
Example:
$ccratio 3 1540.0
Syntax #2:
$CCRATIO
Syntax
&&5$7,2
Channel
keyword
Range Value
Description
&RPPDQG
&KDQQHO
KLJKHVW FKDQQHO QXPEHU
.H\ZRUG
5(6(7
Example
FFUDWLR
'HVLUHG FKDQQHO QXPEHU IURP WR PD[LPXP FKDQQHO DYDLODEOH
5HVHWV VSHFLILHG FKDQQHO
UHVHW
Example:
$ccratio 3 reset
Syntax #3:
$CCRATIO
Syntax
&&5$7,2
.H\ZRUG
Keyword
Range Value
5(6(7
Description
&RPPDQG
5HVHWV DOO FKDQQHOV
Example
FFUDWLR
5HVHW
Example:
$ccratio reset
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
39
5 – Command Descriptions
CLOCKADJUST
All oscillators have some inherent drift characterization. This command, if enabled, permits software to model these
long-term drift characteristics of the clock. The correction is applied to the 1PPS strobe as well. The clock adjustment
is performed digitally. As a result, the 1PPS Strobe (on an L1 card) will have a 49 ns jitter on it due to the receiver's
attempts to keep it as close as possible to GPS time. Jitter on an L1/L2 card is 50 ns.
CLOCKADJUST must be disabled (which it is by default) if you wish to measure the drift rate of the oscillator using the
CLKA/B data log. Under normal conditions, it is recommended that the command be left in a disabled state.
NOTES:
1. If you enable this command, do not disable it after 30 seconds from power-up: unpredictable clock drifts
may result.
2. When disabled, the range measurement bias errors will continue to accumulate with clock drift.
3. This feature should only be changed by advanced users.
Syntax:
switch
CLOCKADJUST
Syntax
Range Value
&/2&.$'-867
Description
VZLWFK
Default
&RPPDQG
(QDEOH RU GLVDEOH
$OORZV RU GLVDOORZV DGMXVWPHQW WR WKH LQWHUQDO FORFN
GLVDEOH
Example:
clockadjust disable
COMn
This command permits you to configure the COM ports’ asynchronous drivers.
The L1-C/A, L1/L2 I and L1/L2 II ports allow two-way communications. Each one is configured as COM1. Thus,
regardless of which of these three ports your data communications equipment is physically connected to, you would
enter COM1 as the command name. It is not possible to alter any of the communications parameters associated with the
TIME port.
Syntax:
parity
COMn bps
Syntax
Databits
stopbits
Handshake
Value
echo
Description
FIFO
Default
Example
&20Q
Q
2QO\ &20 LV DOORZHG
FRP
FRP
ESV
RU 6SHFLI\ ELW UDWH
SDULW\
1
6SHFLI\ SDULW\
1
(
GDWDELWV
RU 6SHFLI\ QXPEHU RI GDWD ELWV
VWRSELWV
RU 6SHFLI\ QXPEHU RI VWRS ELWV
KDQGVKDNH
1
6SHFLI\ KDQGVKDNLQJ
1
1
HFKR
21 RU 2))
6SHFLI\ HFKR
),)2
21 RU 2))
(QDEOH RU GLVDEOH WKH
QRQH 2
RGG
QRQH ;21
RU (
HYHQ
;RQ;RII
RU &76
&76576
2))
21
21
2))
8$57¶V WUDQVPLW
),)2
Examples:
com1 19200,e,7,1,n,on, off
com1 1200,e,8,1,n,on, off
40
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
CONFIG
This command switches the channel configuration of the L1-C/A code receiver between pre-defined configurations.
When the command is issued the receiver resets with the new configuration.
Syntax:
keyword
CONFIG
Syntax
Range
Description
Default
&21),*
&RPPDQG
NH\ZRUG
*:
&RQILJXUHV WKH /&$ FRGH SRUWLRQ RI WKH UHFHLYHU WR WUDFN XS WR *36 VDWHOOLWH V
:$$6 VDWV
*:
&RQILJXUHV WKH /&$ FRGH SRUWLRQ RI WKH UHFHLYHU WR WUDFN XS WR *36 VDWHOOLWH V
:$$6 VDWV
*:
Example:
config g14w2
CSMOOTH
This command sets the amount of carrier smoothing to be performed on the pseudorange measurements carrier. The
‘value’ field sets the L1 channel portion and the optional ‘value2’ field sets the L2 channel portion. An input value of
100 corresponds to approximately 100 seconds of smoothing. Upon issuing the command, the locktime for all tracking
satellites is reset to zero, and each pseudorange smoothing filter is restarted. You must wait for at least the length of
smoothing time for the new smoothing constant to take full effect. 20 seconds is the default smoothing constant used in
the WAAS / GUS receiver. The optimum setting for this command depends on your application and thus cannot be
specified.
On port L1-C/A, ‘value2’ is ignored since the MEDLL subsystem is L1-only.
NOTES: The CSMOOTH command should only be used by advanced users. It may not be suitable for every GPS
application. When using CSMOOTH in a differential mode, the same setting should be used at both the monitor and
remote station.
The lower the smoothing constant, the more noise there will be.
Syntax:
value
CSMOOTH
Syntax
&60227+
9DOXH
9DOXH
[value2]
Range Value
Description
Default
&RPPDQG
WR / FDUULHU VPRRWKLQJ FRQVWDQW
LQ VHFRQGV WR / FDUULHU VPRRWKLQJ FRQVWDQW
LQ VHFRQGV Example:
csmooth 20 500
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
41
5 – Command Descriptions
$DLLORDER
This command controls the filter order of the Delay-Lock Loop (DLL). The ‘order’ field sets the L1 channel portion and
the optional ‘order2’ field sets the L2 channel portion. The ‘order2’ field, however, is not currently used.
Syntax:
Channel
$DLLORDER
Syntax
Order
Range Value
'//25'(5
Description
&KDQQHO
[order2]
Default
Example
&RPPDQG
WR WKH KLJKHVW FKDQQHO
$Q LQGLYLGXDO FKDQQHO QXPEHU FDQ EH HQWHUHG RU WKH µDOO¶ NH\ZRUG
QXPEHU RU WKH NH\ZRUG µ$//¶
FDQ EH XVHG LI WKH WKUHVKROG YDOXHV DSSO\ WR DOO FKDQQHOV
$//
IRU DOO FKDQQHOV
2UGHU
'()$8/7
'HIDXOW '// RUGHU
6HWV '// WR 6HWV '// WR 2UGHU
VW
QG
VW RUGHU
RUGHU RQ / FKDQQHO
RUGHU RQ / FKDQQHO
QRW FXUUHQWO\ XVHG
Examples:
$dllorder 0 2
$dllorder all 2
ECUTOFF
This command sets the elevation cut-off angle for usable satellites. The GPSCard will not start tracking a satellite until
it rises above the cutoff angle; however, if a satellite being tracked drops below this angle, it will continue to be tracked
until the signal is lost. Satellites that are below the cutoff angle will be eliminated from the internal position and clock
offset solution computations only. All satellites in view will still be tracked and their data logged; this data may be used
in post processing. If there are more satellites in view than there are channels available, the channels which are tracking
satellites below the elevation cut-off will be reassigned to any healthy satellites above the cutoff which are not already
assigned to a channel.
This command permits a negative cutoff angle, which could be used in these situations:
•
•
the receiver is at a high altitude, and thus can look below the local horizon
satellites are visible below the horizon due to atmospheric refraction
NOTES: When ECUTOFF is set to zero (0), the receiver will track all satellites in view including some within a few
degrees below the horizon.
Care should be taken when using ECUTOFF because the signals received from low-elevation satellites travel along a
longer atmospheric path and thus tend to experience greater degradation.
Syntax:
angle
ECUTOFF
Syntax
Range Value
(&872))
$QJOH
° WR °
Description
Default
&RPPDQG
9DOXH LQ GHJUHHV
UHODWLYH WR WKH KRUL]RQ Example:
ecutoff 5
42
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
FIX POSITION
Invoking this command will result in the WAAS / GUS receiver position being held fixed. A computation will be done
to solve local clock offset, pseudorange, and pseudorange differential corrections. This mode of operation can be used
for time transfer applications where the position is fixed and accurate GPS time output is required (refer to CLKA/B and
TM1A/B logs for time data).
The values entered into the FIX POSITION command should reflect the precise position of the antenna’s phase centre.
Any errors in these coordinates will be propagated into the pseudorange corrections calculated by the receiver.
The height is the distance above the geoid. The WAAS / GUS receiver performs all internal computations based on
WGS-84. If you are going to input an ellipsoidal height you must first set the undulation to zero; please refer to the
UNDULATION command.
The FIX POSITION command will override any previous FIX POSITION command settings.
command to disable the FIX POSITION setting.
Use the UNFIX
Syntax:
FIX POSITION
Syntax
lon
“ /DWLWXGH
“ WR Default
&RPPDQG
XQIL[
LQ GHJUHHVGHFLPDO GHJUHHV
RI IL[HG
PRQLWRU VWDWLRQ DQWHQQD LQ FXUUHQW GDWXP
Example
IL[ SRVLWLRQ
$
QHJDWLYH VLJQ LPSOLHV 6RXWK ODWLWXGH
/RQJLWXGH
RQO\ GHFLPDO SODFHV DUH VKRZQ LQ WKH 5&&$ ORJ
WKRXJK KLJKHU SUHFLVLRQ LV FDUULHG LQWHUQDOO\
KHLJKW
RTCM stn health
Description
RQO\ GHFLPDO SODFHV DUH VKRZQ LQ WKH 5&&$ ORJ
WKRXJK KLJKHU SUHFLVLRQ LV FDUULHG LQWHUQDOO\
ORQ
Station id
height
Range Value
),; 326,7,21
ODW
lat
LQ GHJUHHV
RI IL[HG PRQLWRU VWDWLRQ
DQWHQQD LQ FXUUHQW GDWXP
$ QHJDWLYH VLJQ
LPSOLHV :HVW ORQJLWXGH
+HLJKW
LQ PHWUHV
DERYH WKH JHRLG RI PRQLWRU
VWDWLRQ LQ FXUUHQW GDWXP
VWDWLRQ LG
QRW XVHG LQ :$$6
QRW XVHG LQ :$$6
57&0 PRQLWRU
QRW XVHG LQ :$$6
QRW XVHG LQ :$$6
VWDWLRQ KHDOWK
Example:
fix position 51.3455323,-114.289534,1201.123
The above example fixes the position of the receiver with fixed coordinates of:
Latitude
Longitude
Height above sea level
N 51° 20' 43.9163" (WGS-84 or local datum)
W 114° 17' 22.3224"
1201.123 metres
$JAMMODE
This command controls the receiver’s ability to switch to a jamming mitigation configuration. By default, jamming
mitigation automatically begins as soon as the jamming reaches a certain threshold (that is, if the AGC control
mechanism is set to ‘auto’). This command allows you to remove this from the AGC’s control, and force the jamming
mitigation mode to be on or off. The jamming mitigation mode not only controls the gain feedback of the AGC control
mechanism, but also the encoding of the data signal for the MINOS.
See also the $AGC command.
NOTE:
This command can fundamentally change the way that the receiver operates. Do not alter the default settings
unless you are confident that you understand the consequences.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
43
5 – Command Descriptions
Syntax:
agc
$JAMMODE
Syntax
state
Range Value
-$002'(
Description
Default
Example
&RPPDQG
$JF
/ RU /
VHOHFW $*& FLUFXLW
6WDWH
21
IRUFH MDPPLQJ PLWLJDWLRQ PRGH RQ
2))
IRUFH MDPPLQJ PLWLJDWLRQ PRGH RII
$872
$*& GHWHFWV MDPPLQJ DQG VZLWFKHV WR MDPPLQJ PLWLJDWLRQ
/
DXWR
21
PRGH DXWRPDWLFDOO\
Example:
$jammode l1 on
LOG
Many different types of data can be logged using several different methods of triggering the log events. Every log
element can be directed to the COM1 port. The ONTIME trigger option requires the addition of the period parameter
and optionally allows input of the offset parameter. See the beginning of Chapter 7
NovAtel Format Data Logs, for
further information about the ASCII and binary data log structures.
The ‘port’ parameter is optional. If ‘port’ is not specified, ‘port’ is defaulted to the port that the command was received
on. This feature eliminates the need for you to know which port you are communicating on if you want logs to come
back to you on the same port by which you are sending commands.
If the LOG syntax does not include a ‘trigger’ type, it will be output only once following execution of the LOG
command. If ‘trigger’ type is specified in the LOG syntax, the log will continue to be output based on the ‘trigger’
specification.
The optional parameter ‘hold’ will prevent a log from being removed when the UNLOGALL command is issued. To
remove a log which was invoked using the ‘hold’ parameter requires the specific use of the UNLOG command.
The L1-C/A, L1/L2 I and L1/L2 II ports allow two-way communications; each one is configured as COM1. Thus,
regardless of which of these three ports your data communications equipment is physically connected to, you would
enter COM1 as the port name. It is not possible to log data to the TIME port.
Specific logs can be disabled using the UNLOG command, whereas all enabled logs will be disabled by using the
UNLOGALL command (except for those issued with the ‘hold’ parameter).
44
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Syntax:
LOG
[port] datatype
[trigger] [period]
Syntax
[offset]
[hold]
Description
Example
/2*
SRUW
GDWDW\SH
WULJJHU
/2*
2SWLRQDO
&20 LV WKH RQO\ YDOLG HQWU\
(QWHU RQH RI WKH YDOLG GDWD ORJ QDPHV
2SWLRQDO
&20
VHH &KDSWHU 1RY$WHO )RUPDW 'DWD /RJV
(76%
(QWHU RQH RI WKH IROORZLQJ WULJJHUV
ONCE
ONMARK
217,0(
,PPHGLDWHO\ ORJV WKH VHOHFWHG GDWD WR WKH VHOHFWHG SRUW RQFH
'HIDXOW LI WULJJHU ILHOG LV OHIW EODQN
/RJV WKH VHOHFWHG GDWD ZKHQ D 0$5.,1 HOHFWULFDO HYHQW LV GHWHFWHG
2XWSXWV LQWHUQDO EXIIHUV DW
WLPH RI PDUN ± GRHV QRW H[WUDSRODWH WR PDUN WLPH
ONNEW
ONCHANGED
ONTIME
[period],
[offset]
/RJV WKH VHOHFWHG GDWD HDFK WLPH WKH GDWD LV QHZ HYHQ LI WKH GDWD LV XQFKDQJHG
CONTINUOUSLY
:LOO ORJ WKH GDWD DOO WKH WLPH
/RJV WKH VHOHFWHG GDWD RQO\ ZKHQ WKH GDWD KDV FKDQJHG
,PPHGLDWHO\ ORJV WKH VHOHFWHG GDWD DQG WKHQ SHULRGLFDOO\ ORJV WKH VHOHFWHG GDWD DW D IUHTXHQF\
GHWHUPLQHG E\ WKH SHULRG DQG RIIVHW SDUDPHWHUV
7KH ORJJLQJ ZLOO FRQWLQXH XQWLO DQ 81/2*
FRPPDQG SHUWDLQLQJ WR WKH VHOHFWHG GDWD LWHP LV UHFHLYHG
DVVRFLDWHG ZLWK WKH FKRVHQ SRUW EHFRPHV HPSW\
PRUH WKDQ RQH ORJ LV DVVLJQHG WR WKH SRUW
7KLV PD\ FDXVH XQSUHGLFWDEOH UHVXOWV LI
7KH FRQWLQXRXVO\ RSWLRQ ZDV GHVLJQHG IRU XVH
ZLWK GLIIHUHQWLDO FRUUHFWLRQV RYHU ORZ ELW UDWH GDWD OLQNV
JHQHUDWLRQ UDWHV
VHH 81/2* &RPPDQG 7KH *36&DUG ZLOO JHQHUDWH D QHZ ORJ ZKHQ WKH RXWSXW EXIIHU
7KLV ZLOO SURYLGH RSWLPDO UHFRUG
7KH QH[W UHFRUG ZLOO QRW EH JHQHUDWHG XQWLO WKH ODVW E\WH RI WKH SUHYLRXV UHFRUG
LV ORDGHG LQWR WKH RXWSXW EXIIHU RI WKH 8$57
3HULRG
2SWLRQDO
8VH RQO\ ZLWK WKH
Ontime
WULJJHU
YDOXH IURP VHFRQG WR VHFRQGV
8QLWV IRU WKLV SDUDPHWHU DUH VHFRQGV
7KH VHOHFWHG SHULRG PD\ EH DQ\
6HOHFWHG GDWD LV ORJJHG LPPHGLDWHO\ DQG WKHQ SHULRGLF ORJJLQJ RI WKH GDWD
ZLOO VWDUW DW WKH QH[W HYHQ PXOWLSOH RI WKH SHULRG
,I D SHULRG RI VHF LV FKRVHQ WKHQ GDWD ZLOO EH ORJJHG ZKHQ WKH
UHFHLYHU WLPH LV DW WKH DQG WKH QH[W
VHFRQG PDUNV
ZLOO ORJ WKH GDWD ZKHQ WKH UHFHLYHU WLPH LV DW HYHQ PLQXWH PDUNV
LV QRW GLYLVLEOH LQWR LWV QH[W VHFRQG RU PLQXWH PDUNV
,I WKH SHULRG LV VHFRQGV WKHQ WKH ORJJHU
7KH VDPH UXOH DSSOLHV HYHQ LI WKH FKRVHQ SHULRG
,I D SHULRG RI VHFRQGV LV FKRVHQ WKHQ WKH ORJJHU ZLOO ORJ DW WKH
PXOWLSOHV RI VHFRQGV OHVV WKDQ WKDW LV DQG HYHU\ VHFRQGV WKHUHDIWHU
2IIVHW
2SWLRQDO
8VH RQO\ ZLWK WKH
Ontime WULJJHU DQG ZLWK 3HULRG
DELOLW\ WR RIIVHW WKH ORJJLQJ HYHQWV IURP WKH DERYH VWDUWXS UXOH
8QLWV IRU WKLV SDUDPHWHU DUH VHFRQGV
\RX ZRXOG VHW WKH SHULRG WR VHFRQGV DQG WKH RIIVHW WR VHFRQG
+ROG
2SWLRQDO
,W SURYLGHV WKH
,I \RX ZLVKHG WR ORJ GDWD DW VHFRQG DIWHU HYHU\ PLQXWH
7KH GHIDXOW LV 3UHYHQWV D ORJ IURP EHLQJ UHPRYHG ZKHQ WKH 81/2*$// FRPPDQG LV LVVXHG 81/2* PXVW EH XVHG
Examples:
log com1,etsb,ontime,60,1
log com1 etsb
log etsb ontime 60 1
The first example will cause the ETSB log to be sent to COM port 1, recurring every 60 seconds, and offset by 1 second.
The second example will cause the ETSB log to be sent only once, by omitting the trigger option. The third example is
identical to the first , since all the ports on the WAAS / GUS receiver to which one can issue commands are configured
as COM1.
$PLLBW
This command sets the phase-lock-loop bandwidths of the receiver. Note that the ‘L2_BW’ value is currently not
implemented; do not use it.
NOTE:
This command can fundamentally change the way that the receiver operates. Do not alter the default settings
unless you are confident that you understand the consequences.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
45
5 – Command Descriptions
Syntax:
L1_BW
$PLLBW
Syntax
Range Value
SOOEZ
/B%:
[L2_BW]
Description
Default
/ &$ RU / &$ SKDVHORFNORRS EDQGZLGWK
&RPPDQG
+] WR +]
/B%:
2SWLRQDO / 3
EDQGZLGWK
FRGHOHVV
SKDVHORFNORRS
&XUUHQWO\ QRW LPSOHPHQWHG
Example:
$pllbw 12
RESET
This command performs a hardware reset. Following a RESET command, the WAAS / GUS receiver will initiate a
cold-start bootup. Therefore, the receiver configuration will revert to the factory default.
Syntax:
RESET
$SETFRAMETYPE
This command controls the type of navigation frame data that is output in the FRMA/B logs.
Syntax:
Type
$SETFRAMETYPE
Syntax
Range Value
6(7)5$0(7<3(
7\SH
Description
Default
Example
&RPPDQG
$//
,QGLYLGXDO QDYLJDWLRQ IUDPH GDWD FDQ EH HQWHUHG RU WKH µDOO¶
*36
NH\ZRUG FDQ EH XVHG LI WKH DOO W\SHV DUH QHHGHG
$//
*36
*/21$66
:$$6
Example:
$setframetype gps
$THRESHOLD
This command controls signal acquisition and steady-state-lock signal thresholds. The ‘acquisition’, and ‘lock’ fields
must have values. The ‘acquisition2’ and ‘lock2’ fields are used if the channel is L1/L2. In this case, the ‘acquisition’
and ‘lock’ fields set the thresholds for the L1 portion of the channel, and the ‘acquisition2’, and ‘lock2’ fields set the
thresholds for the L2 portion of the channel.
The ‘acquisition2’ and ‘lock2’ fields (that is, the L2 portion) may be entered, are reported in the RCCA log, but are not
currently used by the receiver.
There are two different syntactical forms, as shown below.
46
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Syntax #1:
$THRESHOLD
Syntax
channel
lock
Range Value
7+5(6+2/'
&KDQQHO
acquisition
acquisition2 lock2
Description
Default
WR WKH KLJKHVW FKDQQHO
$Q LQGLYLGXDO FKDQQHO QXPEHU FDQ EH HQWHUHG RU WKH µ$//¶
QXPEHU RU µ$//¶ IRU DOO
NH\ZRUG FDQ EH XVHG LI WKH WKUHVKROG YDOXHV DSSO\ WR DOO
FKDQQHOV
FKDQQHOV
$FTXLVLWLRQ
G%+] WR G%+]
$FTXLVLWLRQ SRZHU WKUHVKROG
/RFN
G%+] WR G%+]
6WHDG\VWDWH WUDFNLQJ ORFN WKUHVKROG
$FTXLVLWLRQ
QRW FXUUHQWO\ XVHG
ORFN
QRW FXUUHQWO\ XVHG
Example:
$threshold 3 36 28
Syntax #2:
$THRESHOLD
Syntax
Channel
Range Value
7+5(6+2/'
&KDQQHO
.H\ZRUG
keyword
Description
WR WKH KLJKHVW FKDQQHO
$Q LQGLYLGXDO FKDQQHO QXPEHU FDQ EH HQWHUHG RU WKH µ$//¶ NH\ZRUG FDQ EH
QXPEHU RU µ$//¶
XVHG LI WKH WKUHVKROG YDOXHV DSSO\ WR DOO FKDQQHOV
'()$8/7
6HWV WKH SRZHU WKUHVKROGV WR GHIDXOW YDOXHV
Example:
$threshold all default
UNASSIGN
This command cancels a previously issued ASSIGN command and the channel reverts to automatic control. If an L1
channel has reached channel tracking state 4 (PLL, see Table 8), the satellite being tracked will not be dropped when the
UNASSIGN command is issued, unless it is below the elevation cutoff angle and there are healthy satellites above the
elevation cutoff angle that are not already assigned to other channels.
