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AG-Star
User Manual
OM-20000149 Rev 4 March 2015
AG-Star User Manual
Publication Number:
Revision Level:
Revision Date:
OM-20000149
4
March 2015
Warranty
NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ and for the following time periods:
AG-Star Receiver
Cables and Accessories
Software Warranty
One (1) Year
Ninety (90) Days
One (1) Year
Return Instructions
To return products, refer to the instructions found under the Return Policy Tab on the Warranty page: www.novatel.com/products/warranty/ .
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 nondisclosure 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.
NovAtel and OEMStar are registered trademarks of NovAtel Inc.
GLIDE and AG-Star are trademarks of NovAtel Inc.
The Bluetooth
word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by NovAtel Inc. is under license. Other trademarks and trade names are those of their respective owners.
Manufactured and protected under U.S. Patent:
#5,101,416*
#5,390,207*
#5,414,729*
#5,495,499*
#5,734,674
#5,736,961
#5,809,064
#6,184,822 B1
#6,243,409 B1
#6,608,988 B1
#6,664,923 B1
#6,728,637 B2
© Copyright 2015 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws.
AG-Star User Manual Rev 4 2
Table of Contents
Notices 7
Customer Support 10
1 Introduction 11
2 Installation and Setup 13
3 Operation 20
4 Bluetooth Configuration 28
5 NovAtel Firmware and Software 35
AG-Star User Manual Rev 4 3
Table of Contents
A Technical Specifications 43
B Commands 50
C Logs 61
D Replacement Parts 66
AG-Star User Manual Rev 4 4
Figures
AG-Star User Manual Rev 4 5
Tables
AG-Star User Manual Rev 4 6
Notices
The following notices apply to the AG-Star.
Changes or modifications to this equipment not expressly approved by NovAtel Inc. could result in violation of FCC, Industry Canada and CE Marking rules and void the user’s authority to operate this equipment.
FCC Notices
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
AG-Star has been tested and found to comply with the emission limits for a Class B digital device, pursuant to part 15 of the FCC Rules. The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation.
This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:
• Re-orient or relocate the AG-Star
• Increase the separation between the equipment and the AG-Star
• Connect the equipment to an outlet on a circuit different from that to which the AG-Star is connected
• Consult the dealer or an experienced radio/TV technician for help
Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment.
In order to maintain compliance as a Class “B” digital device, shielded cables should be used for the RS-232 serial data ports (Belden 1036A or equivalent) and twisted pair cable should be used for the CAN port (shielded twisted pair will improve CAN performance in electrically harsh environments). I/O signals should be referred to signal ground (connector pin 5) and not power ground (connector pin 9). If I/O signals route to different areas of the vehicle, dedicated signal grounds for I/O should be spliced into a common connection to connector pin 5 at a point close to the AG-Star.
AG-Star with Bluetooth has been certified for use by the FCC and is labeled with the following identifier:
• FCC ID: UTU01019126
AG-Star User Manual Rev 4 7
Notices
Industry Canada
AG-Star Class B digital apparatuses comply with Canadian ICES-003.
AG-Star appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada.
This device complies with Industry Canada licence-exempt RSS-GEN and RSS-210. Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device.
AG-Star with Bluetooth has been certified for marketing and use in Canada and is labeled with the following certification number:
• IC: 129A-01019126
CE Marking
NovAtel Inc. declares that AG-Star is in compliance with the essential requirements (radio performance, electromagnetic compatibility and electrical safety) and other relevant provisions of Directive 1999/5/EC,
EMC Directive 2004/108/EC, and the RoHS Recast Directive 2011/65/EU. Therefore the equipment is labeled with the following CE-marking.
1588
The Declaration of Conformity may be obtained from NovAtel Inc., 1120-68th Ave N.E., Calgary, Alberta,
Canada. T2E-8S5.
E-mark
The AG-Star has been granted EC type approval of an electric/electronic subassembly with respect to electromagnetic compatibility ECE Regulation 10.04. Therefore the equipment is labeled with the following approval marks.
E
11 10 R - 04 8644
WEEE
If you purchased your AG-Star in Europe, please return it to your dealer or supplier at the end of its life. The objectives of the European Community's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and rationally. Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution. Waste electrical and electronic equipment (WEEE) is a regulated area.
Where the generation of waste cannot be avoided, it should be reused or recovered for its material or energy.
WEEE products may be recognized by their wheeled bin label ( ). 1
1. Visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information on WEEE.
AG-Star User Manual Rev 4 8
Notices
REACH
NovAtel strives to comply with the EU Directive EC 1907/2006 on chemicals and their safe use as per the
Registration, Evaluation, Authorization and Restriction of Chemical substances (REACH) for its products, including the AG-Star product. Since REACH SVHC lists are updated occasionally, please contact NovAtel
Customer Support if you require further information.
Cables may contain DEHP (CAS Number 117-81-7) in concentrations above 0.1% w/w.
AG-Star User Manual Rev 4 9
Customer Support
NovAtel Knowledge Base
If you have a technical issue, browse to the NovAtel Web site at www.novatel.com
then select Support |
Helpdesk and Solutions | Knowledge and Forums. Through this page, you can search for information about
SMART ® antennas and other technologies, information about NovAtel hardware and software, and installation and operation issues.
Before Contacting Customer Support
Before contacting NovAtel Customer Support about a software problem perform the following steps:
1. Issue the following logging commands to collect data to a file on your computer for 15 minutes:
LOG VERSIONA ONCE
LOG RXSTATUSA ONCHANGED
LOG RXCONFIGA ONCE
LOG RAWEPHEMA ONNEW
LOG BESTPOSA ONTIME 1
LOG RANGEA ONTIME 1
LOG GLORAWEPHEMB ONCHANGED
1
2. Send the file containing the logs to NovAtel Customer Support, using either the NovAtel FTP site at ftp:// ftp.novatel.ca/outgoing/support/Software/ or through the [email protected]
e-mail address.
3. You can also issue a FRESET command to the receiver to clear any unknown settings.
The FRESET command will erase all user settings. You should know your configuration and be able to reconfigure the receiver before you send the FRESET command.
If you are having a hardware problem, send a list of the troubleshooting steps taken and results.
Contact Information
Use one of the following methods to contact NovAtel Customer Support:
Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada) or +1-403-295-4500 (international)
Fax: +1-403-295-4501
E-mail: [email protected]
Web site: www.novatel.com
Write: NovAtel Inc.
Customer Support Department
1120 - 68 Avenue NE
Calgary, AB
Canada, T2E 8S5
1. For GLONASS channel configuration.
AG-Star User Manual Rev 4 10
Chapter 1 Introduction
The AG-Star is a high-performance GNSS receiver and antenna, capable of receiving and tracking different combinations of GPS L1 and GLONASS L1 code and carrier signals on a maximum of 14 channels. SBAS
(Satellite Based Augmentation Systems) support, which includes WAAS, EGNOS, and MSAS, is standard.
Refer to An Introduction to GNSS, available from our web site at www.novatel.com/an-introduction-to-gnss/ for an overview of each of the above signal types. The AG-Star rear panel also features light emitting diodes
(LEDs) for status indication.
Receiver shows the AG-Star without connecting cables.
Figure 1: AG-Star Receiver
1.1
Models and Features
The main features of the AG-Star are:
• a high performance GPS+GLONASS L1 receiver
• a high performance GPS+GLONASS L1 antenna
• emulated radar output
• a CAN port
• two (2) RS-232 COM ports or one (1) RS-232 COM port and Bluetooth ®
• three (3) LED status indicators
• a water and dust tight enclosure
• Bluetooth ® wireless technology (optional)
The AG-Star is available in several different firmware models whose configurations may include other
additional features. Some possible configurations can be seen in Table 1, AG-Star Models.
Table 1: AG-Star Models
Model Name
AG-Star
AG-Star with Bluetooth
NovAtel Part #
01019131
01019129
Firmware Features
GPS L1, GLONASS L1, SBAS and emulated radar output
GPS L1, GLONASS L1, SBAS, emulated radar output and Bluetooth
Refer also to the OEMStar Firmware Reference Manual (OM-20000127) for information on receiver communications and operation.
AG-Star User Manual Rev 4 11
Introduction Chapter 1
1.2
Scope
This manual contains information about the installation and operation of the AG-Star system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer-service related inquiries.
An AG-Star system requires the addition of accessories and a power supply.
The AG-Star utilizes a comprehensive user-interface command structure, which requires communications through its communications ports. This manual describes the AG-Star specific commands and logs, see
Appendix B, Commands on page 50 and Appendix C, Logs on page 61. For descriptions of other commands
and logs available for AG-Star, refer to the OEMStar Firmware Reference Manual available from the NovAtel web site ( www.novatel.com/support/manuals/ ). It is recommended that these documents be kept together for easy reference.
AG-Star output is compatible with post-processing software from NovAtel's Waypoint ® Products Group. Visit our web site at www.novatel.com
for details.
1.3
Conventions
The following conventions are used in this manual:
Information that supplements or clarifies text.
A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware.
A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.
• The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log. Refer to the OEMStar Firmware Reference Manual for ASCII and binary header details.
• The number following 0x is a hexadecimal number.
• Command descriptions’ brackets, [ ], indicate optional parameters.
• In tables where values are missing they are assumed to be reserved for future use.
• Status words are output as hexadecimal numbers and must be converted to binary format (and in some cases then also to decimal). For an example of this type of conversion, refer to the RANGE log in the OEMStar Firmware Reference Manual .
• Conversions and their binary or decimal results are always read from right to left. For a complete list of hexadecimal, binary and decimal equivalents, search our support materials for Unit Conversions on the NovAtel web site.
See also Syntax Conventions on page 50 for more syntax when entering commands.
AG-Star User Manual Rev 4 12
Chapter 2 Installation and Setup
This chapter contains instructions and tips to set up your AG-Star to create a GNSS receiver system.
2.1
Additional Equipment Required
In order for the receiver to perform optimally, the following additional equipment is required:
• A cable harness for powering and communicating with the AG-Star.
You can use a NovAtel cable (such as part number 01018256) or a custom cable. See Appendix A,
Technical Specifications on page 43 for information about the AG-Star connector pinout and NovAtel
cables.
• A fused power supply (user-supplied)
• A computer (user-supplied)
2.1.1
AG-Star Setup
Complete the following steps to connect and power the AG-Star.
1. Mount the AG-Star on a secure, stable structure with an unobstructed view of the sky from horizon to
horizon. Refer to Section 2.1.4, Mounting the AG-Star on page 17 for details.
2. Connect the NovAtel interface cable, or custom interface cable, to the COM and Power port on the back
of the AG-Star, see Figure 2, AG-Star Connector.
Figure 2: AG-Star Connector
Table 2: AG-Star Connector Pin-Out
Pin
1
2
3
Use
4
5
6
7
COM1 TxD
COM1 RxD
COM2 TxD a
COM2 RxD a
Signal Ground (COM/ER/MKI/PPS)
CAN+
CANa. On Bluetooth models, COM2 is not available.
Pin
8
9
10
11
12
13
14
Use
RESERVED (Do not connect)
Power Negative/Return
Emulated Radar Output
MKI (Mark Input)
PPS (Pulse Per Second) Output
RESERVED (Do not connect)
Power Positive/Source
3. Connect the NovAtel or custom cable to a DB-9 serial port on a computer or other data storage device.
AG-Star User Manual Rev 4 13
Installation and Setup Chapter 2
4. Connect the NovAtel or custom cable to the power supply and turn on the power supply. The power LED
on the receiver glows red when the AG-Star is properly powered.
Fuse/holder recommendations can be found in Table 9, Recommended Fuse and Fuse Holders on page 49.
Figure 3: Simplified AG-Star Setup
COM
User supplied
5A fast blow fuse
COM
MKI PPS CAN Emulated
Radar
Minimum conductor size for all wiring is 0.5 mm / 20 AWG.
2.1.2
Power Supply Requirements
The AG-Star requires +8 to +36 VDC for the input power to the receiver. See Section A.2, AG-Star
for additional power supply specifications.
The AG-Star cable provides power in (labeled BATT+) and power ground (labeled BATT-) bare wires for connections from the AG-Star to a vehicular power system (or equivalent). For cable details see
Section A.2.3, AG-Star Connector and Cable Requirements on page 49.
The AG-Star power source must be protected by a 5A fast blow fuse (user supplied) or damage to wiring may result (not covered by warranty).
AG-Star User Manual Rev 4 14
Installation and Setup Chapter 2
2.1.3
Mounting Plate
Two mounting plates are available to facilitate mounting the receiver: a surface mounting plate and a pole mounting plate.
Figure 4: AG-Star Surface Mounting Plate (01018317)
All dimensions are in inches
To install the surface mounting plate provided with the AG-Star Development Kit, use the adhesive tape provided or the mounting holes at each corner of the plate.
AG-Star User Manual Rev 4 15
Installation and Setup
Figure 5: AG-Star Pole Mounting Plate (01019142)
Chapter 2
All dimensions are in inches
To install the pole mounting plate:
1. Use four M4 screws to connect the mounting plate to the AG-Star.
2. Screw the mounting plate onto a mount, such as a range pole, tribrach, or tripod, with a 1" x
14 thread.
A 5/8” to 1” bushing adapter is available (part number 12023275).
AG-Star User Manual Rev 4 16
Installation and Setup Chapter 2
2.1.4
Mounting the AG-Star
Mount the AG-Star on a secure, stable structure capable of safe operation in the specific environment.
• If installing on a vehicle, mount the AG-Star on the vehicle roof, ideally close to the pivot point of the
The AG-Star must be rigidly secured to the vehicle to avoid errors caused by vibration and motion.
Figure 6: AG-Star Orientation
Route cable toward back of vehicle
Orient toward the front of vehicle
The optimal screw penetration into the AG-Star mounting holes is 6 mm (±1 mm) deep.
When selecting screws for mounting the AG-Star ensure the screw penetration does not exceed this specification. Using excessively long screws can damage the AG-Star enclosure.
• If installing in a stationary location, mount the AG-Star in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction. For more information, refer to An
Introduction to GNSS found at www.novatel.com/an-introduction-to-gnss/ .
2.1.5
Connecting Data Communications Equipment
To communicate with the receiver by sending commands and obtaining logs, a connection to data
AG-Star User Manual Rev 4 17
Installation and Setup Chapter 2
2.2
Additional Features and Information
This section contains information on the additional features of the AG-Star, which may affect the overall design of your receiver system.
2.2.1
Status Indicators
shows the meaning of the LED states in the expected sequence after power is applied.
Table 3: AG-Star LED Status Indicators
Red Yellow Green
Condition
Off
On
On
On
On
On
Off
Off
Off
Off
Flashing Off
On Off
On
On
Power is not available.
Power is available but no satellites are being tracked yet
Tracking at least one satellite but not a valid position.
Position valid in basic autonomous mode.
Flashing SBAS tracking, but not enough data for enhanced solution.
On Position valid in an enhanced accuracy mode
(WAAS/EGNOS/MSAS/DGPS).
Flashing means that the LED is turning on and off at a 1 Hz rate - 0.5 seconds on and 0.5 seconds off.
Troubleshooting:
• If the power is on but the yellow LED does not flash within one minute, then no satellites are being tracked. There may be excessive blockage or the AG-Star may be defective. Make sure the AG-Star has an unobstructed view of the sky. Try power cycling the AG-Star.
• If the yellow LED is flashing but doesn’t progress to solid yellow within one minute, then insufficient satellites are being tracked or the signal quality is poor and ephemeris data cannot be received.
Normally, four satellites are sufficient for a valid position as long as they are widely distributed in the sky.
If LED is stuck on blinking yellow, there may be excessive signal blockage or the AG-Star may be defective. Make sure the AG-Star has an unobstructed view of the sky. Try power cycling the AG-Star.
• If the yellow LED is on, but the green doesn’t turn on within five minutes than no SBAS or DGPS positions are available. If you are using SBAS, make sure SBAS is available in your area and that the
AG-Star is configured to enable SBAS positions (SBASCONTROL ENABLE and
SELECTCHANCONFIG). For DGPS, make sure the AG-Star is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working.
• The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled. The LED will stay dark if SBAS is not detected.
AG-Star User Manual Rev 4 18
Installation and Setup Chapter 2
2.2.2
MKI and PPS Strobes
The Mark Input (MKI) and Pulse Per Second (PPS) strobes provide status and synchronization signals. PPS is a 3.3V CMOS output; MKI is a 5V logic tolerant input. For more information about the PPS and MKI
signals, see Section A.2, AG-Star Specifications on page 44.
Pin-out information can be found in Table 7, AG-Star Communication/Power Cable Pinouts on page 48.
2.2.3
Emulated Radar (ER)
The AG-Star outputs an emulated RADAR signal via the bare wires labeled ER GND and ER_OUT on the
of this cable.
The ER outputs a logic high of supply voltage minus 0.5 V minimum and logic low of 0.5 V maximum with a rise and fall time of less than 1 ms. The ER output references signal GND and provides logic low output until the receiver’s speed is greater than 1 km/Hr. ER can be configured to operate at one of three distinct frequencies (26.11, 28.12 or 36.11 Hz/km/Hr, with 26.11 Hz/km/Hr being the default value) and with an
effective range from 1 km/Hr to 55 km/Hr for near-horizontal applications. See Section B.5,
RADARCFG Configure the ER Output on page 57 for more information.
2.2.4
Controller Area Network (CAN)
NMEA 2000 is a CAN standard created by the National Marine Electronics Association and designed to support networking in marine applications. It functions over a longer physical distance, and supports more physical nodes than ISO 11783. The relationship between NMEA2000 and SAE J1939 is that J1939 is the standard, while the NMEA 2000 group has added some new messages (called PGNs or Parameter Group
Numbers) and added a new, additional transport protocol called FastPacket. NMEA2000 compliant, for all intents and purposes, means J1939 compliant plus support for new NMEA2000 messages. J1939 is additionally “harmonized” with ISO 11783, a standard for the agriculture industry.
The CAN module is generally not user-interactive. It is activated when a SETCANNAME command (see
start-ups. The module supports the following NMEA2000 Parameter Group Message (PGN):
• PGN 129029 GNSSPositionData (1 Hz)
• PGN 129025 GNSSPositionRapidUpdate (10 Hz)
• PGN 129026 COGandSOGRapidUpdate (10 Hz)
Details about the PGN messages are found in the NMEA2000 specification which can be purchased directly from the National Marine Electronics Association (www.nmea.org/).
Table 4: Available CAN Signals on the AG-Star
CAN Pins
CAN+
CAN-
Pin 6
Pin 7
AG-Star User Manual Rev 4 19
Chapter 3 Operation
Before operating the AG-Star for the first time, ensure that you have followed the installation instructions in
and testing for greater ease and versatility.
3.1
Communications with the Receiver
Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device. This could be either a terminal or computer that is directly connected to the receiver serial port using a DB-9 connector on the AG-Star multi-cable. If you are using a radio, it connects to another DB-9 connector on the same multi-cable by means of the radio serial cable supplied with the radio. It is recommended that you become thoroughly familiar with the commands and logs detailed in the OEMStar Firmware Reference Manual to ensure maximum utilization of the receiver’s capabilities.
When power is applied to the AG-Star, the Power LED lights and the AG-Star begins a self test and the boot up process. After the self test and boot up have completed, the command prompt becomes available on the serial port.