Syntax:
Channel
UNASSIGN
Syntax
Range Value
81$66,*1
&KDQQHO
KLJKHVW FKDQQHO QXPEHU
Description
&RPPDQG
Default
XQDVVLJQDOO
5HVHW FKDQQHO WR DXWRPDWLF VHDUFK DQG DFTXLVLWLRQ PRGH
Example:
unassign 11
UNASSIGNALL
This command cancels all previously issued ASSIGN commands for all channels. Tracking and control for each
channel reverts to automatic mode. If any of the L1 channels has reached channel tracking state 4 (PLL, see Table 8),
the satellites being tracked will not be dropped when the UNASSIGNALL command is issued, unless they are below the
elevation cutoff angle and there are healthy satellites above the elevation cutoff angle that are not already assigned to
other channels.
Syntax:
UNASSIGNALL
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
47
5 – Command Descriptions
$UNASSIGNG2TOPRN
This command deletes a G2 delay assignment for a particular PRN from the user-defined table. It reverses a previous
$ASSIGNG2TOPRN command. There are two syntactical forms, as shown below.
Syntax #1:
$UNASSIGNG2TOPRN
Syntax
prn
Range Value
81$66,*1*72351
3UQ
± Description
&RPPDQG
Example
XQDVVLJQJWRSUQ
351 1XPEHU
Example:
$unassigng2toprn 101
Syntax #2:
$UNASSIGNG2TOPRN
Syntax
Keyword
Range Value
81$66,*1*72351
.H\ZRUG
$//
Description
&RPPDQG
Example
XQDVVLJQJWRSUQ
.H\ZRUG DOO LV WKH RQO\ GHILQHG NH\ZRUG DW WKLV
DOO
WLPH
Example:
$unassigng2toprn all
UNDULATION
This command permits you to either enter a specific geoidal undulation value or use the internal table of geoidal
undulations. The separation values only refer to the separation between the WGS-84 ellipsoid and the geoid at your
location, regardless of the datum chosen. When you are going to input the ellipsoidal height using the FIX POSITION
command you must first set the UNDULATION to zero.
Figure 16 illustrates the various terms used in describing height relationships. In this figure,
1 = topography
2 = geoid = mean sea level
3 = ellipsoid
N = undulation
h = ellipsoidal height = height above ellipsoid
H = height above mean sea level.
Figure 16
48
Height Relationships
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
5 – Command Descriptions
Syntax:
UNDULATION
Syntax
Separation
Range Value
81'8/$7,21
6HSDUDWLRQ
Description
Default
&RPPDQG
.H\ZRUG ³WDEOH´
6HOHFWV WKH LQWHUQDO WDEOH RI XQGXODWLRQV DQG LJQRUHV DQ\ SUHYLRXVO\ HQWHUHG YDOXH
LQWHUQDO WDEOH XWLOL]HV D JULG
268 %
7KH
WDEOH
RI DSSUR[LPDWHO\ GHJUHHV [ GHJUHHV
RU
D YDOXH
$ QXPHULF HQWU\ WKDW RYHUULGHV WKH LQWHUQDO WDEOH ZLWK D YDOXH LQ PHWUHV
Examples:
undulation table
undulation -5.6
UNFIX
This command removes all position constraints invoked with the FIX POSITION command.
Syntax:
UNFIX
UNLOG
This command permits you to remove a specific log request from the system. It reverses the effect of a particular LOG
command.
The [port] parameter is optional. If [port] is not specified, it is defaulted to the port that the command was received on.
This feature eliminates the need for you to know which port you are communicating on if you want logs to come back
on the same port you are sending commands on.
Syntax:
UNLOG
port
Syntax
log name
Range Value
81/2*
Description
&RPPDQG
3RUW
&20
&20Q SRUW IURP ZKLFK ORJ RULJLQDWHG
ORJ QDPH
DQ\ YDOLG ORJ
7KH QDPH RI WKH ORJ WR EH GLVDEOHG
Default
XQORJDOO
Example:
unlog com1,tm1b
UNLOGALL
This command permits you to disable all current logs on the port to which your data communication equipment is
connected. It reverses the effects of all LOG commands.
NOTE:
This command does not disable logs that have the ‘hold’ attribute (see description for LOG command). To
disable logs with the ‘hold’ attribute, use the UNLOG command.
Syntax:
UNLOGALL
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
49
5 – Command Descriptions
VERSION
Use this command to determine the current software version of the GPSCard. The response to the VERSION command
is logged to the port from which the command originated.
Syntax:
VERSION
Command
9(56,21
Response Syntax
&DUG W\SH
0RGHO 61
Example 1 (L1 C/A Port):
COM1>version
OEM-2 WAASMEDLL CGC96220002
+: 5HY
HW 1
6: 5HY
'DWH
SW 5.44/1.03 Oct 24/97
Example 2 (L1/L2 I Port):
COM1>version
OEM-3 WAASL2 CGL97330041 HW 3-1 SW 4.44/2.03RC2db Oct 24/97
Example 3 (L1/L2 II Port):
COM1>version
OEM-3 WAASL2W CGL96390096 HW 3-1 SW 4.44/2.03DB Oct 24/97
50
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
6 - Output Logging
6
OUTPUT LOGGING
When logging data from the WAAS / GUS receiver, the logs must be sent to the COM1 serial port; the COM2 port is
reserved for special use. Logging to COM2 may interfere with or damage the effective operation of the receiver.
Table 4 shows the list of logs, clustered according to several categories; Table 5 shows the list of logs, arranged
alphabetically. Table 6 shows which logs have been obsoleted since the last version of this manual.
The data logs available are in NovAtel ASCII and binary format, and are described in Chapter 7 NovAtel Format Data
Logs. They can be logged using several methods of triggering each log event. Each log is initiated using the LOG
command. The LOG command and syntax are described in Chapter 5, Command Descriptions; they are of the form log
port,datatype,trigger,[period,offset,hold].
If the LOG syntax does not include a trigger type, it will be output only once following execution of the LOG
command. If trigger type is specified in the LOG syntax, the log will continue to be output based on the trigger
specification. Specific logs can be disabled using the UNLOG command, whereas all enabled logs will be disabled by
using the UNLOGALL command.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
51
6 - Output Logging
Table 4
WAAS / GUS Logs by Category
COMMUNICATIONS, CONTROL & STATUS
Logs
Descriptions
$&3$%
$*& &RQWURO 3DUDPHWHU ,QIRUPDWLRQ
$*&$%
$*& DQG $' ,QIRUPDWLRQ
&'6$%
&20 SRUW FRPPXQLFDWLRQV VWDWXV
GENERAL RECEIVER CONTROL & STATUS
Logs
Descriptions
5&&$
5HFHLYHU FRQILJXUDWLRQ VWDWXV
596$%
5HFHLYHU VWDWXV
POSITION, PARAMETERS & SOLUTION FILTERING
Logs
Descriptions
'23$%
'23 RI 69V FXUUHQWO\ WUDFNLQJ
326$%
3RVLWLRQ GDWD
SATELLITE TRACKING & CHANNEL CONTROL
Logs
Descriptions
$/0$%
&XUUHQW GHFRGHG DOPDQDF GDWD
'23$%
'23 RI 69V FXUUHQWO\ WUDFNLQJ
(76$%
3URYLGHV FKDQQHO WUDFNLQJ VWDWXV LQIRUPDWLRQ IRU HDFK RI WKH *36&DUG SDUDOOHO FKDQQHOV
)50$%
)UDPHG 1DYLJDWLRQ 'DWD
,21$%
'HFRGHG $OPDQDF ± ,RQRVSKHULF 0RGHO SDUDPHWHUV
5%7$%
5DZ 1DYLJDWLRQ %LWV
5(3$%
5DZ (SKHPHULV
5*($%'
6DWHOOLWH UDQJH PHDVXUHPHQWV
6$7$%
6DWHOOLWH VSHFLILF LQIRUPDWLRQ
6%7$%
5DZ 1DYLJDWLRQ 6\PEROV
87&$%
'HFRGHG $OPDQDF ± 87& 7LPH SDUDPHWHUV
:5&$%
:LGH %DQG 5DQJH &RUUHFWLRQV
,QFOXGHV / DQG /
CLOCK INFORMATION, STATUS & TIME
Logs
Descriptions
&/.$%
5HFHLYHU FORFN RIIVHW LQIRUPDWLRQ
70$%
7LPH RI 336
52
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
6 - Output Logging
Table 5
WAAS / GUS Log Summary
NovAtel Format Logs
'DWDW\SH
'HVFULSWLRQ
$&3$%
$*& &RQWURO 3DUDPHWHU ,QIRUPDWLRQ
$*&$%
$*& DQG $' ,QIRUPDWLRQ
$/0$%
'HFRGHG $OPDQDF
&'6$%
&RPPXQLFDWLRQ DQG 'LIIHUHQWLDO 'HFRGH 6WDWXV
&/.$%
5HFHLYHU &ORFN 2IIVHW 'DWD
'23$%
'LOXWLRQ RI 3UHFLVLRQ
(76$%
([WHQGHG &KDQQHO 7UDFNLQJ 6WDWXV
)50$%
)UDPHG 1DYLJDWLRQ 'DWD
,21$%
'HFRGHG $OPDQDF ± ,RQRVSKHULF 0RGHO SDUDPHWHUV
326$%
&RPSXWHG 3RVLWLRQ
5%7$%
5DZ 1DYLJDWLRQ %LWV
5&&$
5HFHLYHU &RQILJXUDWLRQ
5(3$%
5DZ (SKHPHULV
5*($%
&KDQQHO 5DQJH 0HDVXUHPHQWV
596$%
5HFHLYHU VWDWXV LQFO 6: YHUVLRQ RI ZRUNLQJ FKDQQHOV &38 LGOH WLPH %,67V VWDWXV FORFN VWDWXV
6$7$%
6DWHOOLWH 6SHFLILF 'DWD
6%7$%
5DZ 1DYLJDWLRQ 6\PEROV
70$%
7LPH RI 336
87&$%
'HFRGHG $OPDQDF ± 87& 7LPH SDUDPHWHUV
:5&$%
:LGH %DQG 5DQJH &RUUHFWLRQV
,QFOXGHV / DQG /
Table 6
Obsolete Logs
NovAtel Format Logs
'DWDW\SH
'HVFULSWLRQ
:%5$%
:LGH %DQG &RGH &RUUHFWLRQV
/ 2QO\
It is still possible to use this log, but the use of the WRCA/B log is recommended in its place. The WBRA/B log will not
be supported in future software releases.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
53
7 - NovAtel Format Data Logs
7
NOVATEL FORMAT DATA LOGS
The WAAS / GUS receiver is capable of generating many NovAtel-format output logs, in either ASCII or binary format.
The following log descriptions are listed in alphabetical order. Each log first lists the ASCII format, then the binary
format description.
ASCII LOG STRUCTURE
Log types ending with the letter A are output in ASCII format (e.g., POSA). The structures of all ASCII logs follow the
general conventions as noted here:
1.
The lead code identifier for each record is '$'.
2.
Each log is of variable length depending on amount of data and formats.
3.
All data fields are delimited by a comma ',' with the exception of the last data field, which is followed by a ‘*’
to indicate end-of-message data.
4.
Each log ends with a hexadecimal number preceded by an asterisk and followed by a line termination using the
carriage return and line feed characters, e.g., *xx[CR][LF]. This 8-bit value is an exclusive OR (XOR) of all
bytes in the log, excluding the '$' identifier and the asterisk preceding the two checksum digits.
Structure:
$xxxx, data field..., data field...,
data field...
*xx [CR][LF]
BINARY LOG STRUCTURE
The structures of the Binary logs follow the general conventions as noted here:
1.
Basic format of:
Sync
Checksum
Message ID
Message byte count
Data
2.
The Sync bytes will always be:
Byte
Hex
Decimal
)LUVW
$$
6HFRQG
7KLUG
3 bytes
1 byte
4 bytes unsigned integer
4 bytes unsigned integer
x bytes
3.
The Checksum is an XOR of all the bytes, including the 12 header bytes with CRC = 00.
4.
The Message ID identifies the type of log to follow.
5.
The Message byte count equals the total length of the data block including the header.
NOTE: Maximum flexibility for logging data is provided by these logs. You are cautioned, however, to recognize
that each log requested requires additional CPU time and memory buffer space. Too many logs may result in lost data
and degraded CPU performance. CPU overload can be monitored using the idle time and buffer overload bits from the
RVSB log. For further information, please refer to Table 10 Receiver Self-Test Status Codes.
54
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
The following describes the format types used in the description of binary logs.
Type
Size (bytes)
FKDU
Size (bits)
Description
7KH
FKDU W\SH LV XVHG WR VWRUH WKH LQWHJHU YDOXH RI D PHPEHU RI WKH UHSUHVHQWDEOH FKDUDFWHU VHW
7KDW LQWHJHU YDOXH LV WKH $6&,, FRGH FRUUHVSRQGLQJ WR WKH VSHFLILHG FKDUDFWHU
LQW
7KH VL]H RI D VLJQHG RU XQVLJQHG
PDFKLQH
E\WHV
7KH
LQW
LWHP LV WKH VWDQGDUG VL]H RI DQ LQWHJHU RQ D SDUWLFXODU
LQW W\SH LV ELWV RU LQW W\SHV DOO UHSUHVHQW VLJQHG YDOXHV XQOHVV VSHFLILHG RWKHUZLVH 6LJQHG LQWHJHUV DUH
2Q D ELW SURFHVVRU
VXFK DV WKH 1RY$WHO *36&DUG WKH
UHSUHVHQWHG LQ WZR VFRPSOHPHQW IRUP
7KH PRVWVLJQLILFDQW ELW KROGV WKH VLJQ IRU QHJDWLYH IRU SRVLWLYH DQG ]HUR
GRXEOH
7KH
GRXEOH
W\SH FRQWDLQV ELWV IRU VLJQ IRU WKH H[SRQHQW DQG IRU WKH PDQWLVVD
,WV
UDQJH LV “( ZLWK DW OHDVW GLJLWV RI SUHFLVLRQ
IORDW
7KH
IORDW
W\SH FRQWDLQV ELWV IRU WKH VLJQ IRU WKH H[SRQHQW DQG IRU WKH PDQWLVVD
,WV
UDQJH LV “( ZLWK DW OHDVW GLJLWV RI SUHFLVLRQ
Each byte within an int has its own address, and the smallest of the addresses is the address of the int. The byte at this
lowest address contains the eight least significant bits of the double word, while the byte at the highest address contains
the eight most significant bits. Similarly the bits of a "double" type are stored least significant byte first. This is the
same data format used by personal computers.
TIME CONVENTIONS
All logs report GPS time expressed in GPS weeks and seconds into the week. The time reported is not corrected for the
local receiver’s clock error. To derive the closest GPS time, one must subtract the clock offset shown in the CLKB log
(field 4) from GPS time reported.
GPS time is based on an atomic time scale. Universal Time Coordinated (UTC) time is also based on an atomic time
scale, with an offset of seconds applied to coordinate Universal Time to GPS time. GPS time is designated as being
coincident with UTC at the start date of January 6, 1980 (00 hours). GPS time does not count leap seconds, and
therefore an offset exists between UTC and GPS time (at this date: approximately 11 seconds). The GPS week consists
of 604800 seconds, where 000000 seconds is at Saturday midnight. Each week at this time, the week number
increments by one, and the seconds into the week resets to 0.
LOG DESCRIPTIONS
$ACPA/B
AGC CONTROL PARAMETER INFORMATION
The ACPA/B log contains AGC related information. This information includes information about the AGC controller
bin values, bin weights, variances, and detect levels.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
55
7 - NovAtel Format Data Logs
$ACPA
Structure:
$ACPA week seconds rec_status #RF
RF_type gv1 gv2 gv3 gv4 gv5 gv6 jv1 jv2 jv3 jv4 jv5 jv6
gw1 gw2 gw3 gw4 gw5 gw6 jw1 jw2 jw3 jw4 jw5 jw6 gcv jcv jdl j_in
:
data for other RF decks, if required *xx
[CR][LF]
Field
Item
Description
Example
$&3$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
UHFBVWDWXV
6HOIWHVW VWDWXV RI WKH UHFHLYHU
5)
1XPEHU RI 5) GHFNV UHSRUWHG LQ WKLV PHVVDJH
5)BW\SH
JY
([SHFWHG *DXVVLDQ %LQ 9DOXH JY
([SHFWHG *DXVVLDQ %LQ 9DOXH JY
([SHFWHG *DXVVLDQ %LQ 9DOXH JY
([SHFWHG *DXVVLDQ %LQ 9DOXH JY
([SHFWHG *DXVVLDQ %LQ 9DOXH JY
([SHFWHG *DXVVLDQ %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH MY
([SHFWHG -DPPHG %LQ 9DOXH JZ
*DXVVLDQ %LQ :HLJKW JZ
*DXVVLDQ %LQ :HLJKW JZ
*DXVVLDQ %LQ :HLJKW JZ
*DXVVLDQ %LQ :HLJKW JZ
*DXVVLDQ %LQ :HLJKW JZ
*DXVVLDQ %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW MZ
-DPPHG %LQ :HLJKW JFY
*DXVVLDQ 9DULDQFH &RQWURO /HYHO
MFY
-DPPHG 9DULDQFH &RQWURO /HYHO
MGO
-DP 'HWHFW /HYHO
MBLQ
-DP (QWHU /HYHO
MBH[
-DP ([LW /HYHO
«
1H[W 5) 'HFN LI UHTXLUHG
9DULDEOH
9DULDEOH
[[
>&5@>/)@
*36 / j_ex
$&3$
VHH 7DEOH *36 / DOO RWKHU QXPEHUV DUH UHVHUYHG IRU IXWXUH XVH
&KHFNVXP
$))
«
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$ACPA,932,256586.00,43A00FF,2,0,0.1037,0.1781,0.2375,0.2370,0.1569,0.0868,0.0060,0.1335,0.4221,0.3596,0.0761,
0.0028,3.3010,0.9200,0.1330,0.1330,0.9200,3.3010,2.0630,0.7210,0.1060,0.1060,0.7210,2.0630,1.0000,0.2030,0.0050,
0.0300,0.0100,1,0.0992,0.1720,0.2353,0.2387,0.1636,0.0911,0.0065,0.1300,0.4065,0.3635,0.0898,0.0037,3.3010,0.920
56
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
0,0.1330,0.1330,0.9200,3.3010,2.0630,0.7210,0.1060,0.1060,0.0721,2.0630,1.0000,0.2030,0.0050,0.0300,0.0100*70
$ACPB
Format:
Message ID = 75
Message byte count = 32 + (r * 120) where r is the # of RF decks.
Field #
KHDGHU
Bytes
Format
6\QF
Data
&KDU
Units
Offset
&KHFNVXP
&KDU
0HVVDJH ,'
,QWHJHU
0HVVDJH E\WH FRXQW
,QWHJHU
:HHN QXPEHU
,QWHJHU
ZHHNV
7LPH RI ZHHN
'RXEOH
VHFRQGV
5HFHLYHU VWDWXV
,QWHJHU
5HFHLYHU VHOIWHVW VWDWXV
1R RI 5) GHFNV
,QWHJHU
QXPEHU RI UHFHLYHU 5) GHFNV
5) 7\SH
,QWHJHU
*36B/ VHH 7DEOH *36B/ DOO RWKHUV DUH
UHVHUYHG IRU IXWXUH XVH
*DXVVLDQ %LQ 9DOXH )ORDW
*DXVVLDQ %LQ 9DOXH )ORDW
*DXVVLDQ %LQ 9DOXH )ORDW
*DXVVLDQ %LQ 9DOXH )ORDW
*DXVVLDQ %LQ 9DOXH )ORDW
*DXVVLDQ %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
-DPPHG %LQ 9DOXH )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
*DXVVLDQ %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
-DPPHG %LQ :HLJKW )ORDW
*DXVVLDQ &RQWURO 9DULDQFH
)ORDW
-DPPHG &RQWURO 9DULDQFH
)ORDW
-DP 'HWHFW /HYHO
)ORDW
-DP (QWHU /HYHO
)ORDW
-DP ([LW /HYHO
)ORDW
1H[W 5) 'HFN
LI UHTXLUHG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
57
7 - NovAtel Format Data Logs
$AGCA/B
AGC AND A/D INFORMATION
The AGCA/B log contains AGC related information. This information includes information about the AGC gain, A/D
bin values and AGC control statistics.
$AGCA
Structure:
$AGCA week seconds rec_status # RF
RF_type bin 1 bin 2 bin 3 bin 4 bin 5 bin 6
Gain 1ms_AGC 1ms_Chan
bins_rms gof_bins
:
next RF deck if required *xx
[CR][LF]
Field #
Field type
Data Description
Example
$*&$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
UHFBVWDWXV
6HOIWHVW VWDWXV RI WKH UHFHLYHU
5)
1XPEHU RI 5) GHFNV UHSRUWHG LQ WKLV PHVVDJH
5)BW\SH
ELQ $' %LQ ELQ $' %LQ ELQ $' %LQ ELQ $' %LQ ELQ $' %LQ ELQ $' %LQ JDLQ
$*& *DLQ
PVB$*&
PV QRLVH IORRU FDOFXODWHG XVLQJ WKH $' ELQ YDOXHV
PVB&KDQ
PV QRLVH IORRU FDOFXODWHG XVLQJ GDWD IURP D VHDUFKLQJ FKDQQHO
ELQVBUPV
5RRW PHDQ VTXDUHG YDOXH RI WKH $' ELQV FDOFXODWHG XVLQJ WKH
*36B/ $*&$
VHH 7DEOH *36B/ DOO RWKHUV DUH UHVHUYHG IRU IXWXUH XVDJH
$))
H[SHFWHG YDOXHV DV WUXWK
9DULDEOH
9DULDEOH
JRIBVWDW
*RRGQHVV RI )LW WHVW VWDWLVWLF IRU WKH $' ELQV
«
1H[W 5) 'HFN LI UHTXLUHG
[[
>&5@>/)@
&KHFNVXP
«
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$AGCA,932,256542.00,43A00FF,2,0,0.1022,0.1813,0.2380,0.2363,0.1558,0.0864,3125,1557822.00,1557822.00,0.995
7,0.000008,1,0.0973,0.1722,0.2353,0.2406,0.1637,0.0909,3361,1552060.00,1552060.00,0.9935,0.000042*66
58
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
$AGCB
Format:
Message ID = 74
Message byte count = 32 + (r * 48) where r is the # of RF decks.
Field #
KHDGHU
Data
Bytes
Format
Units
Offset
6\QF
&KDU
&KHFNVXP
&KDU
0HVVDJH ,'
,QWHJHU
0HVVDJH E\WH FRXQW
,QWHJHU
:HHN QXPEHU
,QWHJHU
ZHHNV
7LPH RI ZHHN
'RXEOH
VHFRQGV
5HFHLYHU VWDWXV
,QWHJHU
1R RI 5) GHFNV
,QWHJHU
QXPEHU RI UHFHLYHU 5) GHFNV
5) 7\SH
,QWHJHU
6HH 7DEOH *36B/ *36B/ DOO RWKHUV
DUH UHVHUYHG IRU IXWXUH XVDJH
$' %LQ )ORDW
SHUFHQWDJH
$' %LQ 0RVW 1HJ
)ORDW
SHUFHQWDJH
$' %LQ )ORDW
SHUFHQWDJH
$' %LQ )ORDW
SHUFHQWDJH
$' %LQ $' %LQ )ORDW
SHUFHQWDJH
)ORDW
SHUFHQWDJH
$*& *DLQ
,QWHJHU
WR PV 1RLVH )ORRU )URP $*&
)ORDW
PV 1RLVH )ORRU )URP &KDQQHOV
)ORDW
$' %LQV 506
)ORDW
$' *RRGQHVV RI )LW 7HVW 6WDWLVWLF
)ORDW
0RVW 3RV
1H[W 5) 'HFN
LI UHTXLUHG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
LV PD[
59
7 - NovAtel Format Data Logs
ALMA/B
DECODED ALMANAC
This log contains the decoded almanac parameters from sub-frames four and five as received from the satellite with the
parity information removed and appropriate scaling applied. Multiple messages are transmitted, one for each SV
almanac collected.
The Ionospheric Model parameters (IONA/B) and the UTC Time parameters (UTCA/B) are also provided, following the
last almanac record. These cannot be logged individually or independently of the ALMA/B message. They are,
however, described separately under their respective names.
For more information on Almanac data, refer to the GPS SPS Signal Specification.
ALMA
Structure:
$ALMA
A
Prn ecc
Incl-angle
Field #
seconds
health-4
week
rate-ra
health-5
Field type
ra
w
health-alm
Mo
af0
af1
cor-mean-motion
*xx [CR][LF]
Data Description
Example
$/0$
/RJ KHDGHU
SUQ
6DWHOOLWH 351 QXPEHU IRU FXUUHQW PHVVDJH
HFF
(FFHQWULFLW\
VHFRQGV
$OPDQDF UHIHUHQFH WLPH VHFRQGV LQWR WKH ZHHN
ZHHN
$OPDQDF UHIHUHQFH ZHHN
UDWHUD
5DWH RI ULJKW DVFHQVLRQ UDGLDQV
UD
5LJKW DVFHQVLRQ UDGLDQV
Z
$UJXPHQW RI SHULJHH UDGLDQV
0
D
D
FRUPHDQPRWLRQ
&RUUHFWHG PHDQ PRWLRQ UDGLDQVVHFRQG
$
6HPLPDMRU D[LV PHWUHV
LQFODQJOH
$QJOH RI LQFOLQDWLRQ UDGLDQV
KHDOWK
$QWLVSRRILQJ DQG 69 FRQILJ IURP VXEIUDPH SDJH KHDOWK
69 KHDOWK ELWV69
KHDOWKDOP
69 KHDOWK ELWV
R
I
I
[[
$/0$
(
*36 ZHHN QXPEHU
0HDQ DQRPDO\ UDGLDQV
(
(
(
(
&ORFN DJLQJ SDUDPHWHU VHFRQGV
(
&ORFN DJLQJ SDUDPHWHU VHFRQGVVHFRQG
(
VXEIUDPH RU SDJH DOPDQDF
&KHFNVXP
(
(
(
>&5@>/)@
6HQWHQFH WHUPLQDWRU
$/0$
/DVW VDWHOOLWH 351 DOPDQDF PHVVDJH
,21$
,RQRVSKHULF 0RGHO 3DUDPHWHUV
87&$
87& 7LPH 3DUDPHWHUV
>&5@>/)@
Example:
$ALMA,1,3.55577E-003,32768,745,-7.8860E-009,-6.0052951E-002,-1.1824254E+000,
1.67892137E+000,-1.8119E-005,-3.6379E-012,1.45854965E-004,2.65602281E+007,
9.55576E-001,1,0,0*20[CR][LF]
:
$ALMA,31,4.90665E-003,32768,745,-8.0460E-009,3.05762855E+000,6.14527459E-001,
1.69958217E+000,6.67572E-006,3.63797E-012,1.45861888E-004,2.65593876E+007,
9.61664E-001,1,0,0*13[CR][LF]
60
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
ALMB
Format:
Message ID = 18
Field #
KHDGHU
Message byte count = 120
Field Type
Bytes
Format
Units
Offset
6\QF
&KHFNVXP
0HVVDJH ,'
0HVVDJH E\WH FRXQW
6DWHOOLWH 351 QXPEHU
LQWHJHU
GLPHQVLRQOHVV
(FFHQWULFLW\
GRXEOH
GLPHQVLRQOHVV
$OPDQDF UHI WLPH
GRXEOH
VHFRQGV
$OPDQDF UHI ZHHN
LQWHJHU
ZHHNV
2PHJDGRW UDWH RI ULJKW DVFHQVLRQ
GRXEOH
UDGLDQVVHFRQG
5LJKW DVFHQVLRQ
$UJXPHQW RI SHULJHH
GRXEOH
UDGLDQV
Z
GRXEOH
UDGLDQV
0HDQ DQRPDO\
0R
GRXEOH
UDGLDQV
&ORFN DJLQJ SDUDPHWHU
D
GRXEOH
VHFRQGV
&ORFN DJLQJ SDUDPHWHU
D
GRXEOH
VHFRQGVVHFRQG
&RUUHFWHG PHDQ PRWLRQ
GRXEOH
UDGLDQVVHFRQG
6HPLPDMRU D[LV
GRXEOH
PHWUHV
$QJOH RI LQFOLQDWLRQ
GRXEOH
UDGLDQV
6Y KHDOWK IURP VXEIUDPH LQWHJHU
6Y KHDOWK IURP VXEIUDPH ,QWHJHU
6Y KHDOWK IURP DOPDQDF
,QWHJHU
CDSA/B
I
I
$
COMMUNICATION AND DIFFERENTIAL DECODE STATUS
The WAAS / GUS receiver maintains a running count of a variety of status indicators of the data link. This log outputs a
report of those indicators.
Parity and framing errors will occur if poor transmission lines are encountered or if there is an incompatibility in the data
protocol. If errors occur, you may need to confirm the bit rate, number of data bits, number of stop bits, and parity of
both the transmit and receiving ends. Overrun errors will occur if more characters are sent to the UART that can be
removed by the on-board microprocessor.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
61
7 - NovAtel Format Data Logs
CDSA
Structure:
$CDSA
week
seconds
xon1
Xon2
cts2
parity2
overrun2
Rtca
crc
Res’d
rtcaa
chk
res’d
Field #
rtca
good
res’d
rtcm
par
*xx
cts1
parity1
framing2
overrun1
rx1
tx1
rx2 tx2
rtcma
rtcm
chk
good
[CR][LF]
Field type
framing1
dcsa
chk
dcsa
good
dcsb
chk
dcsb
good
Data Description
&'6$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
[RQ
)ODJ WR LQGLFDWH WKDW WKH FRP LV XVLQJ ;21;2)) KDQGVKDNLQJ SURWRFRO DQG SRUW KDV UHFHLYHG DQ
Example
&'6$
;2)) DQG ZLOO ZDLW IRU DQ ;21 EHIRUH VHQGLQJ DQ\ PRUH GDWD
FWV
)ODJ WR LQGLFDWH WKDW FRP LV XVLQJ &76576 KDQGVKDNH SURWRFRO DQG &76 OLQH SRUW KDV EHHQ
DVVHUWHG
7KH SRUW ZLOO ZDLW IRU WKH OLQH WR GHDVVHUW EHIRUH VHQGLQJ DQ\ PRUH GDWD
SDULW\
$ UXQQLQJ FRXQW RI FKDUDFWHU SDULW\ HUURUV IURP WKH 8$57 RI &20
RYHUUXQ
$ UXQQLQJ FRXQW RI 8$57 EXIIHU RYHUUXQ HUURUV RI &20
IUDPLQJ
$ UXQQLQJ FRXQW RI FKDUDFWHU IUDPLQJ HUURU IURP WKH 8$57 RI &20
U[
$ UXQQLQJ FRXQW RI WKH FKDUDFWHUV UHFHLYHG IURP &20
W[
$ UXQQLQJ FRXQW RI WKH FKDUDFWHUV VHQW RXW &20
[RQ
)ODJ WR LQGLFDWH WKDW WKH &20 LV XVLQJ ;21;2)) KDQGVKDNLQJ SURWRFRO DQG SRUW KDV UHFHLYHG DQ
;2)) DQG ZLOO ZDLW IRU DQ ;21 EHIRUH VHQGLQJ DQ\ PRUH GDWD
FWV
)ODJ WR LQGLFDWH WKDW &20 LV XVLQJ &76576 KDQGVKDNH SURWRFRO DQG &76 OLQH SRUW KDV EHHQ
DVVHUWHG
7KH 3RUW ZLOO ZDLW IRU WKH OLQH WR GHDVVHUW EHIRUH VHQGLQJ DQ\ PRUH GDWD
SDULW\
$ UXQQLQJ FRXQW RI FKDUDFWHU SDULW\ HUURUV IURP WKH 8$57 RI &20
RYHUUXQ
$ UXQQLQJ FRXQW RI 8$57 EXIIHU RYHUUXQ HUURUV RI &20
IUDPLQJ
$ UXQQLQJ FRXQW RI FKDUDFWHU IUDPLQJ HUURU IURP WKH 8$57 RI &20
U[
$ UXQQLQJ FRXQW RI WKH FKDUDFWHUV UHFHLYHG IURP &20
W[
$ UXQQLQJ FRXQW RI WKH FKDUDFWHUV VHQW RXW &20
UWFDFUF
UWFDDFKN
UWFDJRRG
UWFPSDU
UWFPDFKN
UWFPJRRG
GFVDFKN
GFVDJRRG
GFVEFKN
GFVEJRRG
‚
‚
‚
‚
‚
‚
‚
‚
‚
$ UXQQLQJ FRXQW RI 57&$ &5& IDLOXUHV
$ UXQQLQJ FRXQW RI LQYDOLG $6&,, 57&$ [[ UHFRUGV LQGLFDWLQJ WKDW WKH $6&,, FKHFNVXP [[ IDLOHG
$ UXQQLQJ FRXQW RI 57&$ UHFRUGV WKDW SDVV HUURU FKHFNLQJ
$ UXQQLQJ FRXQW RI ELW 57&0 SDULW\ IDLOXUHV
$ UXQQLQJ FRXQW RI LQYDOLG $6&,, 57&0 [[ UHFRUGV LQGLFDWLQJ WKDW WKH $6&,, FKHFNVXP [[ IDLOHG
$ UXQQLQJ FRXQW RI 57&0 UHFRUGV WKDW SDVV HUURU FKHFNLQJ
$ UXQQLQJ FRXQW RI LQYDOLG $6&,, '&6$ [[ UHFRUGV
$ UXQQLQJ FRXQW RI '&6$ UHFRUGV WKDW SDVV HUURU FKHFNLQJ
$ UXQQLQJ FRXQW RI LQYDOLG ELQDU\ '&6% UHFRUGV
$ UXQQLQJ FRXQW RI '&6% UHFRUGV WKDW SDVV HUURU FKHFNLQJ
5HVHUYHG IRU IXWXUH XVH
5HVHUYHG IRU IXWXUH XVH
5HVHUYHG IRU IXWXUH XVH
[[
Note:
&KHFNVXP
>&5@>/)@
‚
‚
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Fields 18-27 will be 0 if differential corrections are not used.
Example:
$CDSA,787,500227,0,0,0,0,0,0,9,0,0,0,0,0,0,9,0,0,0,0,0,0,0,0,0,0,0,0,0*33[CR][LF]
62
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
CDSB
Format:
Message ID = 39
Field #
KHDGHU
Message byte count = 128
Bytes
Format
6\QF
Data
FKDU
Units
Offset
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
:HHN QXPEHU
LQWHJHU
ZHHNV
7LPH RI ZHHN
LQWHJHU
VHFRQGV
;RQ &20
LQWHJHU
RU &76 &20
LQWHJHU
RU 3DULW\ HUURUV &20
LQWHJHU
7RWDO FRXQW
2YHUUXQ HUURUV &20
LQWHJHU
7RWDO FRXQW
)UDPLQJ HUURU &20
LQWHJHU
7RWDO FRXQW
%\WHV UHFHLYHG LQ &20
LQWHJHU
7RWDO FRXQW
%\WHV VHQW RXW &20
LQWHJHU
7RWDO FRXQW
;RQ &20
LQWHJHU
RU &76 &20
LQWHJHU
RU 3DULW\ HUURUV &20
LQWHJHU
7RWDO FRXQW
2YHUUXQ HUURUV &20
LQWHJHU
7RWDO FRXQW
)UDPLQJ HUURU &20
LQWHJHU
7RWDO FRXQW
%\WHV UHFHLYHG LQ &20
LQWHJHU
7RWDO FRXQW
%\WHV VHQW RXW &20
LQWHJHU
7RWDO FRXQW
57&$ &5& IDLOV
LQWHJHU
7RWDO FRXQW
57&$$ FKHFNVXP IDLOV
LQWHJHU
7RWDO FRXQW
57&$ UHFRUGV SDVVHG
LQWHJHU
7RWDO FRXQW
57&0 SDULW\ IDLOV
LQWHJHU
7RWDO FRXQW
57&0$ FKHFNVXP IDLOV
LQWHJHU
7RWDO FRXQW
57&0 UHFRUGV SDVVHG
LQWHJHU
7RWDO FRXQW
'&6$ FKHFNVXP IDLOV
LQWHJHU
7RWDO FRXQW
'&6$ UHFRUGV SDVVHG
LQWHJHU
7RWDO FRXQW
'&6% FKHFNVXP IDLOV
LQWHJHU
7RWDO FRXQW
'&6% UHFRUGV SDVVHG
LQWHJHU
7RWDO FRXQW
5HVHUYHG
LQWHJHU
7RWDO FRXQW
5HVHUYHG
LQWHJHU
7RWDO FRXQW
5HVHUYHG
LQWHJHU
7RWDO FRXQW
‚
CLKA/B
‚
‚
‚
‚
‚
‚
‚
‚
‚
‚
Fields 18-27 will be 0 if differential corrections are not used.
RECEIVER CLOCK OFFSET DATA
This log is used to monitor the state of the receiver time. Its values will depend on the CLOCKADJUST command. If
CLOCKADJUST is enabled, then the offset and drift times will approach zero. If not enabled, then the offset will grow
at the oscillator drift rate. Disabling CLOCKADJUST and monitoring the CLKA/B log will allow you to determine the
error in your GPSCard receiver reference oscillator as compared to the GPS satellite reference.
All logs report GPS time not corrected for local receiver clock error. To derive the closest GPS time one must subtract
the clock offset (field #4 of the CLKA log) from the reported GPS time.
Field #6 is the output of a Gauss-Markov Selective Availability clock dither estimator. This value reflects both the
collective SA-induced short-term drift of the satellite clocks as well as any range bias discontinuities that would
normally affect the clock model’s offset and drift states.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
63
7 - NovAtel Format Data Logs
The internal units of the clock model’s three states (offset, drift and GM state) are meters, meters per second, and meters.
When scaled to time units for the output log, these become seconds, seconds per second, and seconds, respectively.
CLKA
Structure:
$CLKA
week
seconds
offset
drift
G-M state
offset std
drift std cm status
*xx [CR][LF]
Field #
Field type
Data Description
&/.$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
RIIVHW
5HFHLYHU FORFN RIIVHW
GULIW
Example
&/.$
V $ SRVLWLYH RIIVHW LPSOLHV WKDW WKH UHFHLYHU FORFN LV DKHDG RI
*36 7LPH
7R GHULYH *36 WLPH XVH WKH IROORZLQJ IRUPXOD
*36 WLPH
UHFHLYHU WLPH ±
5HFHLYHU FORFN GULIW
VV (
RIIVHW
$ SRVLWLYH GULIW LPSOLHV WKDW WKH UHFHLYHU FORFN LV UXQQLQJ IDVWHU
(
WKDQ *36 7LPH
*0 VWDWH
7KH RXWSXW YDOXH RI WKH *DXVV0DUNRY 6HOHFWLYH $YDLODELOLW\ FORFN GLWKHU HVWLPDWRU
RIIVHW VWG
6WDQGDUG GHYLDWLRQ RI UHFHLYHU FORFN RIIVHW
GULIW VWG
6WDQGDUG GHYLDWLRQ RI UHFHLYHU GULIW
FP VWDWXV
5HFHLYHU &ORFN 0RGHO 6WDWXV
V V (
(
VV
(
YDOLG WR LPSO\ WKDW WKH PRGHO LV LQ WKH SURFHVV
RI VWDELOL]DWLRQ
[[
&KHFNVXP
>&5@>/)@
)
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$CLKA,841,499296.00,9.521895494E-008,-2.69065747E-008,2.061788299E-006,
9.642598169E-008,8.685638908E-010,0*4F
CLKB
Format:
Message ID = 02
Field #
KHDGHU
64
Field Type
Message byte count = 68
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
V
&ORFN RIIVHW
GRXEOH
V
&ORFN GULIW
GRXEOH
VV
6$ *DXVV0DUNRY VWDWH
GRXEOH
V
6WG'HY FORFN RIIVHW
GRXEOH
V
6WG'HY FORFN GULIW
GRXEOH
VV
&ORFN PRGHO VWDWXV
LQWHJHU
JRRG WR EDG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
DOPA/B
DILUTION OF PRECISION
The dilution of precision data is calculated using the geometry of only those satellites that are currently being tracked
and used in the position solution by the GPSCard and updated once every 60 seconds or whenever a change in the
constellation occurs. Therefore, the total number of data fields output by the log is variable, depending on the number of
satellites being tracked. Twelve is the maximum number of satellite PRNs contained in the list.
NOTE: Satellites that are locked out using the LOCKOUT command, although still shown in the PRN list), are
significantly de-weighted in the DOP calculation.
DOPA
Structure:
$DOPA
Field #
week
sec gdop
pdop
htdop
Field type
hdop
tdop
#sats
prns
*xx [CR][LF]
Data Description
'23$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHF
*36 VHFRQGV LQWR WKH ZHHN
JGRS
*HRPHWULF GLOXWLRQ RI SUHFLVLRQ DVVXPHV ' SRVLWLRQ DQG UHFHLYHU FORFN RIIVHW
SDUDPHWHUV
SGRS
Example
'23$
DOO DUH XQNQRZQ
3RVLWLRQ GLOXWLRQ RI SUHFLVLRQ DVVXPHV ' SRVLWLRQ LV XQNQRZQ DQG UHFHLYHU FORFN RIIVHW LV
NQRZQ
KWGRS
+RUL]RQWDO SRVLWLRQ DQG WLPH GLOXWLRQ RI SUHFLVLRQ
KGRS
+RUL]RQWDO GLOXWLRQ RI SUHFLVLRQ
WGRS
7LPH GLOXWLRQ RI SUHFLVLRQ DVVXPHV ' SRVLWLRQ LV NQRZQ DQG RQO\ UHFHLYHU FORFN RIIVHW LV
XQNQRZQ
YDULDEOH
YDULDEOH
VDWV
1XPEHU RI VDWHOOLWHV XVHG LQ SRVLWLRQ VROXWLRQ
SUQV
351 OLVW RI 69 351V WUDFNLQJ
[[
>&5@>/)@
QXOO ILHOG XQWLO ILUVW SRVLWLRQ VROXWLRQ DYDLODEOH
&KHFNVXP
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$DOPA,637,512473.00,2.9644,2.5639,2.0200,1.3662,1.4880,6,18,6,11,2,16,19
*29[CR][LF]
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
65
7 - NovAtel Format Data Logs
DOPB
Format:
Message ID = 07
Field #
KHDGHU
Bytes
Format
6\QF
Data
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
JGRS
GRXEOH
SGRS
GRXEOH
KWGRS
GRXEOH
KGRS
GRXEOH
WGRS
GRXEOH
1XPEHU RI VDWHOOLWHV XVHG
LQWHJHU
VW 351
LQWHJHU
1H[W VDWHOOLWH 351
2IIVHW
66
Message byte count = 68+(sats*4)
VDWV ZKHUH VDWV
WR
QXPEHU RI VDWV
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
ETSA/B
EXTENDED TRACKING STATUS
These logs provide channel tracking status information for each of the GPSCard parallel channels.
NOTE:
This log is intended for status display only; since some of the data elements are not synchronized together,
they are not to be used for measurement data. Please use the RGEA/B/C, SATA/B, and SVDA/B logs to obtain
synchronized data for post processing analysis.
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN will appear in the range
logs. As shown in Table 8 (Channel Tracking Status word), these entries can be differentiated by bit 19, which is set if
there are multiple observables for a given PRN, and bit 20, which denotes whether the observation is for L1 or L2. This
is to aid in parsing the data.