3.1.1
Serial Port Default Settings
The receiver communicates with your computer or terminal via an RS-232 serial port. For communication to occur, both the receiver and the computer or terminal have to be configured properly. The receiver’s COM1 and COM2 default port settings are as follows:
• 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off
Changing the default settings requires using the COM command. See Section B.2, COM Configure COM
The data transfer rate you choose determines how fast information is transmitted. For example, outputting a log whose message byte count is 96. The default port settings allows 10 bits/byte (8 data bits + 1 stop bit + 1 framing bit). It therefore takes 960 bits per message. To get 10 messages per second then requires 9600 bps.
Also remember that even if you set the bps to 9600, the actual data transfer rate is lower and depends on the number of satellites being tracked, data filters in use and idle time. It is suggested that you leave yourself a margin when choosing a data rate (115200 is recommended for most applications).
Although the receiver can operate at data transfer rates as low as 300 bps, this is not desirable.
For example, if several data logs are active (that is, a significant amount of information needs to be transmitted every second) but the bit rate is set too low, data will overflow the serial port buffers, causing an error condition in the receiver status and loss of data.
3.1.2
Communicating Using a Remote Terminal
One method of communicating with the receiver is through a remote terminal. The receiver is pre-wired to allow proper RS-232 interface with a data terminal. To communicate with the terminal, the receiver only requires the RX, TX and GND lines to be used. Request to Send (RTS)/ Clear to Send (CTS) hardware handshaking is not available. Ensure the terminal’s communications set-up matches the receiver’s RS-232 protocol.
AG-Star User Manual Rev 4 20
Operation Chapter 3
3.1.3
Communicating Using a Computer
A computer can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files. Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver. For example, HyperTerminal or NovAtel’s Graphic User Interface (GUI) program NovAtel Connect. All data is sent as raw 8-bit binary or ASCII characters.
3.2
Getting Started
3.2.1
Starting the Receiver
When first powered, the AG-Star undergoes a complete self-test. The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log. Refer to the OEMStar Firmware Reference
Manual for more information.
If a persistent error develops, contact your local NovAtel dealer first. If the problem is still unresolved, contact
NovAtel directly through any of the methods listed in Customer Support on page 10.
3.2.2
Communicating with the Receiver Using NovAtel Connect
NovAtel Connect is a Windows-based GUI used to access the receiver's many features. The Convert utility is a Windows-based utility that converts between file formats and strips unwanted records for data file compilation. Both are included in the NovAtel Connect PC Utilities bundle available from: www.novatel.com/ support/search/items/PC%20Software .
Launch the NovAtel Connect program and select Device | Open from its main menu. The Open Configuration window appears.
Figure 7: Open Configuration Window
Refer to the NovAtel Connect help file by selecting the Help | Contents menu or pressing F1 while the cursor is in a NovAtel Connect window. Ensure the Console and ASCII Messages windows are open by selecting them from the View menu.
When the receiver is first turned on, no data is transmitted from the COM ports except for the port prompt.
The console window displays a port name:
[COM1] or if connected to COM1 port
[COM2] if connected to COM2 port or through Bluetooth
AG-Star User Manual Rev 4 21
Operation Chapter 3
Any of these prompts indicate that the receiver is ready and waiting for command input.
1. You may also have to wait for output from receiver self tests. For example, on start-up, the
AG-Star receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports. Refer to the
OEMStar Firmware Reference Manual for more details.
2. If you find that NovAtel Connect is unable to locate your AG-Star receiver, try using a different COM port to communicate to the receiver. Once communication has been established, issue the command FRESET STANDARD. You should now be able to use your original communication port again.
Commands are typed at the interfacing computing device’s keyboard and executed after sending a carriage return character which is usually the same as pressing the <Enter> key.
An example of a response to an input command is the FIX POSITION command. It can be as:
[COM2] FIX POSITION 51.11635 -114.0383 1048.2 [carriage return]
<OK where [COM2] is the port prompt, followed by the command entered and [carriage return] is a prompt to press the <Enter> key.
The example above illustrates the command input to the base receiver’s COM2 port, which sets the position of the base station receiver for differential operation. Confirmation that the command was actually accepted is the appearance of <OK.
If a command is entered incorrectly, the receiver responds with:
<Invalid Message ID (or a more detailed message)
Ensure the Control Panel Power Settings on your computer are not set to go into Hibernate or
Standby modes. Data will be lost if one of these modes occurs during a logging session.
3.3
Channel Configuration
The 14 channels available on the AG-Star are configured by selecting one of eight predefined channel configuration sets using the SELECTCHANCONFIG command. For information about the
SELECTCHANCONFIG command, see page 58.
3.4
Transmitting and Receiving Corrections
DGPS corrections can be transmitted from a base station to a rover station to improve position accuracy.
The AG-Star can receive RTCM, RTCA, CMR, CMR+, RTCM 2.3 and RTCM 3.0 corrections to resolve DGPS solutions. With the DGPS_TX model upgrade, the AG-Star can transmit non-carrier phase RTCM and RTCA corrections. Contact your local NovAtel dealer for more information. To locate a dealer in your area contact NovAtel Inc.
The base station is the GNSS receiver, which is acting as the stationary reference. It has a known position and transmits correction messages to the rover station. The rover station is the GNSS receiver which does not know its exact position and can be sent correction messages from a base station to calculate differential
GNSS positions. The AG-Star can be used as a base receiver to transmit DGPS corrections or a rover to
AG-Star User Manual Rev 4 22
Operation Chapter 3
1
Figure 8: Basic Differential Setup
Rover Base
4
COM1
7
2
1
COM2
6
5 3
COM1
7
2
COM2
3
5
Reference
1
2
5
6
3
4
7
Description
AG-Star receiver
User-supplied 5A fast blow fuse
User-supplied power supply, for example a battery
User-supplied device to COM1
User-supplied radio device to COM2
User-supplied computer, for setting up and monitoring, to COM1
User-supplied cable or NovAtel 01018256 Communication/Power cable
The configuration shown in Figure 8, Basic Differential Setup is valid for AG-Star receivers
without optional Bluetooth.
For an AG-Star receiver with Bluetooth, one of the serial devices connects through COM1 and the other devices must connect through Bluetooth.
System biases can introduce errors, refer to An Introduction to GNSS found on our web site at www.novatel.com/an-introduction-to-gnss/ for more information. In most cases, a data link between the base station and rover station (two NovAtel receivers) is needed in order to receive corrections. SBAS corrections can be accomplished with one receiver and are exceptions to the base/rover concept. Generally a link capable of data throughput at a rate of 9600 bits per second, and less than 4.0 s latency, is recommended.
Once the base and rover are set up, configure them as shown in the configuration examples that follow in
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Operation Chapter 3
3.4.1
Base Station Configuration
At the base station, enter the following commands:
COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses] fix position latitude longitude height log port message [trigger [period]]
Examples of these commands include the following:
RTCA pdpfilter disable com com2 115200 N 8 1 N off interfacemode com2 none rtca off fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt) log com2 rtca1 ontime 5 log com2 rtcaephem ontime 10 1 (optional)
RTCM
RTCMV3 pdpfilter disable com com2 9600 N 8 1 N off interfacemode com2 none rtcmv3 off fix position 51.11358042 -114.04358013 1059.4105
log com2 rtcm1006 ontime 10 log com2 rtcm1003 ontime 1
CMR+ pdpfilter disable com com2 115200 N 8 1 N off interfacemode com2 none rtcm off fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt) log com2 rtcm1 ontime 5 pdpfilter disable com com2 9600 N 8 1 N off interfacemode com2 none cmr off fix position 51.11358042 -114.04358013 1059.4105
log com2 cmrobs ontime 1 log com2 cmrplus ontime 1 (Important to use ontime 1 with cmrplus)
CMR pdpfilter disable com com2 9600 N 8 1 N off interfacemode com2 none cmr off fix position 51.11358042 -114.04358013 1059.4105
log com2 cmrobs ontime 1 log com2 cmrref ontime 10 log com2 cmrdesc ontime 10 1
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Operation Chapter 3
3.4.2
Rover Station Configuration
At the rover station, enter:
COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses]
For example:
RTCA com com2 115200 N 8 1 N off interfacemode com2 rtca none off
RTCM com com2 115200 N 8 1 N off interfacemode com2 rtcm none off
RTCMV3 com com2 115200 N 8 1 N off interfacemode com2 rtcmv3 none off
CMR+ com com2 115200 N 8 1 N off interfacemode com2 cmr none off
CMR com com2 115200 N 8 1 N off interfacemode com2 cmr none off (same as CMR+)
3.4.3
GPS + GLONASS Base and Rover Configuration
This section shows you how to set up base and rover AG-Star GPS + GLONASS enabled receivers for GPS
+ GLONASS DGPS corrections operation:
3.4.3.1
Base Station: pdpfilter disable fix position lat lon hgt (enter your own lat, lon, and hgt values) com com2 115200 N 8 1 N off interfacemode com2 none rtcm off log com2 rtcm1 ontime 5 log com2 rtcm31 ontime 5 1 saveconfig (optional, save configuration to non-volatile memory)
3.4.3.2
Rover Station (DGPS positions): com com2 115200 N 8 1 N off interfacemode com2 rtcm none off log com1 bestposa ontime 1 (optional, view position information) saveconfig (optional, save configuration to non-volatile memory)
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Operation Chapter 3
3.4.4
Configuration Notes
For compatibility with other GNSS receivers, and to minimize message size, it is recommended that you use the standard form of RTCA, RTCM, RTCMV3 or CMR corrections as shown in the previous base and rover examples. This requires using the INTERFACEMODE command to dedicate one direction of a serial port to only that message type. When the INTERFACEMODE command is used to change the mode from the default, NOVATEL, you can no longer use NovAtel format messages.