ETSA
Structure:
$ETSA week
seconds
sol status # obs
prn ch tr-status dopp C/No residual locktime psr reject code
:
prn ch tr-status dopp C/No residual locktime psr reject code
Field #
Field type
*xx [CR][LF]
Data Description
Example
(76$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
(76$
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
VRO VWDWXV
6ROXWLRQ VWDWXV
REV
1XPEHU RI REVHUYDWLRQV WR IROORZ
SUQ
6DWHOOLWH 351 QXPEHU
FK WUVWDWXV
+H[DGHFLPDO QXPEHU LQGLFDWLQJ FKDQQHO WUDFNLQJ VWDWXV
GRSS
,QVWDQWDQHRXV FDUULHU 'RSSOHU IUHTXHQF\
&1R
&DUULHU WR QRLVH GHQVLW\ UDWLR
UHFHLYHU WLPH QRW FRUUHFWHG IRU FORFN
HUURU &/2&.$'-867 HQDEOHG
VHH 7DEOH FKDQQHO +]
UHVLGXDO
5HVLGXDO IURP SRVLWLRQ ILOWHU
ORFNWLPH
1XPEHU RI VHFRQGV RI FRQWLQXRXV WUDFNLQJ
SVU
3VHXGRUDQJH PHDVXUHPHQW
UHMHFW FRGH
,QGLFDWHV ZKHWKHU WKH UDQJH LV YDOLG
QH[W REVHUYDWLRQ
[[
>&5@>/)@
(
G%+]
6HH 7DEOH P
QR F\FOH VOLSV
P
FRGH
RU QRW
VHH 7DEOH ODVW REVHUYDWLRQ
&KHFNVXP
6HQWHQFH WHUPLQDWRU
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
>&5@>/)@
67
7 - NovAtel Format Data Logs
Example (carriage returns have been added between observations for clarity):
$ETSA,850,332087.00,0,24,
7,00082E04,-613.5,54.682,27.617,12301.4,20257359.57,0,
7,00582E0B,-478.1,46.388,0.000,11892.0,20257351.96,13,
5,00082E14,3311.2,35.915,1.037,1224.4,24412632.47,0,
5,00582E1B,2580.4,39.563,0.000,1186.7,24412629.40,13,
9,00082E24,1183.1,53.294,-29.857,7283.8,21498303.67,0,
9,00582E2B,921.9,44.422,0.000,7250.2,21498297.13,13,
2,00082E34,-2405.2,50.824,-20.985,19223.6,22047005.47,0,
2,00582E3B,-1874.1,41.918,0.000,19186.7,22046999.44,13,
4,00082E44,3302.8,47.287,7.522,3648.1,22696783.36,0,
4,00582E4B,2573.6,37.341,0.000,3191.2,22696778.15,13,
14,00082E54,2132.7,41.786,-22.388,541.3,25117182.07,0,
14,00582E5B,1661.7,33.903,0.000,500.7,25117179.63,13,
26,00082E64,-3004.3,43.223,2.928,14536.2,25074382.19,0,
26,00582E6B,-2340.9,33.019,0.000,14491.7,25074378.01,13,
15,00082E74,-3037.7,43.669,0.508,12011.5,24104788.88,0,
15,00582E7B,-2367.0,34.765,0.000,11842.4,24104781.53,13,
24,00082E84,3814.0,37.081,7.511,95.7,25360032.49,0,
24,00582E8B,2972.0,24.148,0.000,5.2,25360030.13,13,
28,00082A90,-9800.9,0.000,0.000,0.0,0.00,9,
28,00382A90,-7637.0,0.000,0.000,0.0,0.00,9,
3,000822A0,-3328.3,0.000,0.000,0.0,0.00,9,
3,005828A0,-2593.5,0.000,0.000,0.0,0.00,9,
27,000822B0,-3851.7,0.000,0.000,0.0,0.00,9,
27,005828B0,-3001.7,0.000,0.000,0.0,0.00,9
*41[CR][LF]
ETSB
Format:
Message ID = 48
Message byte count = 32 + (n*52) where n is number of channels in receiver
Field #
KHDGHU
Data
Format
FKDU
Units
Offset
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
:HHN QXPEHU
LQWHJHU
ZHHNV
7LPH RI ZHHN
GRXEOH
VHFRQGV
6ROXWLRQ VWDWXV
LQWHJHU
1R RI FKDQQHOV
LQWHJHU
351 QXPEHU
LQWHJHU
&KDQQHO WUDFNLQJ VWDWXV
LQWHJHU
'RSSOHU
GRXEOH
&1
FKDQ GE+]
6HH 7DEOH QXPEHU RI FKDQQHOV LQ UHFHLYHU
6HH 7DEOH +]
GRXEOH
GE+]
GRXEOH
PHWUHV
5HVLGXDO
/RFNWLPH
GRXEOH
VHFRQGV
3VHXGRUDQJH
GRXEOH
PHWUHV
LQWHJHU
68
Bytes
6\QF
5HMHFWLRQ FRGH
2IIVHW
FKDQ
6HH 7DEOH ZKHUH FKDQ YDULHV IURP KLJKHVW FKDQQHO QXPEHU
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
Table 7
Value
GPSCard Solution Status
Description
6ROXWLRQ FRPSXWHG
,QVXIILFLHQW REVHUYDWLRQV
1R FRQYHUJHQFH
6LQJXODU $W3$ 0DWUL[
&RYDULDQFH WUDFH H[FHHGV PD[LPXP
7HVW GLVWDQFH H[FHHGHG
1RW \HW FRQYHUJHG IURP FROG VWDUW
WUDFH ! P
PD[LPXP RI UHM LI GLVWDQFH ! .P
+LJKHU QXPEHUV DUH UHVHUYHG IRU IXWXUH XVH
Table 8
N 7
31
30
29
N 6
28
27
26
25
N 5
24
23
22
21
N 4
20
19
18
17
N 3
16
15
14
13
Channel Tracking Status Bits
N 2
12
11
10
9
N 1
8
7
6
5
N 0
4
3
2
1
0
<- <- Nibble Number
Bit
Description
Range Values
lsb = 0
Hex.
1
1 Tracking state
0 - 11 See below
2
2
4
3
8
4
10
5
0-n
(0 = first, n = last)
6 Channel number
(n depends on GPSCard model)
7
20
40
80
8
100
9 Phase lock flag
1 = Lock, 0 = Not locked
200
10 Parity known flag
1 = Known, 0 = Not known
400
11 Code locked flag
1 = Lock, 0 = Not locked
800
12
1000
13 Correlator spacing
0 - 7 See below
2000
14
4000
15
0=GPS
16 Satellite system
1=GLONASS
3= Pseudolite GPS
17
2=WAAS
18 Antenna
1 = Secondary, 0 = Primary
40000
19 Grouping
1 = Grouped, 0 = Not grouped
80000
20 Frequency
1 = L2, 0 = L1
100000
21 Code type
0 = C/A
2 = P-codeless
200000
22
1=P
3 = Reserved
400000
23 Forward error correction
1 = FEC enabled, 0 = no FEC
4-7 Reserved
8000
10000
20000
800000
24
:
Reserved
29
30 External range
1 = Ext. range, 0 = Int. range
31 Channel assignment
1 = Forced, 0 = Automatic
Table 8, Bits 0 - 3 : Channel Tracking State
State
Description
/ ,GOH
/ 6N\ VHDUFK
/ :LGH IUHTXHQF\ EDQG SXOOLQ
/ 1DUURZ IUHTXHQF\ EDQG SXOOLQ
/ 3KDVHORFN ORRS
/ 5HDFTXLVLWLRQ
State
Description
/ 6WHHULQJ
/ )UHTXHQF\ORFN ORRS
/ ,GOH
/ 3FRGH DOLJQPHQW
/ 6HDUFK
/ 3KDVHORFN ORRS
+LJKHU QXPEHUV DUH UHVHUYHG IRU IXWXUH XVH
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
69
7 - NovAtel Format Data Logs
Table 8, Bits 12-14 : Correlator Spacing
State
Description
8QNQRZQ WKLV RQO\ DSSHDUV LQ YHUVLRQV RI VRIWZDUH SUHYLRXV WR [[ ZKLFK GLGQ¶W XVH WKLV ILHOG
6WDQGDUG FRUUHODWRU VSDFLQJ FKLS
1DUURZ &RUUHODWRU VSDFLQJ < FKLS
0(7 XVHV (DUO\/DWH 6ORSH 7HFKQLTXH WR LPSURYH 1DUURZ &RUUHODWRU SHUIRUPDQFH LQ UHGXFLQJ HUURUV GXH WR PXOWLSDWK
5HVHUYHG IRU IXWXUH XVH
0('// GHFRPSRVHV WKH LQFRPLQJ VLJQDO LQWR GLUHFWSDWK DQG UHIOHFWHGSDWK FRPSRQHQWV WR UHGXFH HUURUV GXH WR PXOWLSDWK
+LJKHU QXPEHUV DUH UHVHUYHG IRU IXWXUH XVH
Table 9
Value
Range Reject Codes
Description
2EVHUYDWLRQV DUH JRRG
%DG VDWHOOLWH KHDOWK LV LQGLFDWHG E\ HSKHPHULV GDWD
2OG HSKHPHULV GXH WR GDWD QRW EHLQJ XSGDWHG GXULQJ ODVW KRXUV
(FFHQWULF DQRPDO\ HUURU GXULQJ FRPSXWDWLRQ RI WKH VDWHOOLWH¶V SRVLWLRQ
7UXH DQRPDO\ HUURU GXULQJ FRPSXWDWLRQ RI WKH VDWHOOLWH¶V SRVLWLRQ
6DWHOOLWH FRRUGLQDWH HUURU GXULQJ FRPSXWDWLRQ RI WKH VDWHOOLWH¶V SRVLWLRQ
(OHYDWLRQ HUURU GXH WR WKH VDWHOOLWH EHLQJ EHORZ WKH FXWRII DQJOH
0LVFORVXUH WRR ODUJH GXH WR H[FHVVLYH JDS EHWZHHQ HVWLPDWHG DQG DFWXDO SRVLWLRQV
1R GLIIHUHQWLDO FRUUHFWLRQ LV DYDLODEOH IRU WKLV SDUWLFXODU VDWHOOLWH
(SKHPHULV GDWD IRU WKLV VDWHOOLWH KDV QRW \HW EHHQ UHFHLYHG
,QYDOLG ,2'( GXH WR PLVPDWFK EHWZHHQ GLIIHUHQWLDO VWDWLRQV
/RFNHG 2XW VDWHOOLWH LV H[FOXGHG E\ XVHU
/RZ 3RZHU VDWHOOLWH UHMHFWHG GXH WR ORZ VLJQDOQRLVH UDWLR
/ PHDVXUHPHQWV DUH QRW FXUUHQWO\ XVHG LQ WKH ILOWHU
/2&.287 FRPPDQG
+LJKHU QXPEHUV DUH UHVHUYHG IRU IXWXUH XVH
70
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
FRMA/B
FRAMED RAW NAVIGATION DATA
This message contains the raw framed navigation data. An individual message is sent for each PRN being tracked. The
message is updated with each new frame, therefore it is best to log the data with the ‘onnew’ trigger activated.
The types of navigation frame data which are output by this log are defined using the $SETFRAMETYPE command.
FRMA
$FRMA
*xx
week
seconds
prn cstatus
# of bits framed raw data
[CR][LF]
Field #
Field type
Data Description
)50$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
SUQ
351 RI VDWHOOLWH IURP ZKLFK GDWD RULJLQDWHG
FVWDWXV
&KDQQHO 7UDFNLQJ 6WDWXV
RI ELWV
1XPEHU RI ELWV WUDQVPLWWHG LQ WKH PHVVDJH
Example
)50$
)
IRU :$$6 IRU *36 DQG IRU
*/21$66
IUDPHG UDZ GDWD
2QH ILHOG RI UDZ IUDPHG QDYLJDWLRQ GDWD
$)(&(
)(
%( )
[[
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
FRMB
Format:
Message ID = 54
Field #
KHDGHU
Data
Message byte count = variable
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
351 QXPEHU
LQWHJHU
&KDQQHO 6WDWXV
LQWHJHU
QD
1XPEHU RI %LWV
LQWHJHU
IRU :$$6
IRU *36
IRU */21$66
'DWD 6XEIUDPH
YDULDEOH
FKDU
1$
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
71
7 - NovAtel Format Data Logs
IONA/B
IONOSPHERIC MODEL PARAMETERS
The Ionospheric Model parameters (IONA/B) are provided following the last almanac records when an ALMA/B
message has been logged. The IONA/B message cannot be logged individually or independently of the ALMA/B
message.
For more information on Almanac data, refer to the GPS SPS Signal Specification.
IONA
Structure:
$IONA
act a1ot
Field #
a2ot
a3ot
Field type
bct
b1ot
b2ot
b3ot
*xx [CR][LF]
Data Description
Example
,21$
/RJ KHDGHU
DFW
$OSKD FRQVWDQW WHUP VHFRQGV
DRW
$OSKD VW RUGHU WHUP VHFVHPLFLUFOH
DRW
DRW
EFW
%HWD FRQVWDQW WHUP VHFRQGV
(
ERW
%HWD VW RUGHU WHUP VHFVHPLFLUFOH
(
ERW
(
ERW
,21$
(
$OSKD QG RUGHU WHUP VHF VHPLF
%HWD UG RUGHU WHUP VHF VHPLF
[[
(
$OSKD UG RUGHU WHUP VHF VHPLF
%HWD QG RUGHU WHUP VHF VHPLF
(
(
(
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$IONA,1.0244548320770265E-008,1.4901161193847656E-008,-5.960464477539061E-008,
-1.192092895507812E-007,8.8064000000000017E+004,3.2768000000000010E+004,
-1.966080000000001E+005,-1.966080000000001E+005*02[CR][LF]
IONB
Format
Message ID = 16
Field #
KHDGHU
72
Field Type
Message byte count = 76
Bytes
Format
6\QF
FKDU
Units
Offset
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
E\WHV
$OSKD FRQVWDQW WHUP
GRXEOH
VHFRQGV
$OSKD VW RUGHU WHUP
GRXEOH
VHFVHPLFLUFOH
$OSKD QG RUGHU WHUP
GRXEOH
$OSKD UG RUGHU WHUP
GRXEOH
%HWD FRQVWDQW WHUP
GRXEOH
VHFRQGV
%HWD VW RUGHU WHUP
GRXEOH
VHFVHPLF
%HWD QG RUGHU WHUP
GRXEOH
%HWD UG RUGHU WHUP
GRXEOH
VHF VHPLF
VHF VHPLF
VHF VHPLF
VHF VHPLF
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
POSA/B
COMPUTED POSITION
This log will contain the last valid position and time calculated referenced to the antenna phase centre. The position is in
geographic coordinates in degrees based on your specified datum (default is WGS-84). The height is referenced to mean
sea level. The receiver time is in GPS weeks and seconds into the week. The estimated standard deviations of the
solution and current filter status are also included.
POSA
Structure:
$POSA week seconds lat lon hgt undulation
hgt std sol status *xx [CR][LF]
Field #
Field type
datum ID
lat std
Data Description
326$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
ODW
/DWLWXGH RI SRVLWLRQ LQ FXUUHQW GDWXP LQ GHJUHHV
lon std
Example
326$
''GGGGGGGG $ QHJDWLYH VLJQ LPSOLHV 6RXWK ODWLWXGH
ORQ
/RQJLWXGH RI SRVLWLRQ LQ FXUUHQW GDWXP LQ GHJUHHV
'''GGGGGGGG $ QHJDWLYH
VLJQ LPSOLHV :HVW ORQJLWXGH
KJW
+HLJKW RI SRVLWLRQ LQ FXUUHQW GDWXP LQ PHWUHV DERYH PHDQ VHD OHYHO
XQGXODWLRQ
*HRLGDO VHSDUDWLRQ LQ PHWUHV ZKHUH SRVLWLYH LV DERYH VSKHURLG DQG QHJDWLYH LV
06/
EHORZ VSKHURLG
GDWXP ,'
&XUUHQW GDWXP ,' ODW VWG
6WDQGDUG GHYLDWLRQ RI ODWLWXGH VROXWLRQ HOHPHQW LQ PHWUHV
ORQ VWG
6WDQGDUG GHYLDWLRQ RI ORQJLWXGH VROXWLRQ HOHPHQW LQ PHWUHV
KJW VWG
6WDQGDUG GHYLDWLRQ RI KHLJKW VROXWLRQ HOHPHQW LQ PHWUHV
VRO VWDWXV
[[
>&5@>/)@
6ROXWLRQ VWDWXV DV OLVWHG LQ 7DEOH &KHFNVXP
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$POSA,637,511251.00,51.11161847,-114.03922149,1072.436,-16.198,61,26.636,
6.758,78.459,0*12[CR][LF]
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
73
7 - NovAtel Format Data Logs
POSB
Format:
Message ID = 01
Field #
KHDGHU
74
Data
Message byte count = 88
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
/DWLWXGH
GRXEOH
GHJUHHV
LV 1RUWK LV 6RXWK
/RQJLWXGH
GRXEOH
GHJUHHV
LV (DVW LV :HVW
+HLJKW
GRXEOH
PHWUHV ZLWK UHVSHFW WR 06/
8QGXODWLRQ
GRXEOH
PHWUHV
'DWXP ,'
LQWHJHU
6WG'HY RI ODWLWXGH
GRXEOH
PHWUHV
6WG'HY RI ORQJLWXGH
GRXEOH
PHWUHV
6WG'HY RI KHLJKW
GRXEOH
PHWUHV
6ROXWLRQ VWDWXV
LQWHJHU
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
RBTA/B
SATELLITE BROADCAST DATA: RAW BITS
This message contains the satellite broadcast data in raw bits before FEC decoding or any other processing. An
individual message is sent for each PRN being tracked. For a given satellite, the message number increments by one
each time a new message is generated. This data matches the SBTA/B data if the message numbers are equal. The data
must be logged with the 'onnew' trigger activated to prevent loss of data.
RBTA
Structure:
$RBTA
week
raw bits
Field #
seconds
prn ch tr-status message #
# of bits
*xx [CR][LF]
Field type
Data Description
Example
5%7$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
5%7$
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
SUQ
351 RI VDWHOOLWH IURP ZKLFK GDWD RULJLQDWHG
FK WUVWDWXV
&KDQQHO 7UDFNLQJ 6WDWXV
PHVVDJH 0HVVDJH VHTXHQFH QXPEHU
RI ELWV
1XPEHU RI ELWV WUDQVPLWWHG LQ WKH PHVVDJH
VHH 7DEOH )
$W
SUHVHQW DOZD\V HTXDOV ELWV
UDZ ELWV
ELWV FRPSUHVVHG LQWR D E\WHV
+HQFH KH[ FKDUDFWHUV DUH RXWSXW
[[
)%)%)%)'$)%
(%'%&&%&%)%'$(%($
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
RBTB
Format:
Message ID = 52
Field #
KHDGHU
Data
Message byte count = 72
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
351 QXPEHU
LQWHJHU
&KDQQHO 7UDFNLQJ 6WDWXV
LQWHJHU
QD
0HVVDJH LQWHJHU
QD
RI %LWV
LQWHJHU
QD
5DZ %LWV
FKDU
QD
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
75
7 - NovAtel Format Data Logs
RCCA RECEIVER CONFIGURATION
This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the
receiver’s configuration settings. If these messages are logged directly after powering up the receiver, they will contain
the default configuration settings.
NOTE:
The RCCA log output from each of the L1-C/A, L1/L2 I, and L1/L2 II ports will be different. This is
because each GPSCard which controls a port has a unique configuration.
RCCA
Example (from the L1/L2 I port):
$RCCA,COM1,9600,N,8,1,N,OFF,ON*2B
$RCCA,COM1_DTR,HIGH*70
$RCCA,COM1_RTS,HIGH*67
$RCCA,ACCEPT,COM1,COMMANDS*5B
$RCCA,COM2,9600,N,8,1,N,OFF,ON*28
$RCCA,COM2_DTR,HIGH*73
$RCCA,COM2_RTS,HIGH*64
$RCCA,ACCEPT,COM2,COMMANDS*58
$RCCA,UNDULATION,TABLE*56
$RCCA,DATUM,WGS84*15
$RCCA,USERDATUM,6378137.000,298.257223563,0.000,0.000,0.000,0.000,0.000,0.000,0.000*6A
$RCCA,SETNAV,DISABLE*5C
$RCCA,MAGVAR,0.000*33
$RCCA,DYNAMICS,AIR*4F
$RCCA,UNASSIGNALL*64
$RCCA,UNLOCKOUTALL*20
$RCCA,RESETHEALTHALL*37
$RCCA,UNFIX*73
$RCCA,ANTENNAPOWER OFF*50
$RCCA,SETDGPSID,ALL*1D
$RCCA,RTCMRULE,6CR*32
$RCCA,RTCM16T,*48
$RCCA,CSMOOTH,20.00,20.00*7E
$RCCA,ECUTOFF,0.00*45
$RCCA,FREQUENCY_OUT,DISABLE*12
$RCCA,EXTERNALCLOCK,OCXO*5D
$RCCA,CLOCKADJUST,DISABLE*12
$RCCA,SETTIMESYNC,ENABLE*42
$RCCA,SETL1OFFSET,0.000000*3F
$RCCA,MESSAGES,COM1,ON*56
$RCCA,MESSAGES,COM2,OFF*1B
$RCCA,MESSAGES,CONSOLE,ON*71
$RCCA,DGPSTIMEOUT,60.00,120.00*51
$RCCA,POSAVE,DISABLE*59
$RCCA,CONFIG,L1L2*1A
$RCCA,DIFF_PROTOCOL,DISABLED*47
$RCCA,LOG,COM1,POSB,ONTIME,1.00*0E
$RCCA,LOG,COM1,MKPB,ONNEW*6E
76
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
REPA/B
RAW EPHEMERIS
This log contains the raw binary information for sub-frames one, two and three from the satellite with the parity
information removed. Each sub-frame is 240 bits long (10 words – 24 bits each) and the log contains a total 720 bits (90
bytes) of information (240 bits x 3 sub-frames). This information is preceded by the PRN number of the satellite from
which it originated. This message will not be generated unless all 10 words from all 3 frames have passed parity.
Ephemeris data whose time of ephemeris is older than six hours will not be shown.
REPA
Structure:
$REPA
prn
Field #
subframe1 subframe2 subframe3 *xx [CR][LF]
Field type
Data Description
Example
5(3$
/RJ KHDGHU
SUQ
351 RI VDWHOOLWH IURP ZKLFK GDWD RULJLQDWHG
5(3$
VXEIUDPH
6XEIUDPH RI HSKHPHULV GDWD
KH[ FKDUDFWHUV
%'&%''''($%'
VXEIUDPH
6XEIUDPH RI HSKHPHULV GDWD
KH[ FKDUDFWHUV
%'&%$)))%'
VXEIUDPH
6XEIUDPH RI HSKHPHULV GDWD
KH[ FKDUDFWHUV
%'&%)($))')&
&)&)'
))$($%())
)($%))$')
[[
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$REPA,14,8B09DC17B9079DD7007D5DE404A9B2D04CF671C6036612560000021804FD,
8B09DC17B98A66FF713092F12B359DFF7A0254088E1656A10BE2FF125655,
8B09DC17B78F0027192056EAFFDF2724C9FE159675A8B468FFA8D066F743*57[CR][LF]
REPB
Format:
Message ID = 14
Field #
KHDGHU
Data
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
351 QXPEHU
(SKHPHULV GDWD
)LOOHU E\WHV
RGEA/B
Message byte count = 108
LQWHJHU
FKDU
FKDU
Units
Offset
E\WHV
GDWD >@
CHANNEL RANGE MEASUREMENTS
RGEA/B contain the channel range measurements for the currently observed satellites. These logs contain all of the
extended tracking status bits. The receiver self-test status word also indicates L2, OCXO and new almanac status.
It is important to ensure that the receiver clock has been set and can be monitored by the bits in the rec-status field.
Large jumps in range as well as ADR will occur as the clock is being adjusted. If the ADR measurement is being used
in precise phase processing it is important not to use the ADR if the "parity known" flag in the tr-status field is not set as
there may exist a half (1/2) cycle ambiguity on the measurement. The tracking error estimate of the pseudorange and
carrier phase (ADR) is the thermal noise of the receiver tracking loops only. It does not account for possible multipath
errors or atmospheric delays.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
77
7 - NovAtel Format Data Logs
If both the L1 and L2 signals are being tracked for a given PRN, two entries with the same PRN will appear in the range
logs. As shown in Table 8 for the Channel Tracking Status word, these entries can be differentiated by bit 19, which is
set if there are multiple observables for a given PRN, and bit 20, which denotes whether the observation is for L1 or L2.
This is to aid in parsing the data.
RGEA
Structure:
$RGEA week
seconds # obs rec status
prn psr psr std
adr adr std dopp S/No
:
prn psr psr std
adr adr std dopp S/No
*xx [CR][LF]
Field #
Field type
locktime
ch tr-status
locktime
ch tr-status
Data Description
Example
5*($
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
REV
1XPEHU RI VDWHOOLWH REVHUYDWLRQV ZLWK LQIRUPDWLRQ WR IROORZ
UHF VWDWXV
5HFHLYHU VHOIWHVW VWDWXV
SUQ
6DWHOOLWH 351 QXPEHU
SVU
3VHXGRUDQJH PHDVXUHPHQW
SVU VWG
3VHXGRUDQJH PHDVXUHPHQW VWDQGDUG GHYLDWLRQ
DGU
&DUULHU SKDVH LQ F\FOHV
DGU VWG
(VWLPDWHG FDUULHU SKDVH VWDQGDUG GHYLDWLRQ
GRSS
,QVWDQWDQHRXV FDUULHU 'RSSOHU IUHTXHQF\
&1
6LJQDO WR QRLVH GHQVLW\ UDWLR &1
ORFNWLPH
1XPEHU RI VHFRQGV RI FRQWLQXRXV WUDFNLQJ
FK WUVWDWXV
&KDQQHO WUDFNLQJ VWDWXV KH[DGHFLPDO QXPEHU LQGLFDWLQJ SKDVH ORFN FKDQQHO
5*($
UHFHLYHU WLPH QRW FRUUHFWHG IRU FORFN HUURU
VHH 7DEOH %))
RI UDQJH PHDVXUHPHQW
P
P
DFFXPXODWHG 'RSSOHU UDQJH
F\FOHV
+]
>ORJ
61
@
G%+]
QR F\FOH VOLSSLQJ
(
QXPEHU DQG FKDQQHO VWDWH DV VKRZQ LQ 7DEOH 1H[W 351 UDQJH PHDVXUHPHQW
YDULDEOH
YDULDEOH
1H[W 351 UDQJH PHDVXUHPHQW
[[
>&5@>/)@
&KHFNVXP
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example (carriage returns have been added between observations for clarity):
$RGEA,845,511089.00,14,000B20FF
4,23907330.296,0.119,-125633783.992,0.010,3714.037,44.8,1928.850,82E04,
4,23907329.623,1.648,-97896180.284,0.013,2894.285,35.0,1746.760,582E0B,
2,21298444.942,0.040,-111954153.747,0.006,-1734.838,54.2,17466.670,82E14,
2,21298444.466,0.637,-87236867.557,0.006,-1351.607,43.3,17557.260,582E1B,
9,22048754.383,0.063,-115874135.450,0.006,2174.006,50.4,5489.100,82E24,
9,22048754.424,0.641,-90291443.071,0.006,1694.238,43.2,5489.100,582E2B,
15,23191384.847,0.261,-121887295.980,0.017,-2069.744,38.0,9924.740,82E34,
15,23191384.663,0.596,-94977002.452,0.010,-1612.587,43.8,9881.830,582E3B,
26,24063897.737,0.199,-126477739.189,0.014,-2654.682,40.3,12821.640,82E54,
26,24063898.913,1.043,-98553986.239,0.013,-2068.380,39.0,12793.280,582E5B,
7,20213352.139,0.037,-106237901.461,0.005,439.943,55.0,10313.040,82E74,
7,20213351.196,0.498,-82782498.454,0.007,343.020,45.4,9977.400,582E7B,
27,24393726.829,0.123,-128229016.323,0.012,-4047.338,44.5,22354.119,82E94,
27,24393728.057,1.805,-99918535.513,0.013,-3153.559,34.2,22301.830,582E9B
*30
78
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
RGEB
Format:
Message ID = 32
Field #
Message byte count = 32 + (obs x 44)
Data
KHDGHU
Bytes
Offset
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
V
1XPEHU RI REVHUYDWLRQV
LQWHJHU
5HFHLYHU VHOIWHVW VWDWXV
LQWHJHU
351
LQWHJHU
3VHXGRUDQJH
GRXEOH
6WG'HY SVHXGRUDQJH
IORDW
P
&DUULHU SKDVH ± DFFXPXODWHG 'RSSOHU UDQJH
GRXEOH
F\FOHV
6WG'HY ± DFFXPXODWHG 'RSSOHU UDQJH
IORDW
F\FOHV
'RSSOHU IUHTXHQF\
IORDW
+]
&1
IORDW
G%+]
/RFNWLPH
IORDW
V
&KDQQHO 7UDFNLQJ VWDWXV
LQWHJHU
REV
1H[W 351 RIIVHW
REV
[
N 6
26
25
N 5
24
23
22
21
N 4
20
19
18
17
N 3
16
15
14
13
P
Receiver Self-Test Status Codes
N 2
12
Table 10
27
Units
N7
Format
11
10
9
N 1
8
7
6
5
N 0
4
3
2
1
0
<- <- Nibble Number
Bit
Description
lsb = 0 ANTENNA
Range Values
Hex Value
1 = good, 0 = bad
00000001
1 L1 PLL
1 = good, 0 = bad
00000002
2 RAM
1 = good, 0 = bad
00000004
3 ROM
1 = good, 0 = bad
00000008
4 DSP
1 = good, 0 = bad
00000010
5 L1 AGC
1 = good, 0 = bad
00000020
6 COM 1
1 = good, 0 = bad
00000040
7 COM 2
1 = good, 0 = bad
00000080
8 WEEK
1 = not set, 0 = set
00000100
9 NO COARSETIME
1 = not set, 0 = set
00000200
10 NO FINETIME
1 = not set, 0 = set
00000400
11 L1 JAMMER
1 = present, 0 = normal
00000800
12 BUFFER COM 1
1 = overrun, 0 = normal
00001000
13 BUFFER COM 2
1 = overrun, 0 = normal
00002000
14 BUFFER CONSOLE
1 = overrun, 0 = normal
00004000
15 CPU OVERLOAD
1 = overload, 0 = normal
00008000
16 ALMANAC SAVED IN NVM
1 = yes, 0 = no
00010000
17 L2 AGC
1 = good, 0 = bad
00020000
18 L2 JAMMER
1 = present, 0 = normal
00040000
19 L2 PLL
1 = good, 0 = bad
00080000
20 OCXO PLL
1 = good, 0 = bad
00100000
21 SAVED ALMA. NEEDS UPDATE
1 = yes, 0 = no
00200000
22 ALMANAC INVALID
1 = invalid, 0 = valid
00400000
23 POSITION SOLUTION INVALID
1 = invalid, 0 = valid
00800000
24 POSITION FIXED
1 = yes, 0 = no
01000000
25 CLOCK MODEL INVALID
1 = invalid, 0 = valid
02000000
26 CLOCK STEERING DISABLED
1 = disabled, 0 = enabled
04000000
27 RESERVED
28-31 RESERVED
GPSCard examples:
OEM2:
All OK = 0000 0000 0000 0000 0000 0000 1111 1111 (binary) = 000000FF (hexadecimal)
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
79
7 - NovAtel Format Data Logs
MiLLennium:
All OK = 0000 0000 0000 1010 0000 0000 1111 1111 (binary) = 000B00FF (hexadecimal) ; osc. = VCTCXO
Notes:
1.
2.
3.
4.
Bit 3: For WAAS / GUS, “ROM” includes all forms of non-volatile memory.
Bits 2, 3, 4, 6, 7: these are set only once when the GPSCard is first powered up. All other bits are set by internal test processes each time the
RVSB log is output.
Bits 12-15: Flag is reset to 0 five minutes after the last overrun/overload condition has occurred.
Bits 17-20: These bits are always set to 0 for OEM2 GPSCards
Receiver Status – Detailed Bit Descriptions of Self-Test Word
What follows is a detailed description of each bit setting in the Receiver Self-Test Status word (see Table 10).
Additional information is also included in Table 11, below.
Bit 0
Antenna
1
0
This bit will be set good if the antenna is drawing the appropriate amount of current from the GPSCard jack.
If the antenna connections are shorted together, open, or otherwise not an drawing appropriate current, then this
bit will be clear (0) indicating a possible antenna port problem.
Bit 1
1
0
L1 PLL
When the L1 RF down-converter passes self-test, the bit will be set to 1.
If a fault is detected in the L1 RF down-converter, this bit is set to 0.
Bit 2
1
0
RAM
When this bit is set to 1, the receiver’s RAM has passed the self-test requirements.
If the bit has been set to 0, then RAM test has failed; please contact NovAtel Customer Service.
Bit 3
1
0
ROM (Note: “ROM” includes all forms of non-volatile memory (NVM))
When this bit is set to 1, the receiver’s ROM test has passed the self test requirements.
A zero bit indicates the receiver has failed the ROM test.
Bit 4
1
0
DSP
This bit will be set to 1 when the digital signal processors (DSP) have passed the self-test requirements.
If this bit is set to 0, one or both of the DSP chips has failed self-test; please contact NovAtel Customer Service.
Bit 5
1
0
L1 AGC
When set to 1, the L1AGC circuits are operating within normal range of control.
This bit will be set clear if the L1AGC is operating out of normal range. Failure of this test could be the result
of various possibilities, such as: bad antenna LNA, excessive loss in the antenna cable, faulty RF downconverter, or a pulsating or high power jamming signal causing interference. If this bit is continuously set
clear, and you cannot identify an external cause for the failed test, please contact NovAtel Customer Service.
Bit 6
1
0
COM 1
When set to 1, the COM1 UART has passed the self-test requirements.
If set to 0, the COM1 UART has failed self-test and cannot be used for reliable communications.
Bit 7
1
0
COM 2
When set to 1, the COM2 UART has passed the self-test requirements.
If set to 0, the COM2 UART has failed self-test and cannot be used for reliable communications.
Bits 8, 9, 10
Week / No Coarsetime / No Finetime
0
These bits indicate the state of the receiver’s time and are set only once, generally in the first few minutes of
operation, in the presence of adequate numbers of satellite signals to compute position and time.
80
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
1
If these bits are not all set to zero, then the observation data, pseudorange, carrier phase, and Doppler
measurements may jump as the clock adjusts itself.
Bit 11
0
1
L1 Jammer Detection
Normal operation is indicated when this bit is 0.
If set to 1, the receiver has detected a high power signal causing interference. When this happens, the receiver
goes into a special anti-jamming mode where it re-maps the A/D decode values as well as special L1AGC
feedback control. These adjustments help to minimize the loss that will occur in the presence of a jamming
signal. You should monitor this bit, and if set to 1, do your best to remedy the cause of the jamming signal.
Nearby transmitters or other electronic equipment could be the cause of interference; you may find it necessary
to relocate your antenna position if the problem persists.
Bits 12, 13, 14
Buffer COM 1 / COM 2 / Console
0
Normal operation is indicated by a 0 value.
1
These bits are set to 1 when any of the 8-Kbyte output buffers has reached an over-run condition (COM1,
COM2, or console). Over-run is caused by requesting more log data than can be taken from the GPSCard
because of bit rate limitations or slow communications equipment. If this happens, the new data attempting to
be loaded into the buffer will be discarded. The receiver will not load a partial data record into an output
buffer. The flag resets to 0 five minutes after the last overrun occurred.
Bit 15
0
1
CPU Overload
Normal operation is indicated by a 0 value.
A value of 1 indicates that the CPU is being over-taxed. Requesting an excessive amount of information from
the receiver may cause this. If this condition is occurring, limit redundant data logging or change to using
binary data output formats, or both. You should attempt to tune the logging requirements to keep the idle time
above 20% for best operation. If the average idle % drops below 10% for prolonged periods of time (2-5
seconds), critical errors may result in internal data loss and the over-load bit will be set to 1. You can monitor
the CPU % idle time by using the RVSA log message. The flag resets to 0 five minutes after the last overload
occurred.
NOTE: As the amount of CPU power becomes limited, the software will begin to slow down the position
calculation rate. If the CPU becomes further limited, the software will begin to skip range measurement
processing. Priority processing goes to the tracking loops.
Bit 16
0
1
Almanac Saved
Almanac not saved in non-volatile memory.
Almanac saved in non-volatile memory.
Bit 17
1
L2AGC (on an OEM2 GPSCard: this bit is unused, i.e. it would be set to 0 = bad)
For an L1/L2 MiLLennium GPSCard: When set to 1, the L2AGC circuits are operating within normal range of
control.
For an L1/L2 MiLLennium GPSCard: This bit will be set clear if the L2AGC is operating out of normal range.
Failure of this test could be the result of various possibilities, such as: bad antenna LNA, excessive loss in the
antenna cable, faulty RF down-converter, or a pulsating or high power jamming signal causing interference. If
this bit is continuously set clear, and you cannot identify an external cause for the failed test, please contact
NovAtel Customer Service.
0
Bit 18
0
1
L2Jammer Detection (on an OEM2 GPSCard: this bit is unused, i.e. it would be set to 0 = normal)
For the L1/L2 MiLLennium GPSCard: Normal operation is indicated when this bit is 0.
For the L1/L2 MiLLennium GPSCard: If set to 1, the receiver has detected a high power signal causing
interference. When this happens, the receiver goes into a special anti-jamming mode where it re-maps the A/D
decode values as well as special L2AGC feedback control. These adjustments help to minimize the loss that
will occur in the presence of a jamming signal. You should monitor this bit, and if set to 1, do your best to
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
81
7 - NovAtel Format Data Logs
remedy the cause of the jamming signal. Nearby transmitters or other electronic equipment could be the cause
of interference; you may find it necessary to relocate your antenna position if the problem persists.
Bit 19
1
0
L2PLL (on an OEM2 GPSCard: this bit is unused, i.e. it would be set to 0 = bad)
For an L1/L2 MiLLennium GPSCard: When the L2 RF down-converter passes self-test, the bit will be set to 1.
For an L1/L2 MiLLennium GPSCard: If a fault is detected in the L2 RF down-converter, this bit is set to 0.
Bit 20
1
0
OCXOPLL (on an OEM2 GPSCard: this bit is unused, i.e. it would be set to 0 = bad)
For an L1/L2 MiLLennium GPSCard: When the OCXOPLL bit passes self-test, the bit will be set to 1.
For the L1/L2 MiLLennium GPSCard: If a fault is detected in the OCXOPLL bit, this bit is set to 0.
Bit 21
1
0
Saved Almanac Needs Update
When the almanac received is newer that the one currently stored in NVM (non-volatile memory), the bit will
be set to 1.
This bit will be set to 0 if an almanac has not been received that is newer than the one stored in memory.
Bit 22
1
0
Almanac Invalid
No almanac in use
Valid almanac in use
Bit 23
1
0
Position Solution Invalid
Position solution is not valid
Valid position computed
Bit 24
1
0
Position Fixed
A fix position command has been accepted
Position has not been fixed
Bit 25
1
0
Clock Model Invalid
Clock model has not stabilised
Clock model is valid
Bit 26
1
0
Clock Steering Disabled
Clockadjust disable command has been accepted
Clockadjust is enabled
82
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
Table 11
Additional information about WAAS / GUS Receiver Self-Test Status word
The bits have been place into 4 categories. They are:
1.
2.
Not Used in WAAS/GUS Rx: The user can ignore this bit.
Diagnostics: This bit does not need to be continually monitored by the user but can provide useful information if a
problem is detected.
3. Checked at Startup: This test is done at power-up of the receiver. This should show ‘valid’ status before
continuing.
4. Continuous Monitoring: This bit should be continually monitored by the user. It either indicates a problem or a
change of status.
Bit
Description
Category
Comments
$17(11$
1RW 8VHG ,Q :$$6*86 5[
1R DQWHQQD SRZHU SURYLGHG E\ WKH UHFHLYHU
/ 3//
'LDJQRVWLFV
7KLV ELW LV XQUHOLDEOH EXW FDQ EH XVHG IRU GLDJQRVWLFV LI D SUREOHP
5$0
&KHFNHG DW 6WDUWXS
520
&KHFNHG DW 6WDUWXS
'63
&KHFNHG DW 6WDUWXS
/ $*&
'LDJQRVWLFV
LV GHWHFWHG
,QGLFDWHV WKH $*& KDV EHHQ DGMXVWHG
,I WKHUH LV D SUREOHP LW ZLOO
VKRZ XS LQ WKH &1R DQG UDQJHV UHVLGXDOV
&20 &KHFNHG DW 6WDUWXS
&20 &KHFNHG DW 6WDUWXS
:((.
&RQWLQXRXV 0RQLWRULQJ
12 &2$56(7,0(
&RQWLQXRXV 0RQLWRULQJ
12 ),1(7,0(
&RQWLQXRXV 0RQLWRULQJ
/ -$00(5
&RQWLQXRXV 0RQLWRULQJ
%8))(5 &20
&RQWLQXRXV 0RQLWRULQJ
%8))(5 &20
&RQWLQXRXV 0RQLWRULQJ
%8))(5 &2162/(
&RQWLQXRXV 0RQLWRULQJ
&38 29(5/2$'
&RQWLQXRXV 0RQLWRULQJ
$/0$1$& 6$9( ,1 190
1RW 8VHG ,Q :$$6*86 5[
/ $*&
'LDJQRVWLFV
// SRUWV RQO\
/ -$00(5
&RQWLQXRXV 0RQLWRULQJ
// SRUWV RQO\
/ 3//
'LDJQRVWLFV
// SRUWV RQO\ 7KLV ELW LV XQUHOLDEOH EXW FDQ EH XVHG IRU
2&;2 3//
&RQWLQXRXV 0RQLWRULQJ
// SRUWV RQO\
6$9(' $/0$ 1(('6 83'$7(
1RW 8VHG ,Q :$$6*86 5[
$/0$1$& ,19$/,'
&RQWLQXRXV 0RQLWRULQJ
326,7,21 62/,7,21 ,19$/,'
&RQWLQXRXV 0RQLWRULQJ
326,7,21 ),;('
&RQWLQXRXV 0RQLWRULQJ
&/2&. 02'(/ ,19$/,'
&RQWLQXRXV 0RQLWRULQJ
&/2&. 67((5,1* ',6$%/('
&RQWLQXRXV 0RQLWRULQJ
5(6(59('
,QGLFDWHV WKHUH PD\ EH D MDPPHU SUHVHQW RQ /
GLDJQRVWLFV LI D SUREOHP LV GHWHFWHG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
83
7 - NovAtel Format Data Logs
RVSA/B
RECEIVER STATUS
This log conveys various status parameters of the receiver system. If the system is a multiple-GPSCard unit with a
master card, certain parameters are repeated for each individual GPSCard. If the system is composed of only one
GPSCard, then only the parameters for that unit are listed.
Note that the number of satellite channels (the number of satellites the receiver is capable of tracking) is not necessarily
the same as the number of signal channels. This is because one L1/L2 satellite channel requires two signal channels.
Therefore the 12-channel MiLLennium GPSCard will report 24 signal channels in this field. This number represents the
maximum number of channels reporting information in logs such as ETSA/B and RGEA/B/C.