If you wish to mix NovAtel format messages and RTCA, RTCM, RTCMV3 or CMR messages on the same port, you can leave the INTERFACEMODE set to NOVATEL and log out variants of the standard correction messages with a NovAtel header. ASCII or binary variants can be requested by simply appending an "A" or
"B" to the standard message name. For example on the base station: interfacemode com2 novatel novatel fix position 51.11358042 -114.04358013 1059.4105
log com2 rtcm1b ontime 2
Using the receiver in this mode consumes more CPU bandwidth than using the native differential messages
as shown in Section 3.4.1, Base Station Configuration on page 24.
At the rover station you can leave the INTERFACEMODE default settings (interfacemode com2 novatel novatel). The rover receiver recognizes the default and uses the corrections it receives with a NovAtel header.
The PSRDIFFSOURCE command sets the station ID values which identify the base stations from which to accept pseudorange corrections. This is a useful command when the rover station is receiving corrections from multiple base stations. Refer to An Introduction to GNSS for more information on SBAS, available from our web site at: www.novatel.com/an-introduction-to-gnss/ .
All PSRDIFFSOURCE entries fall back to SBAS (even NONE) for backwards compatibility.
At the base station it is also possible to log out the contents of the standard corrections in a form that is easier to read or process. These larger variants have the correction fields broken out into standard types within the log, rather than compressed into bit fields. This can be useful to modify the format of the corrections for a non-standard application or to look at the corrections for system debugging purposes. These variants have
"DATA" as part of their names (for example, RTCADATA1, RTCMDATA1, CMRDATAOBS, and more). Refer to the OEMStar Firmware Reference Manual for detailed descriptions of the various message formats.
Information on how to send multiple commands and log requests using Windows, can be found on our web site at www.novatel.com/support/known-solutions/ .
3.5
GLIDE
GLIDE is an optional feature on the AG-Star. You must order a GLIDE capable model to use this feature.
NovAtel’s GLIDE is an optional feature on the AG-Star. GLIDE is a positioning algorithm for single frequency
GPS and GPS/GLONASS applications. GLIDE produces a smooth position output tuned for applications where optimal time relative (pass to pass) accuracy is more important than absolute accuracy. Because of this, it is well suited for agricultural applications.
Multipath signals tend to induce time-varying biases and increase the measurement noise on the L1 pseudorange measurements. Carrier phase measurements are much less susceptible to the effects of multipath. The GLIDE algorithm fuses the information from the L1 code and the L1 phase measurements into a Position-Time-Velocity (PVT) solution.
GLIDE includes settings for a dynamic mode, a static mode, and an “auto” mode, where the filtering parameters are automatically adjusted as vehicle velocity varies between stationary and dynamic states.
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Operation Chapter 3
Refer to the NovAtel white papers at www.novatel.com/support/search/items/White%20Paper for more information on GLIDE. Refer also to application note “APN-038 Pseudorange/Delta-Phase (PDP) and GLIDE
Filters” at www.novatel.com/support/search/items/Application%20Note .
3.6
Emulated Radar (ER)
A typical radar sensor emits radio beams that bounce off the ground and computes ground speed based on the speed at which objects are passing in front of the sensor. The output of the sensor is a digital pulse, the frequency of which is proportional to the vehicle’s ground speed. This is often used in agricultural applications such as planting and spraying. The AG-Star eliminates the need for separate ground-sensing radar equipment by converting the GPS-derived velocity to proportional frequency output. The following emulated radar signal parameters can be configured by the customer:
• Frequency Step: Specifies how the frequency output relates to the vehicle speed.
• Signal Update Rate: Specifies how often the frequency output is updated to match the vehicle speed.
• Response Mode: Specifies how quickly changes in velocity are reflected in the frequency output.
Setting a slower response mode reduces spikes (noise) in the velocity but increases latency.
Setting a higher response mode reduces latency, but may result in noisier frequency output. Refer to
Section B.5, RADARCFG Configure the ER Output on page 57 for more detailed information.
After it is configured using the RADARCFG command, Emulated Radar (ER) pulses are output through the
AG-Star cables (see Table 7, AG-Star Communication/Power Cable Pinouts on page 48) and the
RADARSIGNAL log (see page 63).
3.7
Recommended Configuration
The following command is recommended to enable CAN: setcanname 305
The following command is recommended to enable SBAS (WAAS/EGNOS/MSAS) corrections: sbascontrol enable
The following commands are recommended to enable GLIDE: pdpfilter enable pdpmode relative auto
NovAtel has registered manufactured ID code 305 with J1939. When complete, your configuration can be saved with the SAVECONFIG command. For more information about these commands, refer to the OEMStar
Firmware Reference Manual , available from our web site and APN-050 SMART-AG Firmware Release, available at www.novatel.com/support/search/items/Application%20Note .
AG-Star User Manual Rev 4 27
Chapter 4 Bluetooth Configuration
Bluetooth is a wireless radio communication standard designed for use over short ranges (within 10 m). This chapter describes how to use the Bluetooth interface on the AG-Star.
4.1
Bluetooth Wireless Technology on the AG-Star Receiver
Bluetooth wireless technology is configured on the AG-Star’s internal COM2 port. After your computer is configured for Bluetooth operation, use HyperTerminal or NovAtel Connect to communicate through COM2.
To log data over the Bluetooth port, specify COM2 as the output port (e.g. log com2 bestposa ontime 1).
4.2
Pairing with a new AG-Star
Ensure that your computer is equipped with a built-in, or external plug-in, Bluetooth adapter and is already configured with the appropriate Bluetooth driver.
The information in this section is specific to pairing an AG-Star with a Windows 7 based computer.
For information about pairing the AG-Star with other Bluetooth capable devices, refer to the device’s user documentation.
To pair with an AG-Star in range:
1. Power on the AG-Star.
The Bluetooth Devices window opens, see Figure 10 on page 29.
Figure 9: Bluetooth Icon
AG-Star User Manual Rev 4 28
Bluetooth Configuration
Figure 10: Bluetooth Devices Window
Chapter 4
3. On the Bluetooth Devices window, click the Add a device button. The Add a device window appears. The computer searches for any Bluetooth device in range and displays the devices found on the window, see
Figure 11: Add a Device Window
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Bluetooth Configuration Chapter 4
4. Select the AG-Star system and click the Next button. The Select a pairing option window appears, see
Figure 12: Add a Device - Select a Pairing Option
5. Click the Enter the device’s pairing code button. The Enter the pairing code for the device window
appears, see Figure 13 on page 30.
Figure 13: Add a Device - Enter Pairing Code
6. Type the AG-Star pairing code, 0000, and click the Next button.
Windows installs the serial port driver and assigns a serial port number to the Bluetooth link. Make a note
Add a Device - Successful on page 31.
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Bluetooth Configuration
Figure 14: Bluetooth Link Serial Port
Figure 15: Add a Device - Successful
Chapter 4
On some operating systems, the AG-Star must be re-paired every time it is restarted.
To re-pair in Windows 7, click the Bluetooth icon in the notification area and enter the pairing code when prompted.
For instructions on re-pairing in other operating systems, see the user documentation that came with the operating system.
4.3
Determining the Bluetooth Serial Port
To determine the serial port associated with the Bluetooth link to the AG-Star:
Devices window opens, see Figure 17 on page 32.
Figure 16: Bluetooth Icon
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Bluetooth Configuration
Figure 17: Bluetooth Devices Window
Chapter 4
The Properties window for the AG-Star appears, see Figure 19 on page 33.
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Bluetooth Configuration
Figure 18: Bluetooth Devices Window - Device Menu
Chapter 4
AG-Star User Manual Rev 4
Figure 19: Bluetooth Devices Window - Properties
33
Bluetooth Configuration Chapter 4
3. Click the Services tab. The Services tab displays the serial port information about the Bluetooth link to
the AG-Star. See Figure 20 on page 34.
Figure 20: Properties - Services Tab
4.4
Communicate with the AG-Star Using Bluetooth Wireless Technology
1. Open a terminal program (HyperTerminal, for example) and configure it to the serial port assigned to the
2. Configure the port settings as follows:
9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off
3. Through the terminal program, connect to the Bluetooth serial port and verify the connection.
4. Type the following VERSION log request into the command prompt to ensure that the connection works: log version
AG-Star User Manual Rev 4 34
Chapter 5 NovAtel Firmware and Software
Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www.novatel.com/support/search/ .
AG-Star Firmware and Software
Refer to Transferring Firmware Files on page 37 for descriptions of the Update and OEM
versions.
NovAtel Connect PC Utilities Software Bundle
Bundled PC Utilities software includes:
• NovAtel Connect (an interface for monitoring and configuring the receiver)
• Connection Import (imports connection profiles from previous versions of NovAtel Connect)
• Convert (converts receiver data logs into different formats)
• USB Drivers and Window Signing
The NovAtel Connect PC Utilities bundle can be download from our web site: www.novatel.com/ support/search/items/PC%20Software .
Firmware and Software included
• SoftLoad firmware
• WinLoad software utility
WinLoad and SoftLoad instructions follow.
5.1
Firmware Updates and Model Upgrades
A local NovAtel dealer can provide all the information needed to upgrade or update a receiver. Refer to www.novatel.com/where-to-buy for contact information or contact [email protected]
directly.
5.1.1
Firmware Updates
Firmware updates are firmware releases that include fixes and enhancements to the receiver functionality.
Firmware updates are released on the NovAtel web site as they become available. New firmware must be loaded into the receiver through one of the COM ports. Once loaded, the receiver reboots and begins operating with the new firmware.
Direct access to a serial COM port on the AG-Star is required.
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NovAtel Firmware and Software Chapter 5
5.1.2
Model Upgrades
Model upgrades enable purchased receiver features.
Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy . Contact NovAtel Customer Support or NovAtel Sales to request a temporary upgrade authorization code for trial purposes.
The receiver stores the firmware in Non-Volatile Memory (NVM), which allows model upgrades to be performed without returning the receiver to the dealer. Model upgrades can be applied to the receiver with an authorization code and the
AUTH
command.
5.2
Authorization Code
An authorization code, commonly known as an auth-code, is required to upgrade and possibly update an
AG-Star receiver. Auth-codes are obtained by contacting NovAtel Customer Support . Upon contact, NovAtel
Customer Support requires:
• the receiver model number
• the receiver serial number
• the receiver firmware version
Enter the
LOG VERSION
command to determine the receiver model, serial number and firmware version.
Example:
ENTER
Model
Number
Serial
Number
F IRMWARE
Version
GPSCARD “LXGMTSA” “DHD13302094” “M6XV1G-2.02-TT” “L6X010106RN0000”
Hardware
Version
Product
Family
Firmware
Number
Release
Indicator
After determining the appropriate model and firmware version the authorization code (auth-code) is issued.
The auth-code is required to unlock the features on the new model type.
To upgrade to a new model with the same firmware version, use the
AUTH
command with the issued auth-
code (if required), as outlined in Upgrading Using the AUTH Command on page 41.
To upgrade to a new model with a higher firmware version, the new firmware .HEX file needs to be loaded into the AG-Star receiver using the WinLoad utility program. WinLoad and the firmware .HEX files can be found at www.novatel.com/support/firmware-downloads
Section 5.3, Updating or Upgrading Using the WinLoad Utility
on page 37 for use instructions.
The procedure for loading firmware is the same. Refer to Section 5.5, Upgrading Using the
An authorization code is still required if the software model changes for temporary trial upgrades or purchased permanent upgrades.
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NovAtel Firmware and Software Chapter 5
5.3
Updating or Upgrading Using the WinLoad Utility
WinLoad is the simplest and most common way to update or upgrade an AG-Star receiver.
5.3.1
Transferring Firmware Files
To proceed with an update or possibly an upgrade, obtain the latest version of firmware from the NovAtel website at www.novatel.com/support/firmware-downloads .
5.3.1.1
Types of Firmware Files
The firmware update or upgrade file is one of two types:
• Update Version (UPDT) - The update version includes the authorization codes for all AG-Star receivers and receiver model upgrades purchased before the cut-off date 1 . The update version is named UPDTXXXX.EXE, where XXXX is the firmware version. If the receiver or model upgrade was purchased after the cut-off date, the authorization code does not appear in the UPDT file and the
OEM version must be used.
• OEM Version - Use the OEM version if the receiver or model upgrade was purchased after the cutoff date. When the OEM version is used, NovAtel Customer Service must generate and provide the required authorization code. Authorization codes are obtained by contacting [email protected]
or at www.novatel.com/support/ .
The OEM version is named OEMXXXX.EXE, where XXXX is the firmware version.
For convenience, copy the update file to a GNSS sub-directory (for example, C:\GNSS\LOADER).
If the firmware update file is password protected, NovAtel Customer Support provides the required password.
After copying the file to a computer, perform the following steps to extract the files:
Syntax: [filename] [password] (if required) where filename is the name of the compressed file (but not including the .EXE extension) and password is the password if required for extraction.
Example: L6X010201RN0000.hex
In the above example, a window appears asking for a password.
The self-extracting archive produces the following files: winload.exe
WinLoad utility program howto.txt
Instructions on how to use the WinLoad utility whatsnew.rtf
Information on the changes made in the firmware since the last revision x..x.hex
Firmware version upgrade file, where x..x defines the product name and release (e.g.,
L6X010201RN0000.hex)
The files are extracted to unzip/program files/NovAtel Inc/x.xxx Full Update Disk, where x.xxx is the firmware version.
NovAtel has an online video tutorial that explains firmware uploading at www.novatel.com/ support/videos .
1. For further information and the exact cut-off date, refer to the NovAtel website at www.novatel.com/ support/firmware-downloads under notes.
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NovAtel Firmware and Software Chapter 5
AG-Star Application Software
The AG-Star receiver has two types of software loaded, the OEM6 firmware and the AG-Star Application
Software. The OEM6 firmware provides the features that are common to all OEM6 receivers. The Application
Software provides the special features available on the AG-Star.
The Application Software is available from the NovAtel website at www.novatel.com/support/firmwaredownloads and is loaded onto the AG-Star receiver using the same procedures used for the OEM6 firmware.
An authorization code is not required for Application Software updates.
5.3.2
Using the WinLoad Utility
If opening WinLoad for the first time, ensure the file and communications settings are correct.
5.3.2.1
Open a File to Download
Select File |Open. Navigate to the file to open (Figure 21).
Figure 21: WinLoad Open Window
When a file is selected, the filename appears in the main WinLoad display area and in the title bar
Figure 22: Open File in WinLoad
5.3.2.2
Communications Settings
To set the communications port and baud rate, select Settings | COM Settings. Choose the computer port to use from the Com Port drop down list and the baud rate from the Download Baudrate drop down list. Set the baud rate as high as possible (the default of 115200 and is preferred).
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NovAtel Firmware and Software
Figure 23: COM Port Setup
Chapter 5
5.3.2.3
Downloading Firmware
1. Select the file to download according to Section 5.3.2.1, Open a File to Download on page 38.
3. Click Write Flash to download the firmware.
4. When Searching for card appears in the main display, power cycle the receiver.
Figure 24: Searching for Card
5. If the Authorization Code window appears, enter the auth-code and click OK. See Section 5.2,
Authorization Code on page 36 for further information about the Authorization Code.
Figure 25: Authorization Code Window
6. The receiver finishes the download and then resets. The process is complete when Done appears in the main display area.
Figure 26: Upgrade Process Complete
7. Close WinLoad.
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NovAtel Firmware and Software Chapter 5
5.4
Updating using SoftLoad Commands
Use SoftLoad to update a receiver.
Use SoftLoad if automated loading is required or the platform used to communicate with the receiver if not supported by WinLoad.
Refer to Section 5.3.1.1, Types of Firmware Files on page 37 for details on updating versus
upgrading.
1. Open a connection to any port on the receiver.
2. Request the SOFTLOADSTATUSA log using the following command:
LOG SOFTLOADSTATUSA ONCHANGED
.
3. Initialize SoftLoad with a
SOFTLOADRESET
command. This command stops all tracking on the receiver to ensure sufficient memory is available for the loading process. A RXSTATUSEVENTA log reports a SoftLoad In Progress status.
4. Open the *.HEX firmware file.
5. Send each line of the *.HEX file to the receiver in a
SOFTLOADSREC
command. The S-Records must be enclosed by quotation marks:
SOFTLOADSREC "<S-RECORD>"
6. Send the
SOFTLOADCOMMIT
command.
7. During the loading process, SOFTLOADSTATUSA logs report the load status. Wait for the
SOFTLOADSTATUSA to indicate loading is
COMPLETE
.
8. Send the new auth-code for the receiver with the following special case of the AUTH command:
AUTH ADD_DOWNLOAD
<auth-code>
9. Reset the receiver by entering
RESET
,
FRESET
or power cycling.
10. Once the receiver resets, the new version of firmware is active.
The SoftLoad process can be canceled safely at any time during the process using the
RESET
command.
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NovAtel Firmware and Software Chapter 5
5.4.1
Working with S-Records
• Records beginning with S0, S5 and S7 should be passed to the receiver directly using the
SOFTLOADSREC command. These records contain meta data about the firmware image.
• Records beginning with S3 form the actual firmware image and can be converted to SOFTLOADDATA binary commands. Aside from the header, each pair of characters forms the ASCII representation of binary byte. The format is as follows:
S3 LL AAAAAAAA DDDDDDDD...DDDDDDDD
CC
Check Sum. One's compliment of all other bytes
Little Endian Data. These bytes are copied into the "data" field of the
SOFTLOADDATA command
4 - Byte Address. Set this as the value of "offset" in the SOFTLOADDATA command
Length. This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes for the address and 1 byte for the check sum is copied into the "data length" field of the
SOFTLOADDATA command
Header
• Multiple S3 records can be packaged into a single
SOFTLOADDATA
command as long as the data from one S3 record follows immediately after the previous record, up to a maximum of 4096 bytes of data. That is, the address must equal the previous address plus the previous data length. The "offset" field remains the address of the first S3 record and the "data" and "data length" are updated to include the new data.
• The hex file data may contain many gaps and jumps. For example, in most NovAtel hex files data for address 0x000_00000 is stored near the very end of the file.
5.5
Upgrading Using the AUTH Command
The
AUTH
command authorizes the enabling (unlocking) of model features. The
AUTH
command is used to upgrade a new receiver model, available with the same firmware version as the current model. This command only functions with a valid auth-code assigned by NovAtel Customer Support .
The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program.
Refer to Section 5.3.1.1, Types of Firmware Files on page 37 for details on updating versus
upgrading.
5.5.1
Upgrade Procedure
1. Power up the receiver and establish communications.
2. Issue the
LOG VERSION
command to verify the current model, firmware version and serial number
(refer to Section 5.2, Authorization Code on page 36 for instructions on obtaining).
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NovAtel Firmware and Software Chapter 5
3. Issue the
AUTH
command, followed by the auth-code and model type (refer to Section 5.2,
Authorization Code on page 36 for details on obtaining any auth-code). The syntax is as follows:
auth <your auth-code here> where auth is a command that enables model upgrades and auth-code is the upgrade authorization code, expressed as follows:
XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE where:
1. Each X character is a case-insensitive ASCII character.
2. The MODEL string is a maximum of 15 characters long and represents the model enabled by the authcode.
3. The EXPDATE string is the auth-code’s expiry date, in YYMMDD format
Example: auth 7WBMBK,887CB6,K5J3FH,5DF5P2,42PW8G,D1SB0GTT0,121211
When the
AUTH
command is executed, the receiver reboots. Issuing the
LOG VERSION
command confirms the new upgrade model type and firmware version number.