RVSA
Structure:
$RVSA week seconds
idle status
:
idle status
*xx [CR][LF]
Field #
sat_chan
sig_chan
Field type
num reserve
Data Description
596$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
VDWBFKDQ
1XPEHU RI VDWHOOLWH FKDQQHOV
VLJBFKDQ
1XPEHU RI VLJQDO FKDQQHOV
QXP
1XPEHU RI FDUGV
UHVHUYH
5HVHUYHG ILHOG
LGOH
)LUVW *36&DUG &38 LGOH WLPH
VWDWXV
)LUVW *36&DUG 6HOIWHVW VWDWXV
596$
SHUFHQW
VHH 7DEOH 1H[W *36&DUG &38 LGOH WLPH
VHOIWHVW VWDWXV
1H[W *36&DUG &38 LGOH WLPH
VHOIWHVW VWDWXV
YDULDEOH
YDULDEOH
[[
>&5@>/)@
Example
&KHFNVXP
6HQWHQFH WHUPLQDWRU
%))
>&5@>/)@
Example:
$RVSA,847,318923.00,12,24,1,,16.00,000B00FF*42[CR][LF]
84
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
RVSB
Format:
Message ID = 56
Field #
Message byte count = 28 + (8 x number of cards )
Data
KHDGHU
Bytes
Format
Units
Offset
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
V
1XPEHU RI VDWHOOLWH
FKDU
FKDU
FKDU
FKDQQHOV
1XPEHU RI VLJQDO
FKDQQHOV
1XPEHU RI FDUGV
5HVHUYHG
E\WH
&38 LGOH WLPH
IORDW
6HOIWHVW VWDWXV
LQWHJHU
DUH UHSHDWHG IRU
1H[W &DUG RIIVHW
SHUFHQW
[ FDUG QXPEHU
HDFK FDUG
NOTE:
SATA/B
For Field 9, self-test bits 2, 3, 4, 6, & 7 are set only once (when the GPSCard is first powered up). All other
bits are set by internal test processes each time the RVSB log is output .
SATELLITE SPECIFIC DATA
This log provides satellite specific data for satellites actually being tracked. The record length is variable and depends
on the number of satellites.
Each satellite being tracked has a reject code indicating whether it is used in the solution, or the reason for its rejection
from the solution. The reject value of 0 indicates the observation is being used in the position solution. Values of 1
through 11 indicate the observation has been rejected for the reasons specified in Table 9.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
85
7 - NovAtel Format Data Logs
SATA
Structure:
$SATA week Seconds sol status # obs
prn azimuth elevation residual reject code
:
prn azimuth elevation residual reject code
Field #
Field type
*xx [CR][LF]
Data Description
Example
6$7$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
VRO VWDWXV
6ROXWLRQ VWDWXV DV OLVWHG LQ 7DEOH REV
1XPEHU RI VDWHOOLWH REVHUYDWLRQV ZLWK LQIRUPDWLRQ WR IROORZ
SUQ
6DWHOOLWH 351 QXPEHU
D]LPXWK
6DWHOOLWH D]LPXWK IURP XVHU SRVLWLRQ ZLWK UHVSHFW WR 7UXH 1RUWK LQ GHJUHHV
HOHYDWLRQ
6DWHOOLWH HOHYDWLRQ IURP XVHU SRVLWLRQ ZLWK UHVSHFW WR WKH KRUL]RQ LQ GHJUHHV
UHVLGXDO
6DWHOOLWH UDQJH UHVLGXDO IURP SRVLWLRQ VROXWLRQ IRU HDFK VDWHOOLWH LQ PHWUHV
UHMHFW FRGH
,QGLFDWHV WKDW WKH UDQJH LV EHLQJ XVHG LQ WKH VROXWLRQ
6$7$
FRGH RU WKDW LW ZDV UHMHFWHG
FRGH DV VKRZQ LQ 7DEOH YDULDEOH
YDULDEOH
1H[W 351
[[
&KHFNVXP
>&5@>/)@
)
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$SATA,637,513902.00,0,7,18,168.92,5.52,9.582,0,6,308.12,55.48,0.737,0,
15,110.36,5.87,16.010,0,11,49.63,40.29,-0.391,0,
2,250.05,58.89,-12.153,0,16,258.55,8.19,-20.237,0,
19,118.10,49.46,-14.803,0*1F[CR][LF]
SATB
Format:
Message ID = 12
Field #
KHDGHU
Bytes
Format
6\QF
Data
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
6ROXWLRQ VWDWXV
1XPEHU RI REVHUYDWLRQV
LQWHJHU
LQWHJHU
351
LQWHJHU
$]LPXWK
GRXEOH
GHJUHHV
(OHYDWLRQ
GRXEOH
GHJUHHV
5HVLGXDO
GRXEOH
PHWUHV
5HMHFW FRGH
LQWHJHU
86
Message byte count = 32 + (obs*32)
1H[W 351 RIIVHW
REV
REV
ZKHUH REV YDULHV IURP WR
REV
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
SBTA/B
SATELLITE BROADCAST DATA: RAW SYMBOLS
This message contains the satellite broadcast data in raw symbols before FEC decoding or any other processing. An
individual message is sent for each PRN being tracked. For a given satellite, the message number increments by one
each time a new message is generated. This data matches the RBTA/B data if the message numbers are equal. The data
must be logged with the 'onnew' trigger activated to prevent loss of data.
SBTA
Structure:
$SBTA
week
raw symbols
Field #
seconds
*xx
prn cstatus
message # # of symbols
[CR][LF]
Field type
Data Description
Example
6%7$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
6%7$
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
SUQ
351 RI VDWHOOLWH IURP ZKLFK GDWD RULJLQDWHG
FVWDWXV
&KDQQHO 7UDFNLQJ 6WDWXV
PHVVDJH 0HVVDJH VHTXHQFH QXPEHU
RI V\PEROV
1XPEHU RI V\PEROV WUDQVPLWWHG LQ WKH PHVVDJH
)
$W SUHVHQW DOZD\V HTXDOV ELWV
UDZ V\PEROV
V\PEROV FRPSUHVVHG LQWR D E\WHV LH ((((((((((((((((((((
ELWVV\PERO
+HQFH KH[ FKDUDFWHUV DUH
((((((((((((((((((((((
,I )(& GHFRGLQJ LV HQDEOHG VRIW V\PEROV
((((((((((((((((((((((((((((((
RXWSXW
DUH RXWSXW ZLWK YDOXHV UDQJLQJ IURP WR ((((((((((((((((((
2WKHUZLVH V DQG V DUH RXWSXW
(((((((((((((((((((((((
(((((((((((((((
[[
&KHFNVXP
>&5@>/)@
&
6HQWHQFH WHUPLQDWRU
>&5@>/)@
SBTB
Format:
Message ID = 53
Field #
KHDGHU
Data
Message byte count = 168
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
351 QXPEHU
LQWHJHU
&KDQQHO 6WDWXV
LQWHJHU
QD
0HVVDJH LQWHJHU
QD
RI 6\PEROV
LQWHJHU
QD
5DZ 6\PEROV
FKDU
QD
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
87
7 - NovAtel Format Data Logs
TM1A/B
TIME OF 1PPS
This log provides the time of the GPSCard 1PPS in GPS week number and seconds into the week. It also includes the
receiver clock offset, the standard deviation of the receiver clock offset and clock model status. This log will output at a
maximum rate of 1 Hz.
TM1A
Structure:
$TM1A
Field #
week
seconds
offset offset std
Field type
utc offset cm status *xx
Data Description
[CR][LF]
Example
70$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
70$
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN DW WKH HSRFK FRLQFLGHQW ZLWK WKH 336 RXWSXW VWUREH
RIIVHW
5HFHLYHU FORFN RIIVHW LQ VHFRQGV
UHFHLYHU
WLPH
DKHDG RI *36 7LPH
*36 WLPH
$ SRVLWLYH RIIVHW LPSOLHV WKDW WKH UHFHLYHU FORFN LV
UHFHLYHU WLPH ±
RIIVHW
RIIVHW VWG
6WDQGDUG GHYLDWLRQ RI UHFHLYHU FORFN RIIVHW LQ VHFRQGV
XWF RIIVHW
7KLV
DERYH
7R UHFRQVWUXFW 87& WLPH DOJHEUDLFDOO\ VXEWUDFW WKLV FRUUHFWLRQ IURP ILHOG *36 VHFRQGV 87& WLPH
FP VWDWXV
ILHOG UHSUHVHQWV WKH RIIVHW RI *36 WLPH IURP 87& WLPH FRPSXWHG XVLQJ DOPDQDF
SDUDPHWHUV
7R GHULYH *36 WLPH XVH WKH IROORZLQJ IRUPXOD
*36 WLPH ±
XWF RIIVHW
5HFHLYHU &ORFN 0RGHO 6WDWXV ZKHUH LV YDOLG DQG YDOXHV IURP WR LPSO\ WKDW WKH
PRGHO LV LQ WKH SURFHVV RI VWDELOL]DWLRQ
[[
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$TM1A,794,414634.999999966,-0.000000078,0.000000021,-9.999999998,0*57[CR][LF]
TM1B
Format:
Message ID = 03
Field #
KHDGHU
88
Data
Message byte count = 52
Bytes
Format
6\QF
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
&ORFN RIIVHW
GRXEOH
VHFRQGV
6WG'HY FORFN RIIVHW
GRXEOH
VHFRQGV
87& RIIVHW
GRXEOH
VHFRQGV
&ORFN PRGHO VWDWXV
LQWHJHU
JRRG WR EDG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
7 - NovAtel Format Data Logs
UTCA/B
UTC TIME PARAMETERS
The UTC time parameters (UTCA/B) are provided following the last almanac records when an ALMA/B message has
been logged. The UTCA/B message cannot be logged individually or independently of the ALMA/B message.
For more information on Almanac data, refer to the GPS SPS Signal Specification.
UTCA
Structure:
$UTCA pct p1ot
*xx [CR][LF]
Field #
data-ref
wk#-utc
Field type
wk#-lset
delta-time
lsop
Data Description
day #-lset
Example
87&$
/RJ KHDGHU
SFW
3RO\QRPLDO FRQVWDQW WHUP VHFRQGV
(
SRW
3RO\QRPLDO VW RUGHU WHUP VHFRQGVVHFRQG
(
GDWDUHI
87& GDWD UHIHUHQFH WLPH VHFRQGV
ZN XWF
:HHN QXPEHU RI 87& UHIHUHQFH ZHHNV
ZN OVHW
:HHN QXPEHU IRU OHDS VHF HIIHFW WLPH ZHHNV
GHOWDWLPH
'HOWD WLPH GXH WR OHDS VHF VHFRQGV
OVRS
)RU XVH ZKHQ OHDS VHF RQ SDVW VHFRQGV
GD\ OVHW
'D\ QXPEHU IRU OHDS VHF HIIHFW WLPH GD\V
[[
87&$
&KHFNVXP
>&5@>/)@
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
$UTCA,-2.235174179077148E-008,-1.243449787580175E-014,32768,745,755,9,10,5*37
[CR][LF]
UTCB
Format:
Message ID = 17
Field #
KHDGHU
Field Type
Message byte count = 52
Bytes
Format
6\QF
FKDU
Units
Offset
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
E\WHV
3RO\QRPLDO FRQVWDQW WHUP
GRXEOH
VHFRQGV
3RO\QRPLDO VW RUGHU WHUP
GRXEOH
VHFRQGVVHFRQG
87& GDWD UHIHUHQFH WLPH
LQWHJHU
VHFRQGV
:HHN QXPEHU 87& UHIHUHQFH
LQWHJHU
ZHHNV
:HHN QXPEHU IRU OHDS VHF HIIHFW WLPH
LQWHJHU
ZHHNV
'HOWD WLPH GXH WR OHDS VHF
LQWHJHU
VHFRQGV
)RU XVH ZKHQ OHDS VHF RQ SDVW
LQWHJHU
VHFRQGV
'D\ QXPEHU IRU OHDS VHF HIIHFW WLPH
LQWHJHU
GD\V
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
89
7 - NovAtel Format Data Logs
WRCA/B
WIDE BAND RANGE CORRECTION (GROUPED FORMAT)
This message contains the wide band range correction data. A correction is generated for each PRN being tracked and
these are group together into a single log. Internally, the correction for each satellite is updated asynchronously at a 1
Hz rate. Therefore, logging this message at a rate higher than 1 Hz will result in duplicate data being output. Each
range correction is statistically independent and is derived from the previous 1 second of data.
WRCA
Structure:
$WRCA week seconds # obs
prn ch tr-status tr-BW
wide band correction
:
prn ch tr-status tr-BW
wide band correction
Field #
Field type
*xx
[CR][LF]
Data Description
Example
:5&$
/RJ KHDGHU
ZHHN
*36 ZHHN QXPEHU
:5&$
VHFRQGV
*36 VHFRQGV LQWR WKH ZHHN
REV
1XPEHU RI VDWHOOLWH REVHUYDWLRQV ZLWK LQIRUPDWLRQ WR IROORZ
SUQ
6DWHOOLWH 351 QXPEHU
FK WUVWDWXV
&KDQQHO 7UDFNLQJ 6WDWXV
WU%:
'// WUDFNLQJ ORRS EDQGZLGWK LQ +]
ZLGH EDQG
:LGH EDQG UDQJH FRUUHFWLRQ LQ PHWUHV
+H[DGHFLPDO QXPEHU LQGLFDWLQJ SKDVH ORFN FKDQQHO
(
QXPEHU DQG FKDQQHO VWDWH DV VKRZQ LQ 7DEOH FRUUHFWLRQ
9DULDEOH
9DULDEOH
1H[W 351
[[
>&5@>/)@
&KHFNVXP
)
6HQWHQFH WHUPLQDWRU
>&5@>/)@
WRCB
Format:
Message ID = 67
Field #
KHDGHU
Bytes
Format
6\QF
Data
FKDU
&KHFNVXP
FKDU
0HVVDJH ,'
LQWHJHU
0HVVDJH E\WH FRXQW
LQWHJHU
Units
Offset
E\WHV
:HHN QXPEHU
LQWHJHU
ZHHNV
6HFRQGV RI ZHHN
GRXEOH
VHFRQGV
1XPEHU RI REVHUYDWLRQV
LQWHJHU
351
LQWHJHU
&KDQQHO 7UDFNLQJ 6WDWXV
'// WUDFNLQJ ORRS EDQGZLGWK
IORDW
+]
:LGH %DQG 5DQJH &RUUHFWLRQ
IORDW
PHWUHV
90
Message byte count = 28 + (obs*16)
1H[W 351 RIIVHW
REV
REV WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix A
A
INSTALLATION OF GUS RECEIVER
This chapter provides sufficient information to allow you to set up and prepare the GUS receiver for initial operation.
The corresponding information for the WAAS receiver is contained in Chapter 2
Installation of WAAS receiver.
MINIMUM CONFIGURATION
In order for the GUS receiver to function as a complete system, a minimum equipment configuration is required. This is
illustrated in Figure 17.
Figure 17
GUS Minimum System Configuration
GEO Antenna
(L1 & C-band)
GPS & GEO
Antenna (L1 & L2)
Oscillator
10 MHz
Power Supply
22 - 30 V DC
Additional
user-supplied
equipment
Data processing
equipment
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
91
Appendix A
The recommended minimum configuration and required accessories are listed below:
•
•
•
•
•
•
•
NovAtel GUS receiver
User-supplied and powered L1 or L1/L2 GPS antenna and LNA
User-supplied and powered L1 / C-band dish antenna and LNA
User-supplied power supply (22-30 V DC, 5 A maximum)
User-supplied external frequency reference (10 MHz)
User-supplied interface, such as a PC or other data communications equipment, capable of standard serial
communications (RS-232C).
User-supplied data and RF cables
See Appendix E Associated Suppliers, for a list of associated suppliers of GUS subsystem components.
Of course, your intended set-up may differ significantly from this minimum configuration. The GUS receiver has many
features that would not be used in the minimum configuration shown above. This section merely describes the basic
system configuration, which you can modify to meet your specific situation.
For the minimum configuration, setting up the GUS receiver involves the following steps:
1.
2.
3.
4.
Connect the external frequency reference to the GUS receiver (“10 MHz IN” connector)
Connect the user interface to the GUS receiver (“L1-C/A”, “L1/L2 I” and/or “L1/L2 II” connectors)
Install the GPS antennas and low-noise amplifiers, and make the appropriate connections to the GUS receiver and
power supplies. For the minimum configuration, an L1-only or L1/L2 antenna would be connected to the “L1-C/A,
ANT” connector, and the GEO dish antenna would be connected to the “L1/L2 II, ANT” connector.
Supply power to the GUS receiver (“22-30 VDC” connector)
The connections on the rear panel are shown in Figure 18 below:
Figure 18
Rear Panel of GUS Receiver
CONNECTING THE EXTERNAL FREQUENCY REFERENCE
The GUS receiver requires an external, user-supplied frequency reference; this would typically take the form of a highaccuracy oscillator. Please refer to Appendix C
GUS receiver - Technical Specifications, for the recommended
92
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix A
specifications of this device. See Appendix E
subsystem components.
Associated Suppliers, for a list of associated suppliers of GUS
The frequency reference is connected to the 10 MHz BNC female connector on the rear panel of the GUS receiver.
Refer to Figure 19 below.
Figure 19
10 MHz In (External Frequency Reference) - GUS
th
The 11 (bottom) LED on the front panel indicates the status of the connection between the GUS receiver and the
external clock reference. A clear LED indicates that no external reference is present, red indicates the external clock is
not locked (undergoing the locking process, or the signal is not within the capture range), and green indicates that the
clock is locked and stabilized. Refer to Figure 20 below.
Figure 20
Lights on Front Panel of GUS Receiver
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
93
Appendix A
CONNECTING DATA COMMUNICATIONS EQUIPMENT
There are four serial ports on the back panel of the GUS receiver; all are configured for RS-232C protocol. These ports
make it possible for external data communications equipment - such as a personal computer - to communicate with the
GUS receiver. Each of these ports has a DE9P connector.
•
The L1-C/A, L1/L2 I and L1/L2 II ports (see Figure 21) allow two-way communications. Each one is configured
as COM1 if you attempt to communicate directly with it. The L1/L2 I and L1/L2 II ports are each connected to an
L1/L2 GPSCard within the GUS receiver unit; the L1-C/A port is connected to the L1-only GPSCard which controls
the MEDLL subsystem. Each of these ports can be addressed independently of the other.
• The TIME port (see Figure 22) allows only output from the receiver; note that it is not possible to transmit data to
this port. It is configured as COM2 if you attempt to communicate directly with it. Data is available on this port at a
rate of 0.1 Hz, and is synchronized to the clock signal available at the 1 PPS connector. The data transfer rate is
fixed at 9600 bps, with one stop bit.
Figure 21
Pinout for L1-C/A, L1/L2 I, & L1/L2 II Ports - GUS
DCD RXD TXD DTR GND
DSR RTS CTS NC
Figure 22
Pinout for TIME Port - GUS
NC
NC
TXD DTR GND
NC RTS NC NC
USING THE 1PPS OUTPUT
The clock signal available on the 1 PPS port (see Figure 23) is synchronized to the data available on the Time port. The
specifications and electrical characteristics of this signal are described in Appendix C
GUS receiver - Technical
Specifications. The pulse train is accessed from the BNC female connector on the back of the GUS receiver.
Figure 23
94
1 PPS Output - GUS
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix A
CONNECTING THE ANTENNAS
Selecting and installing appropriate antenna systems is crucial to the proper operation of the GUS receiver. See
Appendix E
Associated Suppliers, for a list of associated suppliers of GUS subsystem components.
For the minimum configuration, an L1-only or L1/L2 antenna would be connected to the “L1-C/A, ANT” connector,
and the L1 / C-band GEO dish antenna would be connected to the “L1/L2 II, ANT” connector. The “L1/L2 I, ANT”
connector would accommodate an optional antenna.
Keep these points in mind when installing the antenna systems:
•
Ideally, select an antenna location with a clear view of the sky to the horizon so that each satellite above the horizon
can be tracked without obstruction.
•
Ensure that the antenna is mounted on a secure, stable structure capable of withstanding relevant environmental
loading forces (e.g. due to wind or ice).
Use high-quality coaxial cables to minimize signal attenuation. When using active antennas, remember that you also
need to connect each low-noise amplifier (LNA) to a suitable power source. The gain of the LNA must be sufficient to
compensate for the cabling loss.
The antenna ports on the GUS receiver have TNC female connectors, as shown in Figure 24.
Figure 24
Antenna Input - GUS
CONNECTING THE EXTERNAL POWER INPUT
The GUS receiver requires one source of external regulated power. The input can be in the 22-30 V DC range. The
receiver draws up to 5 A at start-up, but the steady-state requirement is approximately 3.5 A.
The power-input connector on the GUS receiver is a 3-position chassis jack. It mates to a 3-position inline plug (see
Appendix E
Associated Suppliers, for a list of associated suppliers of GUS subsystem components). Pin 1 (+2230V DC), and Pin 2 (GND) connect to the GUS receiver’s internal power supply, which performs filtering and voltage
regulation functions. Pin 3 serves as a protection ground connection. Refer to Figure 25.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
95
Appendix A
Figure 25
External Power Connections - GUS
Notch
Pin 3
Pin 1
Pin 2
USING THE 20.473 MHz OUTPUT SIGNAL
The 20.473 MHz output provides a high-stability reference clock signal to another device in system. It permits the
synchronization of another unit to the GUS receiver. This signal can be accessed by means of the BNC female connector
on the GUS receiver’s rear panel (see Figure 26).
Figure 26
20.473 MHz Output - GUS
ACCESSING THE STROBE SIGNALS
The GUS receiver’s output strobe lines are available on the rear panel from the DE9S connector (see Figure 27). The
specifications and electrical characteristics of these signals are described in Appendix C GUS receiver - Technical
Specifications. These signals are provided for diagnostic purposes.
The L1/L2 I and L1/L2 II ports are each connected to an L1/L2 GPS receiver within the GUS receiver unit; the L1-C/A
port is connected to the L1 GPS receiver which controls the MEDLL subsystem.
Figure 27
96
Strobe 9-pin D-Connector Pinout - GUS
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix A
MSR L1/L2 II
MSR L1/L2 I
MSR L1-C/A
1 PPS L1/L2 II
1 PPS L1-C/A
1 PPS L1/L2 I
GND
GND
GND
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
97
Appendix B
B
WAAS RECEIVER - TECHNICAL SPECIFICATIONS
PHYSICAL
6L]H
[ [ PP
:HLJKW
NJ
ZLWKRXW WKH ´ PRXQWLQJ EUDFNHWV
ILLUSTRATIONS
WAAS Receiver Subsystem - Front Panel
WAAS Receiver Subsystem - Back Panel
98
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix B
ENVIRONMENTAL
2SHUDWLQJ 7HPSHUDWXUH
ƒ & WR ƒ & ZLWK P
6WRUDJH 7HPSHUDWXUH
ƒ & WR ƒ &
+XPLGLW\
$OWLWXGH
PHWUHV
PLQXWH DLU IORZ
>0D\ RSHUDWH DERYH P LQ D FRQWUROOHG HQYLURQPHQW KRZHYHU LV QRW FHUWLILHG DV VXFK@
POWER INPUT
&RQQHFWRU
SRVLWLRQ FKDVVLV MDFN
9ROWDJH
9 '&
&XUUHQW
PD[LPXP $ FRQWLQXRXV SHDN $
WAAS RECEIVER SUBSYSTEM PERFORMANCE (Subject To GPS System Characteristics)
)UHTXHQF\
/ 0+] /
&RGH WUDFNHG
*36 /&$ &RGH *36 / 3 &RGHOHVV :$$6 *(2 /&$ &RGH *36 691
*(2 691
6DWHOOLWH 7UDFNLQJ
0('//
0+]
351 DQG
351 /&$ /&$ :$$6
RU
/&$ /&$ :$$6
&KDQQHOV
// ,
/&$
1DUURZ
/
&RGHOHVV
// ,,
/&$
:LGH /&$
1DUURZ
/
&RGHOHVV
RU
/&$ :$$6
:LGH /&$ :$$6
3RVLWLRQ $FFXUDF\ 6WDQGDORQH
PHWUHV &(3
7LPH $FFXUDF\
QDQRVHFRQGV
UHODWLYH
6$ RQ *'23 6$ RII
QDQRVHFRQGV
3VHXGRUDQJH
0('//
0HDVXUHPHQW
/
&$
/
&$ :LGH
$FFXUDF\
6LQJOH &KDQQHO
3KDVH $FFXUDF\
&$
1DUURZ
FP 506 &1
FP 506 &1
P 506 &1
R
:LGH
6$ RQ
R
R
! G%+] %:
! G%+] %:
! G%+] %:
! G%+] %:
/
FP 506 &1
/
PP 506 &1R ! G%+] /RRS %:
+]
+]
R
/
PP 506 &1R ! G%+] /RRS %:
0('//
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
5DZ 'DWD
//,
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
$YDLODELOLW\ 5DWH
//,,
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
7LPH
PHVVDJH SHU VHFRQGV
$OPDQDF GDWD
PLQXWHV DIWHU UHVHW
7LPH WR )LUVW )L[
VHFRQGV
P6HF
ZLWK VWDELOL]HG LQWHUQDO DQG H[WHUQDO RVFLOODWRUV
PLQXWHV PD[LPXP IURP VWDUW RI FROG UHFHLYHU 1R LQLWLDO WLPH DOPDQDF RU SRVLWLRQ UHTXLUHG
5HDFTXLVLWLRQ
+HLJKW 0HDVXUHPHQWV
/
0('//
VHFRQGV &1R
G%+] VHFRQGV &1R
/
VHFRQGV &1R
G%+] VHFRQGV &1R
*(2
VHFRQGV &1R
G%+]
8S WR PHWUHV
IHHW
G%+]
G%+]
PD[LPXP
>,Q DFFRUGDQFH ZLWK H[SRUW OLFHQVLQJ WKH FDUG LV UHVWULFWHG WR OHVV WKDQ IHHW@
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
99
Appendix B
INPUT/OUTPUT DATA INTERFACE
6HULDO
%LW UDWHV
'HIDXOW
ESV XVHU VHOHFWDEOH
ESV
&RQQHFWRU
'(3
(OHFWULFDO IRUPDW
56&
/±&$ // , // ,, 7,0(
OUTPUT STROBES
336 2XWSXW
$ RQHSXOVHSHUVHFRQG 7LPH 6\QF RXWSXW
0('// PV IRU // , DQG // ,,
0HDVXUH 2XW
7KLV LV D QRUPDOO\ KLJK DFWLYH ORZ SXOVH
—V IRU
ZKHUH WKH IDOOLQJ HGJH LV WKH UHIHUHQFH
RU SXOVHVSHUVHFRQG RXWSXW QRUPDOO\ KLJK DFWLYH ORZ ZKHUH WKH SXOVH ZLGWK LV —V IRU
0('// DQG PV IRU // , DQG // ,,
VWUREH
&RQQHFWRU
7KH IDOOLQJ HGJH LV WKH UHFHLYHU¶V PHDVXUHPHQW
5DWH LV PRGHOGHSHQGHQW
'(6
The electrical specifications of the strobe signals are as follows:
2XWSXW
9ROWDJH
+LJK
! 9'&
/RZ
9'&
0LQLPXP ORDG LPSHGDQFH
.
Ω
ANTENNA INPUT
&RQQHFWRU
71& IHPDOH
)UHTXHQF\
/ 0+] /
3RZHU
3RZHU WR WKH /1$ LV VXSSOLHG E\ WKH XVHU
0+]
10 MHz INPUT
&RQQHFWRU
%1& IHPDOH
&DSWXUH UDQJH
± +]
0+]
/RFNLQJ WLPH
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWH
6HQVLWLYLW\
G%P WR G%P LQWR Ω
RECOMMENDED EXTERNAL FREQUENCY REFERENCE SPECIFICATIONS
)UHTXHQF\
0+]
6KRUW 7HUP 6WDELOLW\ $OOHQ 9DULDQFH
[
$FFXUDF\ 2YHU 2SHUDWLQJ 7HPS 5DQJH
“ [ 5) 2XWSXW 3RZHU
G%P LQWR 2XWSXW :DYHIRUP
6LQH ZDYH
VHFRQG
+DUPRQLFV
G%F
6SXULRXV
G%F
3KDVH 1RLVH
# +]
G%F+]
# +]
G%F+]
# N+]
G%F+]
5) 2XWSXW &RQQHFWRU
100
Ω
%1& )HPDOH
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix B
20.473 MHz OUTPUT
&RQQHFWRU
%1& IHPDOH
)UHTXHQF\
0+]
0+]
2XWSXW OHYHO
ORFNHG
± +]
XQORFNHG
PLQLPXP P9 SS Ω
1PPS OUTPUT
&RQQHFWRU
%1& IHPDOH
6LJQDO GHVFULSWLRQ
$ RQHSXOVHSHUVHFRQG 7LPH 6\QF RXWSXW
7KLV LV D QRUPDOO\ KLJK DFWLYH ORZ SXOVH
—V
ZKHUH WKH IDOOLQJ HGJH LV WKH UHIHUHQFH
2XWSXW OHYHO
9ROWDJH
+LJK
! 9'&
/RZ
9'&
0LQLPXP ORDG
.
Ω
LPSHGDQFH
DEFAULT CHANNEL ASSIGNMENTS – WAAS RECEIVER SUBSYSTEM
Port
/&$
Port
// ,
Channel
SV Type
Code
DLL Type
Frame
Nav Type
Symbol Rate
FEC
Sky Search
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
<HV
<HV
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
,GOH
,GOH
Channel
SV Type
Code
DLL Type
Frame
Nav Type
Symbol Rate
FEC
Sky Search
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
/ &$ / 3
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
101
Appendix B
Port
// ,,
Channel
SV Type
Code
DLL Type
Frame
Nav Type
Symbol Rate
FEC
Sky Search
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$ / 3
/ &$ / 3
/ &$ / 3
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
,GOH
,GOH
,GOH
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
<HV
<HV
<HV
<HV
,GOH
,GOH
,GOH
,GOH
25
:$$6
:$$6
:$$6
:$$6
/ &$
/ &$
/ &$
/ &$
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
On the L1/L2 II port, it is possible to use either Channels 0-16 or Channels 17-20, but not both.
102
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix C
C
GUS RECEIVER - TECHNICAL SPECIFICATIONS
PHYSICAL
6L]H
[ [ PP
:HLJKW
NJ
ZLWKRXW WKH ´ PRXQWLQJ EUDFNHWV
ILLUSTRATIONS
GUS Receiver Subsystem - Front Panel
GUS Receiver Subsystem - Back Panel
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
103
Appendix C
ENVIRONMENTAL
2SHUDWLQJ 7HPSHUDWXUH
ƒ & WR ƒ & ZLWK P
6WRUDJH 7HPSHUDWXUH
ƒ & WR ƒ &
+XPLGLW\
$OWLWXGH
PHWUHV
PLQXWH DLU IORZ
>0D\ RSHUDWH DERYH P LQ D FRQWUROOHG HQYLURQPHQW KRZHYHU LV QRW FHUWLILHG DV VXFK@
POWER INPUT
&RQQHFWRU
SRVLWLRQ FKDVVLV MDFN
9ROWDJH
9 '&
&XUUHQW
PD[LPXP $ FRQWLQXRXV SHDN $
GUS RECEIVER SUBSYSTEM PERFORMANCE (Subject To GPS System Characteristics)
)UHTXHQF\
/ 0+] /
&RGH WUDFNHG
*36 /&$ &RGH *36 / 3 &RGHOHVV :$$6 *(2 /&$ &RGH *36 691
*(2 691
6DWHOOLWH 7UDFNLQJ
0('//
0+]
351 DQG
351 /&$ /&$ :$$6
RU
/&$ /&$ :$$6
&KDQQHOV
// ,
/&$
:LGH /&$
1DUURZ
/
&RGHOHVV
RU
/&$ :$$6
// ,,
/&$
:LGH /&$ :$$6
:LGH /&$
1DUURZ
/
:LGH
&RGHOHVV
RU
/&$ :$$6
:LGH /&$ :$$6
3RVLWLRQ $FFXUDF\ 6WDQGDORQH
PHWUHV &(3
7LPH $FFXUDF\
QDQRVHFRQGV
UHODWLYH
6$ RII
QDQRVHFRQGV
3VHXGRUDQJH
0('//
0HDVXUHPHQW
/
&$
$FFXUDF\
/
&$ :LGH
&$
1DUURZ
FP 506 &1
FP 506 &1
P 506 &1
R
:LGH
6$ RQ *'23 6$ RQ
! G%+] %:
R
! G%+] %:
R
! G%+] %:
! G%+] %:
/
FP 506 &1
6LQJOH &KDQQHO
/
PP 506 &1R ! G%+] /RRS %:
+]
3KDVH $FFXUDF\
/
PP 506 &1R ! G%+] /RRS %:
+]
0('//
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
R
5DZ 'DWD
//,
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
$YDLODELOLW\ 5DWH
//,,
SKDVH DQG FRGH PHDVXUHPHQWV SHU VHFRQG
7LPH
PHVVDJH SHU VHFRQGV
$OPDQDF GDWD
PLQXWHV DIWHU UHVHW
7LPH WR )LUVW )L[
VHFRQGV
P6HF
ZLWK VWDELOL]HG LQWHUQDO DQG H[WHUQDO RVFLOODWRUV
PLQXWHV PD[LPXP IURP VWDUW RI FROG UHFHLYHU 1R LQLWLDO WLPH DOPDQDF RU SRVLWLRQ UHTXLUHG
5HDFTXLVLWLRQ
+HLJKW 0HDVXUHPHQWV
/
0('//
VHFRQGV &1R
G%+] VHFRQGV &1R
/
VHFRQGV &1R
G%+] VHFRQGV &1R
*(2
VHFRQGV &1R
G%+]
8S WR PHWUHV
IHHW
G%+]
G%+]
PD[LPXP
>,Q DFFRUGDQFH ZLWK H[SRUW OLFHQVLQJ WKH FDUG LV UHVWULFWHG WR OHVV WKDQ IHHW@
104
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix C
INPUT/OUTPUT DATA INTERFACE
6HULDO
%LW UDWHV
'HIDXOW
ESV XVHU VHOHFWDEOH
ESV
&RQQHFWRU
'(3
(OHFWULFDO IRUPDW
56&
/±&$ // , // ,, 7,0(
OUTPUT STROBES
336 2XWSXW
$ RQHSXOVHSHUVHFRQG 7LPH 6\QF RXWSXW
0('// PV IRU // , DQG // ,,
0HDVXUH 2XW
7KLV LV D QRUPDOO\ KLJK DFWLYH ORZ SXOVH
—V IRU
ZKHUH WKH IDOOLQJ HGJH LV WKH UHIHUHQFH
RU SXOVHVSHUVHFRQG RXWSXW QRUPDOO\ KLJK DFWLYH ORZ ZKHUH WKH SXOVH ZLGWK LV —V IRU
0('// DQG PV IRU // , DQG // ,,
VWUREH
&RQQHFWRU
7KH IDOOLQJ HGJH LV WKH UHFHLYHU¶V PHDVXUHPHQW
5DWH LV PRGHOGHSHQGHQW
'(6
The electrical specifications of the strobe signals are as follows:
2XWSXW
9ROWDJH
+LJK
! 9'&
/RZ
9'&
0LQLPXP ORDG LPSHGDQFH
.
Ω
ANTENNA INPUT
&RQQHFWRUV
71& IHPDOH
)UHTXHQF\
/ 0+] /
3RZHU
3RZHU WR WKH /1$ LV VXSSOLHG E\ WKH XVHU
0+]
10 MHz INPUT
&RQQHFWRU
%1& IHPDOH
&DSWXUH UDQJH
± +]
0+]
/RFNLQJ WLPH
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWHV
7HPS ƒ &
PLQXWHV
6HQVLWLYLW\
G%P WR G%P LQWR Ω
RECOMMENDED EXTERNAL FREQUENCY REFERENCE SPECIFICATIONS
)UHTXHQF\
0+]
6KRUW 7HUP 6WDELOLW\ $OOHQ 9DULDQFH
[
$FFXUDF\ 2YHU 2SHUDWLQJ 7HPS 5DQJH
“ [ 5) 2XWSXW 3RZHU
G%P LQWR 2XWSXW :DYHIRUP
6LQH ZDYH
VHFRQG
+DUPRQLFV
G%F
6SXULRXV
G%F
3KDVH 1RLVH
# +]
G%F+]
# +]
G%F+]
# N+]
G%F+]
5) 2XWSXW &RQQHFWRU
Ω
%1& )HPDOH
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
105
Appendix C
20.473 MHz OUTPUT
&RQQHFWRU
%1& IHPDOH
)UHTXHQF\
0+]
0+]
2XWSXW OHYHO
ORFNHG
± +]
XQORFNHG
PLQLPXP P9 SS Ω
1PPS OUTPUT
&RQQHFWRU
%1& IHPDOH
6LJQDO GHVFULSWLRQ
$ RQHSXOVHSHUVHFRQG 7LPH 6\QF RXWSXW
7KLV LV D QRUPDOO\ KLJK DFWLYH ORZ SXOVH
—V
ZKHUH WKH IDOOLQJ HGJH LV WKH UHIHUHQFH
2XWSXW OHYHO
9ROWDJH
0LQLPXP ORDG
+LJK
! 9'&
/RZ
9'&
Ω
LPSHGDQFH
106
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix C
DEFAULT CHANNEL ASSIGNMENTS – GUS RECEIVER SUBSYSTEM
Port
/&$
Port
// ,
// ,,
Channel
SV Type
Code
DLL Type
Frame
Nav Type
Symbol Rate
FEC
Sky Search
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
0('//
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
:$$6
:$$6
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
<HV
<HV
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
,GOH
,GOH
Channel
SV Type
Code
DLL Type
Frame
Nav Type
Symbol Rate
FEC
Sky Search
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$
/ &$ / 3
/ &$ / 3
/ &$ / 3
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
1DUURZ &RUU
1DUURZ &RUU
1DUURZ &RUU
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
*36
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
1R
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
$XWRPDWLF
,GOH
,GOH
,GOH
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
:$$6
<HV
<HV
<HV
<HV
,GOH
,GOH
,GOH
,GOH
25
:$$6
:$$6
:$$6
:$$6
/ &$
/ &$
/ &$
/ &$
:LGH &RUU
:LGH &RUU
:LGH &RUU
:LGH &RUU
On the L1/L2 I and L1/L2 II ports, it is possible to use either Channels 0-16 or Channels 17-20, but not both.
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
107
Appendix D
D
INFORMATION MESSAGES
While operating the WAAS / GUS receiver, there may be additional messages output by the receiver that you may
observe. This information is in addition to typical log data as described in this manual, and falls into two categories:
Type 1:
Messages that occur as a result of an operational error within the receiver, over which you have no control.
These appear in typical NovAtel log format.
Type 2:
Messages that occur in response to your input. These are not in typical log format.
The following sections describe these messages.
TYPE 1 INFORMATION MESSAGES
As mentioned, Type 1 information messages indicate that there is a problem with the operation of the on-board
firmware. To date, the only Type 1 messages in use are the !ERRA and the !MSGA logs.
If you receive the !ERRA message, it may be useful to reload the software using the correct authorization code; see
Table 12 for a list of !ERRA message types. Each of these messages causes a “severity fatal” condition to be set,
causing the card to be reset. To reload the software, power down the receiver and follow the procedure outlined in
Chapter 4
FIRMWARE Updates. Under certain of the error conditions, the card will reset itself and resolve the
difficulty.
If, after verifying that the software has been correctly loaded, and the receiver cannot reset itself to function normally,
contact NovAtel Customer Service.
The !MSGA log would be output if the software is a time-limited version. The log will provide the expiry date of the
software. See Table 13 for a list of !MSGA message types.
!ERRA
!ERRA
Field #
type
severity
error string
Field type
opt desc
*xx [CR][LF]
Data Description
(55$
/RJ KHDGHU
W\SH
/RJ W\SH QXPEHUHG VHYHULW\
2QO\ RQH LV GHILQHG WR GDWH VHYHULW\BIDWDO
Example
(55$
VHH 7DEOH QXPEHU
FDXVHV WKH UHFHLYHU
WR EH UHVHW
VHH 7DEOH HUURU VWULQJ
(UURU PHVVDJH
RSW GHVF
2SWLRQDO DGGLWLRQDO GHVFULSWLRQ
[[
>&5@>/)@
&KHFNVXP
$XWKRUL]DWLRQ FRGH LQYDOLG
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
!ERRA,1,0,Authorization Code Invalid,*22[CR][LF]
108
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix D
Table 12
Type 1 !ERRA Messages
Log type
Error String
8QNQRZQ (55$ 7\SH
$XWKRUL]DWLRQ &RGH ,QYDOLG
1R $XWKRUL]DWLRQ &RGH )RXQG
,QYDOLG ([SLU\ ,Q $XWKRUL]DWLRQ &RGH
8QDEOH 7R 5HDG (61
&DUG +DV 6WRSSHG 8QH[SHFWHGO\
,QFRUUHFW 1XPEHU RI &DUGV )RXQG
6RIWZDUH 9HUVLRQ 0LVPDWFK
!MSGA
!MSGA
Field #
type
message
opt desc
Field type
*xx [CR][LF]
Data Description
06*$
/RJ KHDGHU
W\SH
/RJ W\SH QXPEHUHG IURP PHVVDJH
0HVVDJH
RSW GHVFULSWLRQ
2SWLRQDO GHVFULSWLRQ
[[
>&5@>/)@
Example
06*$
VHH 7DEOH VHH 7DEOH $XWKRUL]DWLRQ &RGH LV 7LPH /LPLWHG
0RGHO 5 H[SLUHV RQ &KHFNVXP
&
6HQWHQFH WHUPLQDWRU
>&5@>/)@
Example:
!MSGA,1001,Authorization Code Is Time Limited, Model 3951R Expires on 960901
*6C[CR][LF]
Table 13
Log type
Type 1 !MSGA Messages
Message String
8QNQRZQ 06*$ 7\SH
$XWKRUL]DWLRQ &RGH ,V 7LPH /LPLWHG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
109
Appendix D
TYPE 2 INFORMATION MESSAGES
The following is a list of information messages that are generated by the Command Interpreter in the receiver in
response to your input. This list is not necessarily complete, but it is the most accurate one available at the time of
publication.
Table 14
Type 2 Information Messages
Error Message
Meaning
$OO 2.