If communicating using NovAtel Connect, the communication path must be closed and reopened using the
Device menu.
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Appendix A Technical Specifications
A.1 AG-Star Receiver Performance
PERFORMANCE
Channel Configuration
Horizontal Position Accuracy (RMS)
Measurement Precision (RMS)
Maximum Data Rate
Time to First Fix b
14 GPS L1
12 GPS L1 + 2 SBAS a
10 GPS L1 + 4 GLONASS L1
8 GPS L1 + 6 GLONASS L1
8 GPS L1 + 4 GLONASS L1 + 2 SBAS a
10 GPS L1 + 2 GLONASS L1 + 2 SBAS a
7 GPS L1 + 7 GLONASS L1
14 GLO L1
Autonomous
NovAtel CORRECT
1.5 m
SBAS a
L1 C/A Code
L1 Carrier Phase
Measurements
Position
Cold Start c
Hot Start d
DGPS
GPS
5 cm
0.6 mm
10 Hz
10 Hz
85 s
55 s
0.9 m
0.5 m
GLONASS
35 cm
1.5 mm
Signal Reacquisition
Time Accuracy (RMS)
GPS
GLONASS
20 ns
40 ns
Velocity Accuracy b (RMS) 0.05 m/s a. Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe) and MSAS (Japan).
b. Typical values. Performance specifications subject to GPS system characteristics, US DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length, multipath effects and the presence of intentional or unintentional interference sources.
Export licensing restricts operation to a maximum velocity of 515 metres per second.
c. Typical value. No almanac or ephemerides and no approximate position or time.
d. Typical value. Almanac and recent ephemerides saved and approximate time entered. For more information, refer to the
“SETAPPROXTIME” command in the OEMStar Firmware Reference Manual .
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A.2 AG-Star Specifications
AG-Star COM/PWR
Serial Com Ports
CAN
Emulated Radar Output
PPS Output
MKI Input
Electrical Conducted/
Coupled disturbance tolerance
INPUT/OUTPUT CONNECTORS
+8 to +36 V DC at 2.5 W (typical while logging) a
For the cable pinouts and drawings, see Section A.2.2, AG-Star Communications/
Power Cable (01018256) on page 47.
RS-232 F Compliant (Rx and Tx signals only)
SAE J1939/ ISO 11783/ ISO 11898 Compatible
High = Supply Voltage -0.5V Minimum
Low = 0.5V Maximum
Load ≥ 3k Ohm
3.3V CMOS Logic Compatible
3.3V CMOS Logic / 5V Tolerant
INPUT/ OUTPUT CONNECTOR PROTECTION
ISO 7637-2:2004
Functional Class A: Pulses 2a, 3a, 3b, 4
Functional Class C: Pulses 1, 2b
LED INDICATORS
More details can also be found in Section 2.2.1, Status Indicators on page 18.
Size
Weight 495 g maximum
PHYSICAL
155.3 x 66.8 x
155 mm b
ENVIRONMENTAL
Operating Temperature
Storage Temperature
Humidity
Immersion
Solar Radiation
-40 C to +75C
-55 C to +90C
MIL-STD-810G-Method 507.5
MIL-STD-810G Method 512.5
EN60950-22, Clause 8.2
MIL-STD-810G Method 505.5
Salt Fog
Sand and Dust
MIL-STD-810G, Method 509.5
MIL-STD-810G, Method 510.5
Vibration Random
Sinusoidal
Shock
Ingress Protection Rating IP67 c
MIL-STD-810G, Method 514.6, Category 24
ASAE EP455, Section 5.15.2 Level 1 & 2
MIL-STD-810-G Method 516.6
REGULATORY
Compliance FCC, Industry Canada, CE Marking, E-mark a. When tracking GPS satellites.
b.
denotes diameter, here and in Figure 27, AG-Star Dimensions on page 46.
c. IP67 rating requires that the cable is connected to the antenna.
AG-Star User Manual Rev 4 44
Strobes
Default
Behavior
Table 5: AG-Star Strobes
Input/Output
Factory
Default
Comment a
Event Mark In
(MKI)
PPS
Dedicated pin
Dedicated pin
Input
Leading edge triggered
Output
Active low
Active low
An input mark for which a pulse greater than 150 ns triggers certain logs to be generated. (Refer to the MARKPOS and
MARKTIME logs and ONMARK trigger.)
Polarity is configurable using the
MARKCONTROL command.
A time synchronization output. This is a pulse where the leading edge is synchronized to receiver-calculated GPS
Time. The polarity and period can be configured using the PPSCONTROL command.
a. The commands and logs shown in capital letters (for example, MARKCONTROL) are discussed in further detail in the OEMStar Family Firmware Reference Manual.
I/O Line Symbol
Table 6: AG-Star Input/Output Electrical Specifications
Minimum
(V)
Typical
(V)
Maximum
(V)
Current
(mA)
Conditions a
V
OL
V
OH
0.8 V -4 mA
PPS
2.3 V -8 mA
MKI
V
IL
V
IH
2.0 V
0.8 V 0.25 mA
0.30 mA a. The above characteristics are applicable over the operating temperature range.
With on-board I/O supply,
VDDIO=3.3V
AG-Star User Manual Rev 4 45
A.2.1
Dimensions
Figure 27: AG-Star Dimensions
All dimension are in millimeters. Use the Unit Conversions page found at www.novatel.com/ support/knowledge-and-learning/ for conversion to other measurements.
AG-Star User Manual Rev 4 46
A.2.2
AG-Star Communications/Power Cable (01018256)
wires (red for positive and black for negative) can then be connected to a vehicular power circuit (or equivalent) protected by a 5A fast blow fuse (user supplied). The cable also has two DB-9 connectors. One can accommodate a computer serial (RS-232) communication port and the other can connect to a modem or radio transmitter to propagate differential corrections (refer to your user-supplied modem or radio transmitter user guide for more information on its connectors).
Bluetooth wireless technology uses the COM2 port. When Bluetooth wireless technology is enabled, COM2 is not available on the AG-Star connector or the cable.
In addition, there are a number of bare wires where the outer insulation is cut away but the wires beneath are
This cable is RoHS compliant.
Figure 28: AG-Star Communication/Power Cable
AG-Star User Manual Rev 4 47
Signal Name
COM1_TXD
COM1_RXD
COM2_TXD
COM2_RXD
COM1 GND
COM2 GND
MKI GND
ER GND
PPS GND
Table 7: AG-Star Communication/Power Cable Pinouts
J1
3
4
1
2
J2
2
3
J3
2
3
Label
5
5
5
MKI GND
ER GND
PULSE PER SECOND
GND
CANI +
CANI -
CAN+
CAN-
RESERVED
PWR RET (GND)
EMULATED RADAR OUT
EVENT MARK IN
PPS
RESERVED
PWR INPUT
10
11
12
13
14
8
9
6
7
BATT -
ER_OUT
MKI
PPS
BATT +
AG-Star User Manual Rev 4 48
A.2.3
AG-Star Connector and Cable Requirements
Custom cables for installing your AG-Star can be created using the following guidelines:
• Wire size: must be 0.5 mm-1.25 mm (20-16 AWG)
• Batt + connection must be protected by 5A fast blow fuse
• Serial data signals (TxD, RxD, signal ground) must be run in shielded cable.
Connect shields to ground at the AG-Star end only.
• CAN signal conductors must be twisted (40 twists/m, 12 twists/ft)
• Use only the recommended mating connectors listed below. Use only gold plated pins
Failure to observe the given cable construction guidelines in this section will result in damage to the wiring (not covered by warranty).
The connector used in the AG-Star is an “AMPSEAL” dust and water sealed type produced by Tyco. The following part numbers pertain to the mating connector required to make connections to the AG-Star. These numbers are provided for information only and are not available from NovAtel as separate parts.
Table 8: AG-Star Mating Connectors
Product Part Description Company Part Number
AG-Star mating connector (Figure 28, AG-Star
Communication/Power Cable on page 47)
Gold plated pins for AG-Star connector/loose
Gold plated pins for AG-Star connector/strip
Seal Plug for unused pins on mating connector
14-pin sealed receptacle housing-black
Pins, loose piece
Pins, strip (reel)
Seal Plug
Tyco/AMP 776273-1
Tyco/AMP 770854-3
Tyco/AMP 770520-3
Tyco/AMP 770678-1
Table 9, Recommended Fuse and Fuse Holders on page 49 details the part numbers for recommended fuses
and fuse holders. These numbers are provided for information only and are not available from NovAtel as separate parts.
Table 9: Recommended Fuse and Fuse Holders
Fuse Recommended Fuse/Fuse Holder
12 V System Fuse
(standard size blade)
12 V System Fuse
(mini size blade)
24 V System Fuse
High Reliability, Harsh Environment
(standard size blade)
Inline Fuse Holder
(for standard size blade)
Inline Fuse Holder
(for mini size blade)
ATO Silver Blade Fuse 5 A (32 V) Littelfuse
Or Equivalent
Mini Blade Fuse 5A (32 V) Littelfuse
Or Equivalent
FKS ATO Blade Fuse 5A (80 V) Littelfuse
Or Equivalent
Waterproof ATO Fuse Holder
Or Equivalent
Waterproof Mini Fuse Holder
Littelfuse
Littelfuse
Or Equivalent
0287005
0297005
166.7000.450
FHAC0001
0FHM0001
AG-Star User Manual Rev 4 49
Appendix B Commands
The AG-Star firmware implements the OEMStar family command set, documented in the OEMStar Firmware
Reference Manual
. Commonly used AG-Star commands are summarized in Table 10, AG-Star Commands in
Alphabetical Order and documented in this appendix.