$UJXPHQW 0XVW %H +H[DGHFLPDO
1R HUURUV WR UHSRUW
$)
3DLUV
$Q DUJXPHQW ZKLFK LV QRW KH[DGHFLPDO ZDV HQWHUHG
$UJXPHQW 0XVW %H 1XPHULF
$Q DUJXPHQW ZKLFK LV QRW QXPHULF ZDV HQWHUHG
$XWKRUL]DWLRQ &KDQJHV 1RW $YDLODEOH 2Q 7KLV &DUG
$Q DWWHPSW KDV EHHQ PDGH WR FKDQJH WKH $XWKRUL]DWLRQ &RGH RQ D FDUG ZKLFK LV
$XWKRUL]DWLRQ &RGH (QWHUHG ,QFRUUHFWO\
7KH FKHFNVXP LV LQFRUUHFW IRU WKH $XWKRUL]DWLRQ &RGH
QRW DQ 2(0 FDUG
7KH $XWKRUL]DWLRQ &RGH ZDV
PRVW OLNHO\ HQWHUHG LQFRUUHFWO\
$XWKRUL]DWLRQ &RGH ,V ,QYDOLG
7KH H[LVWLQJ $XWKRUL]DWLRQ &RGH LV LQYDOLG 3OHDVH FRQWDFW 1RY$WHO *36 FXVWRPHU
&DQ W &KDQJH $XWKRUL]DWLRQ &RGH
7KH H[LVWLQJ $XWKRUL]DWLRQ &RGH FDQQRW EH FKDQJHG 3OHDVH FRQWDFW 1RY$WHO *36
&ORFN 0RGHO QRW VHW 70$ UHMHFWHG
7KH FORFN PRGHO VWDWXV LQ D 70$ FRPPDQG LV LQYDOLG
VHUYLFH IRU D QHZ $XWKRUL]DWLRQ &RGH
FXVWRPHU VHUYLFH IRU DVVLVWDQFH
7KH 70$ FRPPDQG LV
UHMHFWHG ZKHQ WKH FORFN PRGHO KDV QRW EHHQ VHW
&/2&.B$'-867 &RPPDQG 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KH &/2&.$'-867 FRPPDQG LV QRW DYDLODEOH RQ WKLV PRGHO
&RPSOHWH $OPDQDF QRW UHFHLYHG \HW WU\ DJDLQ ODWHU
7KH DOPDQDF FDQQRW EH VDYHG EHFDXVH D FRPSOHWH DOPDQDF KDV QRW \HW EHHQ
UHFHLYHG
$ 6$9($/0$ FRPPDQG VKRXOG EH SHUIRUPHG DW D ODWHU WLPH ZKHQ D
FRPSOHWH DOPDQDF KDV EHHQ UHFHLYHG
'DWD 7RR /DUJH 7R 6DYH 7R 190
7KH FRQILJXUDWLRQ GDWD EHLQJ VDYHG LV WRR ODUJH
'LIIHUHQWLDO &RUUHFWLRQV 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KLV PRGHO GRHV QRW KDYH WKH DELOLW\ WR VHQG RU UHFHLYH GLIIHUHQWLDO FRUUHFWLRQV
(;7(51$/&/2&. &RPPDQG 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KH (;7(51$/&/2&. FRPPDQG LV QRW DYDLODEOH RQ WKLV PRGHO
)5(48(1&<B287 &RPPDQG 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KH )5(48(1&<B287 FRPPDQG LV QRW DYDLODEOH RQ WKLV PRGHO
)520 SRUW QDPH WRR /21*
7KH )520 SRUW QDPH LQ D 6(71$9 FRPPDQG LV WRR ORQJ
,QYDOLG $/0$ &KHFN6XP
7KH FKHFNVXP RI D $/0$ FRPPDQG LV LQYDOLG
,QYDOLG '&6$ &KHFN6XP
7KH FKHFNVXP RI D '&6$ FRPPDQG LV LQYDOLG
,QYDOLG ,21$ &KHFN6XP
7KH FKHFNVXP RI D ,21$ FRPPDQG LV LQYDOLG
,QYDOLG 3;<$ &KHFN6XP
7KH FKHFNVXP RI D 3;<$ FRPPDQG LV LQYDOLG
,QYDOLG 5(3$ &KHFN6XP
7KH FKHFNVXP RI D 5(3$ FRPPDQG LV LQYDOLG
,QYDOLG 57&$ &KHFN6XP&5&
7KH &5& RI D 57&$ FRPPDQG LV LQYDOLG
,QYDOLG 57&0 &KHFN6XP
7KH FKHFNVXP RI D 57&$ FRPPDQG LV LQYDOLG
,QYDOLG 70$ &KHFN6XP
7KH FKHFNVXP RI D 70$ FRPPDQG LV LQYDOLG
,QYDOLG 87&$ &KHFN6XP
7KH FKHFNVXP RI D 87&$ FRPPDQG LV LQYDOLG
,QYDOLG 9;<$ &KHFN6XP
7KH FKHFNVXP RI D 9;<$ FRPPDQG LV LQYDOLG
,QYDOLG $'-867&/2&. 2SWLRQ
$Q LQYDOLG &/2&.$'-867 VZLWFK KDV EHHQ HQWHUHG
,QYDOLG %DXG 5DWH
7KH ELW UDWH LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG &DUULHU 6PRRWKLQJ &RQVWDQW
7KH FDUULHU VPRRWKLQJ FRQVWDQW RI WKH &60227+ FRPPDQG LV LQYDOLG
,QYDOLG &KDQQHO 1XPEHU
$Q LQYDOLG FKDQQHO QXPEHU KDV EHHQ HQWHUHG LQ D FRPPDQG VXFK DV $66,*1
,QYDOLG &RDUVH 0RGXOXV )LHOG
7KH FRDUVHPRG DUJXPHQW RI WKH )5(48(1&<B287 FRPPDQG LV LQYDOLG
,QYDOLG &RPPDQG &5&
7KH UHFHLYHG FRPPDQG KDV DQ LQYDOLG FKHFNVXP
,QYDOLG &RPPDQG 1DPH
$Q LQYDOLG FRPPDQG QDPH KDV EHHQ UHFHLYHG
,QYDOLG &RPPDQG 2SWLRQ
2QH RU PRUH DUJXPHQWV RI D FRPPDQG DUH LQYDOLG
110
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix D
,QYDOLG &RRUGLQDWHV
,QYDOLG FRRUGLQDWHV UHFHLYHG LQ D FRPPDQG VXFK DV 39&$ 3;<$ HWF
,QYDOLG 'DWDW\SH
7KH GDWD W\SH LQ DQ $&&(37 FRPPDQG LV LQYDOLG
,QYDOLG 'DWXP 2IIVHW
7KH GDWXP RIIVHW LQ D 86(5'$780 FRPPDQG LV LQYDOLG
,QYDOLG '$780 2SWLRQ
$Q RSWLRQ LQ D '$780 FRPPDQG LV LQYDOLG
,QYDOLG 'DWXP 5RWDWLRQ
7KH GDWXP URWDWLRQ DQJOH LQ D 86(5'$780 FRPPDQG LV LQYDOLG
,QYDOLG 'HJUHH )LHOG
$Q LQYDOLG GHJUHH ILHOG KDV EHHQ HQWHUHG LQ D FRPPDQG VXFK DV ),; 326,7,21 RU
,QYDOLG '*36 WLPHRXW YDOXH
$Q LQYDOLG WLPHRXW YDOXH ZDV HQWHUHG LQ WKH '*367,0(287 FRPPDQG
,QYDOLG 'RSSOHU
$Q LQYDOLG 'RSSOHU KDV EHHQ HQWHUHG LQ DQ $66,*1 FRPPDQG
,QYDOLG 'RSSOHU :LQGRZ
$Q LQYDOLG 'RSSOHU ZLQGRZ KDV EHHQ HQWHUHG LQ DQ $66,*1 FRPPDQG
6(71$9
,QYDOLG '75 FKRLFH
$Q LQYDOLG RSWLRQ ZDV HQWHUHG LQ WKH &20QB'75 FRPPDQG
,QYDOLG '75 7RJJOH 2SWLRQ
7KH DFWLYH RSWLRQ LQ WKH &20QB '75 FRPPDQG LV LQYDOLG
,QYDOLG '75 7RJJOH 6HWXS 7LPH
,QYDOLG '75 7RJJOH 7HUPLQDWH 7LPH
,QYDOLG '<1$0,&6 2SWLRQ
7KH OHDG WLPH RSWLRQ LQ WKH &20QB '75 FRPPDQG LV LQYDOLG
7KH WDLO WLPH RSWLRQ LQ WKH &20QB '75 FRPPDQG LV LQYDOLG
7KH RSWLRQ LQ D '<1$0,&6 FRPPDQG LV LQYDOLG
,QYDOLG (FKR 2SWLRQ
7KH HFKR RSWLRQ LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG (OHYDWLRQ &XWRII $QJOH
7KH HOHYDWLRQ FXWRII DQJOH LQ DQ (&872)) FRPPDQG LV LQYDOLG
,QYDOLG (5506* )ODJ
7KH RSWLRQ
,QYDOLG (5506* 3RUW
7KH SRUW VSHFLILHG LQ D 0(66$*( FRPPDQG LV LQYDOLG
RQRII
VSHFLILHG LQ D 0(66$*( FRPPDQG LV LQYDOLG
,QYDOLG (;7(51$/&/2&. 2SWLRQ
$Q LQYDOLG H[WHUQDO FORFN ZDV HQWHUHG LQ WKH (;7(51$/&/2&. FRPPDQG
,QYDOLG (;7(51$/&/2&. 86(5 $UJXPHQW V
$Q LQYDOLG DUJXPHQW ZDV HQWHUHG LQ WKH (;7(51$/&/2&. FRPPDQG
,QYDOLG )LQH 0RGXOXV )LHOG
7KH ILQHPRG DUJXPHQW RI WKH )5(48(1&<B287 FRPPDQG LV LQYDOLG
,QYDOLG ),; 2SWLRQ
$Q RSWLRQ RWKHU WKDQ KHLJKW SRVLWLRQ RU YHORFLW\ ZDV VSHFLILHG LQ D ),; FRPPDQG
,QYDOLG )ODWWHQLQJ
7KH IODWWHQLQJ LQ D 86(5'$780 FRPPDQG LV LQYDOLG
,QYDOLG +DQGVKDNH 2SWLRQ
7KH KDQGVKDNH RSWLRQ LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG +($/7+ 2YHUULGH
$Q LQYDOLG KHDOWK KDV EHHQ HQWHUHG LQ D 6(7+($/7+ RU ),; FRPPDQG
,QYDOLG +HLJKW
7KH KHLJKW LQ D ),; +(,*+7 FRPPDQG LV LQYDOLG
,QYDOLG /RJJHU 'DWDW\SH
$Q LQYDOLG ORJ KDV EHHQ VSHFLILHG LQ D /2*81/2* FRPPDQG
,QYDOLG /RJJHU 2IIVHW
$Q LQYDOLG RIIVHW KDV EHHQ VSHFLILHG LQ D /2* FRPPDQG
,QYDOLG /RJJHU 3HULRG
$Q LQYDOLG SHULRG KDV EHHQ VSHFLILHG LQ D /2* FRPPDQG
,QYDOLG /RJJHU 3RUW 2SWLRQ
$Q LQYDOLG SRUW QXPEHU KDV EHHQ VSHFLILHG LQ D /2*81/2* FRPPDQG
,QYDOLG /RJJHU 7ULJJHU
$Q LQYDOLG WULJJHU KDV EHHQ VSHFLILHG LQ D /2* FRPPDQG
,QYDOLG 0DJQHWLF 9DULDWLRQ
7KH PDJQHWLF YDULDWLRQ LQ D 0$*9$5 FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI $/0$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D $/0$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI '&6$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D '&6$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI ,21$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D ,21$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 3;<$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D 3;<$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 5(3$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D 5(3$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 70$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D 70$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 87&$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D 87&$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 9;<$ $UJXPHQWV
7KH QXPEHU RI DUJXPHQWV LQ D 9;<$ FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI $UJXPHQWV
$ FRPPDQG KDV EHHQ UHFHLYHG ZKLFK KDV DQ LQYDOLG QXPEHU RI DUJXPHQWV
,QYDOLG 1XPEHU RI 'DWDELWV
7KH QXPEHU RI GDWD ELWV LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG 1XPEHU RI 6WRS%LWV
7KH QXPEHU RI VWRS ELWV LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG 3DULW\ 2SWLRQ
7KH SDULW\ LQ D &20Q FRPPDQG LV LQYDOLG
,QYDOLG 3RUW
7KH SRUW LQ D 6(1' FRPPDQG LV LQYDOLG
,QYDOLG 3RUW QXPEHU
7KH SRUW QXPEHU LQ DQ $&&(37 FRPPDQG LV LQYDOLG
,QYDOLG 336 0RGXOXV )LHOG
7KH SSVPRG DUJXPHQW RI WKH )5(48(1&<B287 FRPPDQG LV LQYDOLG
,QYDOLG 5,1(; 2SWLRQ
$Q RSWLRQ RI D 5,1(; FRPPDQG LV LQYDOLG
,QYDOLG 57&$ RSWLRQ
$Q LQYDOLG 57&$ UXOH KDV EHHQ HQWHUHG
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
111
Appendix D
,QYDOLG 57&$ VWDWLRQ 1DPH
?;;;;?
7KH 57&$ VWDWLRQ QDPH LQ D ),; 326,7,21 PHVVDJH LV LQYDOLG
7KH 57&0 VWDWLRQ QDPH LQ D ),; 326,7,21 PHVVDJH LV LQYDOLG
,QYDOLG 57&0 %LW 5XOH
,QYDOLG 57&0 VWDWLRQ 1DPH
$Q LQYDOLG 57&0 UXOH KDV EHHQ HQWHUHG
,QYDOLG 57&07 VWULQJ OHQJWK PD[LPXP 7KH 57&07 VWULQJ H[FHHGV FKDUDFWHUV
,QYDOLG 576 FKRLFH
$Q LQYDOLG RSWLRQ ZDV HQWHUHG LQ WKH &20QB576 FRPPDQG
,QYDOLG 576 7RJJOH 2SWLRQ
,QYDOLG 576 7RJJOH 6HWXS 7LPH
7KH DFWLYH RSWLRQ LQ WKH &20QB576 FRPPDQG LV LQYDOLG
,QYDOLG 576 7RJJOH 7HUPLQDWH 7LPH
7KH OHDG WLPH RSWLRQ LQ WKH &20QB576 FRPPDQG LV LQYDOLG
7KH WDLO WLPH RSWLRQ LQ WKH &20QB576 FRPPDQG LV LQYDOLG
,QYDOLG 6DWHOOLWH 1XPEHU
$Q LQYDOLG VDWHOOLWH QXPEHU KDV EHHQ HQWHUHG LQ DQ $66,*1 6(7+($/7+
,QYDOLG 6FDOLQJ
7KH VFDOH YDOXH LQ D 86(5'$780 FRPPDQG LV LQYDOLG
,QYDOLG 6HFRQGV ,QWR :HHN LQ 70$
7KH WLPH LQ D 70$ FRPPDQG LV LQYDOLG
/2&.287 RU 81/2&.287 FRPPDQG
,QYDOLG 6HPL0DMRU $[LV
,QYDOLG 6WDQGDUG 'HYLDWLRQ /LPLW
7KH VHPLPDMRU D[LV LQ D 86(5'$780 FRPPDQG LV LQYDOLG
P
$ VWDQGDUG GHYLDWLRQ LQ D 3266( FRPPDQG LV LQYDOLG
,QYDOLG 6\PERO 3HULRG 7KH V\PERO SHULRG LV LQYDOLG IRU DQ $66,*1 RQ D SVHXGROLWH FKDQQHO
,QYDOLG 7LPH /LPLW
7KH DYHUDJLQJ WLPH LQ D 326$9( FRPPDQG LV LQYDOLG
KRXUV
,QYDOLG 7RNHQ
7KLV HUURU VKRXOG QHYHU RFFXU
,I LW GRHV SOHDVH FRQWDFW 1RY$WHO *36 FXVWRPHU
VHUYLFH
,QYDOLG 7UDFN 2IIVHW
7KH WUDFN RIIVHW LQ WKH 6(71$9 FRPPDQG LV LQYDOLG
,QYDOLG 9HORFLW\
$Q LQYDOLG YHORFLW\ KDV EHHQ UHFHLYHG HLWKHU LQ D ),; 9(/2&,7< FRPPDQG RU LQ D
,QYDOLG :HHN 1XPEHU LQ 70$
7KH ZHHN LQ D 70$ FRPPDQG LV LQYDOLG
0(7 &RPPDQG 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KH 0(7 FRPPDQG LV QRW DYDLODEOH RQ WKLV PRGHO
0RGHO ,QYDOLG
7KH $XWKRUL]DWLRQ &RGH KDV DQ LQYDOLG 0RGHO 3OHDVH FRQWDFW 1RY$WHO *36
190 (UURU 8QDEOH 7R 6DYH
7KH 6$9( RSHUDWLRQ GLG QRW FRPSOHWH VXFFHVVIXOO\
FRPPDQG VXFK DV 39&$ 39&%
FXVWRPHU VHUYLFH IRU DVVLVWDQFH
5,1(; VWULQJ WRR /21*
,QGLFDWHV WKDW WKH HQWHUHG 5,1(; FRPPDQG LV WRR ORQJ
57 /RJV 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KLV PRGHO GRHV QRW KDYH WKH DELOLW\ WR VHQG RU UHFHLYH 57 GLIIHUHQWLDO
57&0 /RJV 1RW $YDLODEOH 2Q 7KLV 0RGHO
7KLV PRGHO GRHV QRW KDYH WKH DELOLW\ WR VHQG RU UHFHLYH 57&0 ORJV
6$9( &RPPDQG 1RW $YDLODEOH 2Q 7KLV 0RGHO
$ 6$9( RSHUDWLRQ ZDV DWWHPSWHG ZKLFK LV QRW DYDLODEOH RQ WKLV PRGHO
FRUUHFWLRQV
6DYH &RPSOHWH
7KH 6$9( RSHUDWLRQ FRPSOHWHG VXFFHVVIXOO\
6(7&/2&. GLVDEOHG 70$ UHMHFWHG
7KH 70$ FRPPDQG LV UHMHFWHG EHFDXVH WKH XVHU KDV QRW HQDEOHG FORFN
6WDQGDUG 'HYLDWLRQ QRW DOORZHG ZLWK VPDOO WLPH OLPLWV
,Q D 326$9( FRPPDQG D VWDQGDUG GHYLDWLRQ FDQQRW EH HQWHUHG ZLWK D VPDOO WLPH
72 3RUWQDPH WRR /21*
7KH 72 SRUW QDPH LQ D 6(71$9 FRPPDQG LV WRR ORQJ
8VHU 'HILQHG '$780 1RW 6HW
7KLV HUURU VKRXOG QRW RFFXU
V\QFKURQL]DWLRQ XVLQJ WKH 6(7&/2&. FRPPDQG
(QWHU D ODUJHU DYHUDJLQJ WLPH LI VWDQGDUG GHYLDWLRQV DUH GHVLUHG
%\ GHIDXOW WKH XVHU GHILQHG '$780 LV VHW WR :*6
,I \RX JHW WKLV HUURU PHVVDJH SOHDVH FRQWDFW 1RY$WHO *36 FXVWRPHU VHUYLFH
9DOLG 2SWLRQ EXW 0LVVLQJ 3URFHVV
7KLV PHVVDJH LQGLFDWHV DQ HUURU LQ WKH VRIWZDUH
$ FRPPDQG RSWLRQ LV YDOLG EXW
VRIWZDUH FDQQRW SURFHVV LW
112
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
Appendix E
E
ASSOCIATED SUPPLIERS
The following is a list of associated suppliers of WAAS / GUS subsystem components. NovAtel does not endorse any
of these suppliers and in no way assumes any responsibility for or liabilities associated with any of these suppliers. The
Customer assumes sole and full responsibility for selection of suppliers for WAAS / GUS receiver accessories.
Accessory
:$$6 $QWHQQD 6XEV\VWHP
Supplier (s)
31 1:
$WWQ 7RP .RVWHU
3KRQH H[W 0LFUR 3XOVH ,QF
)D[ &DOOH 6DQ 3DEOR
(PDLO WRPN#PLFURSXOVHFRP
&DPDULOOR &$ 86$
:$$6 5HFHLYHU $WRPLF &ORFN
31 )76 $56
+XJKHV :$$6 VWDQGDUG
$WWQ 'DYLG %ULJJV
3KRQH 'DWXP )UHTXHQF\
7LPH 6\VWHPV
)D[ (PDLO PDUNHWLQJ#IWVGDWXPFRP
7R]HU 5RDG
%HYHUO\ 0$ 86$
3RZHU FRQQHFWRU SRVLWLRQ LQOLQH SOXJ
7KH VDPH 02'( SURGXFW FDQ DOVR EH RUGHUHG
31 WR PDWH WR WKH RQH RQ WKH :$$6 *86
UHFHLYHU
IURP
02'( (OHFWURQLFV /WG
5R\DO 2DN $YHQXH
)DUQHOO (OHFWURQLFV ,QF
%XUQDE\ %&
7HFKQRORJ\ 'ULYH &DQDGD
9- -
,UYLQH &DOLIRUQLD
86$
3KRQH RU :$$6 6\VWHP 6XSSOLHU
)D[ 3KRQH (PDLO LQIR#PRGHHOHFFRP
)D[ :HE VLWH KWWSZZZPRGHHOHFFRP
:HE VLWH KWWSZZZIDUQHOOFRP
+XJKHV ,QIRUPDWLRQ 7HFKQRORJ\ 6\VWHPV
$WWQ (ODLQH %UHUHWRQ
/RF )8 %OGJ 7& 06 %
3KRQH +XJKHV 'ULYH
)D[ 32 %R[ (PDLO HEUHUHWRQ#FFJDWHKDFFRP
)XOOHUWRQ &$ WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
113
Index
INDEX
1 PPS port, 21, 93
1PPS, 87
HDOP, 64
health, 59
HTDOP, 64
20.473 MHz output, 22, 95
accumulated Doppler, 77
almanac, 59
antenna, 21, 94
antenna phase centre, 43, 72
ASCII format, 53
auth-code, 26
azimuth, 85
batch file, 29
binary format, 53
C/N0, 77
Carrier phase, 77
carrier smoothing, 41
Carrier to code ratio, 39
case sensitive, 32
channel, 77, 89
channel configuration, 41
channel state, 77, 89
checksum, 53
clock drift, 40, 63
clock model status, 63, 87
clock offset, 63, 64, 87
COM1, 20, 25, 40, 44, 93
COM2, 20, 25, 93
comma, 32
communications settings, 24
Doppler, 77
echo response, 25
elevation, 57, 85, 89
elevation cut-off, 42
External Frequency Reference, 19, 92
External power input, 22, 94
idle time, 54, 80
ionospheric, 59, 71, 88
jamming, 43, 80
L1/L2 I, 20, 23, 32, 40, 44, 93, 95
L1/L2 II, 20, 23, 32, 40, 44, 93, 95
L1-C/A, 20, 23, 32, 40, 44, 93, 95
LNA, 22, 94
LOADER, 27
LOADER.SET, 28
locktime, 77
MEDLL, 23, 26, 28, 30, 95
non-volatile memory, 24, 79
PDOP, 64
phase lock, 77, 89
position constraints, 49
receiver clock offset, 87
receiver self-test status, 77
reject code, 85
residual, 85
self-test, 77
signal thresholds, 46
space, 32
strobe lines, 23, 95
subframes, 59
TDOP, 64
Time port, 20, 21, 93
tracking status, 77
Type 1 information messages, 106
Type 2 Information Messages, 108
front panel, 19, 24, 92
G2 delay, 38
GDOP, 64
GEO, 14
GPS time, 54
Ground Uplink Station, 14
114
Universal Time Coordinated (UTC) time, 54,59,88
upgrading, 26
UTC offset, 87
Wide-area Reference Station, 14
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
WAAS / GUS Receiver Subsystem Installation and Operation Manual – Rev. 2.0
115
NovAtel Inc.
1120 - 68 Avenue N.E.
Calgary, Alberta, Canada T2E 8S5
GPS Hotline: 1-403-295-4900
GPS Fax: 1-403-295-4901
E-mail: support@novatel.ca
Web site: http://www.novatel.ca
OM-20000015 Rev. 2.0
97/11/18
Recyclable
Printed in Canada
on recycled paper
Software Version 5.44 / 4.44
Was this manual useful for you? yes no
Thank you for your participation!

* Your assessment is very important for improving the work of artificial intelligence, which forms the content of this project

Download PDF

advertising