Table 10: AG-Star Commands in Alphabetical Order
ASCII Command
COM
FRESET
LOG
RADARCFG
RESET
SETCANNAME
Message ID
4
20
1
8192
18
1091
Configure the receiver serial port.
Factory reset (Existing OEMStar command extended to AG-Star)
Request logs from the receiver
Configure the ER signal output (New AG-Star command)
Perform a hardware reset
Set the CAN name fields.
Description
The arguments for each of these commands are described in the following sections.
For a complete listing and description of the other commands that the AG-Star, an OEMStar-based receiver, is capable of processing, refer to the OEMStar Firmware Reference Manual .
B.1 Syntax Conventions
The following rules apply when entering commands, at the command prompt, from a keyboard.
1. Courier font is used to illustrate program output or user input.
2. References to other commands, logs or any of their fields are shown in italics.
3. The commands are not case sensitive. For example, you could type either RESET or reset.
4. Except where noted, either a space or a comma can separate commands and their required entries. For example, you could type either fix position 51.11358042 -114.04358013 1059.4105 or fix position 51.11358042, -114.04358013, 1059.4105.
5. At the end of a command, a carriage return is required. For example, press <Enter> or <Return> on your keyboard.
6. Responses are provided to indicate whether or not an entered command was accepted. The format of the response depends on the format of the command. Refer to the OEMStar Firmware Reference Manual for more information.
7. Optional parameters are indicated by square brackets ( [ ] ). For commands that contain optional parameters, the value used if the optional parameter is not specified is given in the syntax table for the command.
8. Data format definitions, as specified in the “Format” field, are detailed in the OEMStar Firmware
Reference Manual . Note that all binary data is little-endian byte-ordered.
AG-Star User Manual Rev 4 50
B.2 COM Configure COM Port
This command permits you to configure the receiver’s asynchronous serial port communications drivers.
The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of at least 250 milliseconds following the second break. This will:
• Stop the logging of data on the current port (see UNLOGALL command in the OEMStar Firmware
Reference Manual ).
• Clear the transmit and receive buffers on the current port.
• Return the current port to its default settings (see Factory Defaults section in the OEMStar Firmware
Reference Manual ).
• Set the interface mode to NovAtel for both input and output (see INTERFACEMODE command in the
OEMStar Firmware Reference Manual ).
Baud rates higher than 115,200 bps are not supported by standard computer hardware. Special hardware may be required for higher rates, including 230400 bps, 460800 bps and 921600 bps.
Also, some computers have trouble with baud rates beyond 57600 bps.
Message ID: 4
Abbreviated ASCII Syntax:
COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]
Factory Default:
COM COM1 9600 N 8 1 N OFF ON
COM COM2 9600 N 8 1 N OFF ON
On AG-Star receivers with Bluetooth wireless technology, the default settings for COM2 are: com2 115200 n 8 1 cts off off
Changing the COM2 serial port settings could interfere with the ability to communicate using
Bluetooth wireless technology.
ASCII Example:
COM COM1,57600,N,8,1,N,OFF,ON
Use the COM command before using the INTERFACEMODE command on each port.
Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate.
This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to have break detection disabled using the COM command.
AG-Star User Manual Rev 4 51
Field Field Type ASCII Value
Binary
Value
Description
Binary
Format
Binary
Bytes
Binary
Offset
H 0 1
2
3
4
5
6
COM header port bps/baud parity databits stopbits 1 or 2
7 handshake 0
1
2
This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary.
-
Enum
6
8
1
2
COM1
COM2
Select COM port 1 to configure
Select COM port 2 to configure
THISPORT Select the current COM port (default)
ALL Select all COM ports
Communication baud rate (bps).
300, 600, 900, 1200, 2400,
4800, 9600, 19200, 38400,
57600, 115200, or 230400
0 N No parity (default)
ULong
Enum
1
2
7 or 8
E
O
N
XON
CTS
Even parity
Odd parity
Number of data bits
(default = 8)
Number of stop bits
(default = 1)
No handshaking (default)
XON/XOFF software handshaking
ULong
ULong
Enum
8
9 echo break
OFF
ON
OFF
ON
0
1
0
1
CTS/RTS hardware handshaking a
No echo (default)
Transmit any input characters as they are received
Disable break detection
Enable break detection (default)
Enum
Enum
4
4
4
4
4
4
4
4
H
H+4
H+8
H+12
H+16
H+20
H+24
H+28 a. Although the standard command for the receiver card within the AG-Star accepts the CTS option for hardware handshaking, the physical lines for hardware flow control are not available on the AG-Star connector.
AG-Star User Manual Rev 4 52
B.3 FRESET Clear Selected Data from NVM and Reset
The OEMStar freset command is extended to include AG-Star features. An additional target field, userdata
(value = 10), resets only the AG-Star user data NVM, thereby resetting all parameters indicated in this document as “Stored in NVM” to factory defaults. Issuing the freset command with the “target” field set to
standard, resets the userdata NVM as well as OEMStar parameters as indicated in the OEMStar Firmware
Reference Manual .
If you issue the FRESET command without any parameters, it is the same as issuing a
FRESET STANDARD command.
1
Field
Field
Type
FRESET header
-
2 target
ASCII
Value
-
Binary
Value
Description
Binary
Format
Binary
Bytes
H 0
Binary
Offset
This field contains the command name or the message header depending on whether the command is abbreviated
ASCII, ASCII or binary.
-
Data to be reset by the receiver Enum 4 H
Binary
10
11
4
5
2
3
0
1
20
21
31
ASCII
Table 11: FRESET Target
Description
STANDARD
COMMAND
GPSALMANAC
GPSEPHEM
Resets commands, ephemeris, and almanac (default).
Resets the stored commands (saved configuration)
Resets the stored GPS almanac
Resets the stored GPS ephemeris
GLOEPHEM
MODEL
Resets the stored GLONASS ephemeris
Resets the currently selected model
USERDATA Reset AG-Star only commands
CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command
SBASALMANAC
LAST_POSITION
GLOALMANAC
Resets the stored SBAS almanac
Resets the position using the last stored position
Resets the stored GLONASS almanac
AG-Star User Manual Rev 4 53
B.4 LOG Request Logs from the Receiver
Many different types of data can be logged using several different methods of triggering the log events. Every log element can be directed to any combination of the two COM ports. The ONTIME trigger option requires the addition of the period parameter. See the OEMStar Firmware Reference Manual for further information and a complete list of data log structures. The LOG command tables in this section show the ASCII command format.
The optional parameter [hold] prevents a log from being removed when the UNLOGALL command, with its defaults, is issued. To remove a log that was invoked using the [hold] parameter requires the specific use of the UNLOG command. To remove all logs that have the [hold] parameter, use the UNLOGALL command with the held field set to 1.
The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was received on.
1. The OEMStar family of receivers can handle 30 logs at a time. If you attempt to log more than 30 logs at a time, the receiver responds with an Insufficient Resources error.
2. Maximum flexibility for logging data is provided to the user by these logs. The user is 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. Receiver overload can be monitored using the idle-time field and buffer overload bits of the Receiver Status in any log header.
3. Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz.
4. Use the ONNEW trigger with the MARKTIME or MARKPOS logs.
5. Only the MARKPOS or MARKTIME logs, and ‘polled’ log types are generated ‘on the fly’ at the exact time of the mark. Synchronous and asynchronous logs output the most recently available data.
6. If you do use the ONTIME trigger with asynchronous logs, the time stamp in the log does not necessarily represent the time the data was generated, but rather the time when the log is being transmitted.
Message ID: 1
Abbreviated ASCII Syntax:
LOG [port] message [trigger [period [offset [hold]]]]
Factory Default:
LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD
LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD
Abbreviated ASCII Example 1:
LOG COM1 BESTPOS ONTIME 7 0.5 HOLD
The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0.5 seconds
(output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not disrupted by the UNLOGALL command.
To send a log only one time, the trigger option can be ignored.
Abbreviated ASCII Example 2:
LOG COM1 BESTPOS ONCE 0.000000 0.000000 NOHOLD
AG-Star User Manual Rev 4 54
Refer to the Command Formats section of the OEMStar Firmware Reference Manual for additional examples.
1. In NovAtel Connect there are two ways to initiate data logging to the receiver's serial ports.
You can either enter the LOG command in the Console window, or use the interface provided in the Logging Control window. Ensure the Power Settings on your computer are not set to go into Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging session.
2. Only the ASCII/Abbreviated ASCII log table is included in this manual. Refer to the LOG command in the OEMStar Firmware Reference Manual for binary log details.
Field
1
2
3
4
5
6
7
Field
Name
ASCII Value Description
Field
Type
LOG
(ASCII) header period offset hold
port
message Any valid message name, with an optional A or B suffix.
trigger ONNEW
This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively.
Output port
(default = THISPORT)
Message name of log to output
-
Enum
Char [ ]
ONCHANGED
ONTIME
ONNEXT
ONCE
HOLD
Output when the message is updated (not necessarily changed)
Output when the message is changed
Output on a time interval
Output only the next message
Output only the current message. (default)
Enum
ONMARK
Any positive double value larger than the receiver’s minimum raw measurement period
Log period (for ONTIME trigger) in seconds
(default = 0)
Any positive double value smaller than the period.
Output when a pulse is detected on the mark 1 input, MK1I
Offset for period (ONTIME trigger) in seconds. If you wished to log data at 1 second after every minute you would set the period to 60 and the offset to 1 (default = 0)
Double
Double
NOHOLD Allow log to be removed by the UNLOGALL command (default)
Prevent log from being removed by the
UNLOGALL command
Enum
AG-Star User Manual Rev 4 55
ASCII Port Name
NO_PORTS
COM1
COM2
THISPORT
ALL
Table 12: Detailed Serial Port Identifiers
Hex Port
Value
Decimal Port
Value
Description
2
6
0
1
8
2
6
0
1
8
No ports specified
COM port 1
COM port 2
The current COM port
All COM ports
AG-Star User Manual Rev 4 56
B.5 RADARCFG Configure the ER Output
Use this command to configure the Emulated Radar (ER) output. ER is available through the AG-Star
out details.
Message ID: 8192
Syntax radarcfg switch freq_step update_rate resp_mode threshold
Field
1
2
3
4
5
6
Data Description
Binary
Format
RADARCFG header switch freq_step
This field contains the command name or the message header depending on whether the command is abbreviated
ASCII, ASCII or binary.
Enable or disable radar emulation
0 = ENABLE
1 = DISABLE
(default = enable)
Frequency step per kilometer per hour (Hz/kph).
Range: 26.11, 28.12 or 36.11
(default = 26.11) update_rate Specify how often to update radar output (in Hz)
Range: 1, 2, 5, 10, 20
(default = 10) a resp_mode Specify the time, response mode, over which to average
velocity samples, see Table 13, Response Modes on page 57.
(Default = 500) a threshold The threshold is only applicable when the response mode is set to 2. The response time is 1000 ms when the velocity is greater than this value, otherwise, it is 500 ms.
Range: 2-50 kph
(default = 5 kph)
-
Enum
-
4
Double 8
Integer 4
Integer 4
Double 8
Binary
Bytes
Binary
Offset
0
H
H+4
H+12
H+16
H+20 a. The number of samples used for smoothing depends on both the update_rate and resp_mode parameters. For instance, if the update_rate is 5 Hz and the resp_mode is 2000ms, the number of samples used will be 10.
2
1
Mode
2000
1000
500
Table 13: Response Modes
Description
2000 ms
1000 ms
500 ms (default)
The time period over which to smooth velocity samples
Automatically switches between 1000 and 500 ms
Performs no smoothing
Example 1 to disable radar emulation:
Example 2 to set the frequency step to 36.11 Hz/kph, update rate to 1 Hz and no smoothing: radarcfg disable 26.11 1 1 2 radarcfg enable 36.11 1 1 2
AG-Star User Manual Rev 4 57
B.6 SELECTCHANCONFIG Set channel configuration
The SELECTCHANCONFIG command should only be used by advanced users.
This command changes the channel configuration used on the AG-Star receiver. It causes an immediate
configurations.
Configurations containing GLONASS channels are only available when the AG-Star has the
GLONASS option enabled in the model.
Field
Message ID: 1149
Abbreviated ASCII Syntax:
SELECTCHANCONFIG [set]
Factory Default (without GLONASS option): selectchanconfig 2
Factory Default (with GLONASS option): selectchanconfig 3
Abbreviated ASCII Example: selectchanconfig 2
Field Type
ASCII
Value
Binary
Value
1
2
SELECTCHANCONFIG header
target
-
Description
Binary
Format
Binary
Bytes
Binary
Offset
This field contains the command name or the message header depending on whether the command is abbreviated
ASCII, ASCII or binary.
H
Channel configuration set Ulong 4
0
H
AG-Star User Manual Rev 4 58
Table 14: AG-Star Channel Configuration Sets
Binary ASCII Description
1
2
3
4
5
6
7
8
1
2
3
4
5
6
7
8
14 GPS L1 channels
12 GPS L1 channels
2 SBAS L1 channels
10 GPS L1 channels
4 GLONASS L1 channels
8 GPS L1 channels
6 GLONASS L1 channels
8 GPS L1 channels
4 GLONASS L1 channels
2 SBAS L1 channels
10 GPS L1 channels
2 GLONASS L1 channels
2 SBAS L1 channels
7 GPS L1 channels
7 GLONASS L1 channels
14 GLONASS L1 channels
7 GPS L1 + 7 GLONASS L1 channel configuration is recommended for timing-only applications.
Table 15: OEMStar Channel Configurations
Configurations Set Description
GPS
GPS/SBAS
GPS/GLONASS
GPS/GLONASS
GPS/GLONASS/SBAS
GPS/GLONASS/SBAS
GPS/GLONASS
GLONASS
1
2
3
4
5
6
7
8
0 to 13 for GPS L1 channels
0 to 11 for GPS L1 channels
12 to 13 for SBAS L1 channels
0 to 9 for GPS L1 channels
10 to 13 for GLONASS L1 channels
0 to 7 for GPS L1 channels
8 to 13 for GLONASS L1 channels
0 to 7 for GPS L1 channels
8 to 11 for GLONASS L1 channels
12 to 13 for SBAS L1 channels
0 to 9 for GPS L1 channels
10 to 11 for GLONASS L1 channels
12 to 13 for SBAS L1 channels
0 to 6 for GPS L1 channels
7 to 13 for GLONASS L1 channels
0 to 13 GLONASS L1 channels
AG-Star User Manual Rev 4 59
B.7 SETCANNAME Sets the CAN name fields
This commands sets the CAN device name fields.
Message ID: 1091
Abbreviated ASCII Syntax:
SETCANNAME ManufacturerCode [IndustryGroup] [DeviceClass]
[DeviceClassInstance] [Function] [FunctionInstance] [ECUInstance]
[PreferredAddress]
ASCII Example:
SETCANNAME 305
Field
1
2
3
Field Type
4 DeviceClass
5 DeviceClassInstance
6
7
8
9
10
SETCANNAME header
ManufacturerCode
IndustryGroup
Function
FunctionInstance
ECUInstance
PreferredAddress
Reserved
-
ASCII
Value
Binary
Value
-
Description
Binary
Format
This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary.
CAN module's Manufacturer Code
-
ULong
ULong Industry group number
(default = 2)
11783-5 Device class (default = 0)
11783-5 Device class instance
(default = 0)
11783-5 Function (default = 23)
ULong
ULong
ULong
ULong 11783-5 Function instance
(default = 0)
11783-5 ECU Instance
(default = 0)
Device default address on start up
(default=28)
ULong
ULong
ULong
Binary
Bytes
Binary
Offset
H
4
4
4
4
4
4
4
4
4
0
H
H+4
H+8
H+12
H+16
H+20
H+24
H+28
H+32
AG-Star User Manual Rev 4 60
Appendix C Logs
C.1 Position Logs
C.1.1
NMEA Logs
The NMEA logs (receiver outputs) supported by the AG-Star are summarized in the OEMStar Firmware
Reference Manual . The available logs include:
• GPGGA, which outputs a log of position system fix data and undulation. There are variants of
GPGGA, specifically:
GPGGALONG, which has both greater precision and the undulation field
• GPVTG, which outputs track made good and ground speed
The steps for configuring the receiver output, through the command line are:
1. Configure the communication port using the COM command, described in Section B.2, COM Configure
COM Port on page 51. To set COM port 2 as follows:
Bit Rate
Parity
Data Bits
Stop Bits
Handshaking
Echo
Break
8
1
9600 none
None
Off
On enter the following string: com com2 9600 n 8 1 n off on
2. Select and configure the NMEA string that you want to output. For example, to log gpgga (position system fix data and undulation) at 2 Hz, enter the following string: log gpgga ontime 0.5
The above command line operations can also be carried out through NovAtel Connect. Information about configuring the communication port can be found in the NovAtel Connect online help. The procedure for adding a NMEA log through NovAtel Connect is summarized as follows:
1. In the Logging control window, click Logging to one or more of the receiver's serial ports. The Add Log window displays.
2. Beside Select list, select Complete List or NMEA List.
3. Beside Log to file, select the NMEA log you want to add.
4. Select the port.
5. Configure the remaining fields then click Add.
AG-Star User Manual Rev 4 61
C.1.2
NovAtel Position Logs
In addition to NMEA logs, NovAtel supports a range of non-NMEA position logs, described in the OEMStar
Firmware Reference Manual , including:
• BESTPOS: This log contains the best available position computed by the receiver, for example: log bestposa ontime 0.5
• BESTXYZ: This log contains the receiver’s best available position and velocity in ECEF coordinates, for example: log bestxyza ontime 1
C.2 Other Logs
those of the OEMStar family log set. Refer to the OEMStar Firmware Reference Manual , which also contains procedures and explanations related to data logging.
Message ID
8193
37
Table 16: AG-Star Logs in Alphabetical Order
ASCII Log Description
RADARSIGNAL Radar signal and position information
(AG-Star log)
VERSION Hardware versions, software versions, and serial numbers
(Existing OEMStar log extended to AG-Star)
AG-Star User Manual Rev 4 62
C.2.1
RADARSIGNAL ER Signal and Position Information
This log contains position and Emulated Radar (ER) signal information.
Message ID: 8193
Log Type: Asynch
Recommended Input: log radarsignala onchanged
ASCII Example 1 (stationary AG-Star):
#RADARSIGNALA,COM1,0,61.5,FINESTEERING,1501,248381.628,00000000,8a1c,3723;
SOL_COMPUTED,WAAS,0.0139,0.00,0.00*f0d580ca
ASCII Example 2 (moving AG-Star):
#RADARSIGNALA,COM1,0,45.0,FINESTEERING,1755,1475.442,00000000,f81d,12614;
SOL_COMPUTED,WAAS,2.8010,4214.075011,263.379688*cca8853d
Field Field type Data Description Format
Binary
Bytes
Binary
Offset
H 0 1 RADARSIGNAL header
2 sol status
3 vel type
Log header
Solution status, see Table 18, Solution Status on page 64
Velocity type, see Table 17, Position or Velocity Type on page 63
Speed over ground (m/s)
Enum
Enum
Double 4 speed
4 varf freq
5 radar freq
External VARF output frequency (Hz)
Radar signal frequency (Hz) as output by the Emulated
Radar Out signal.
Double
Double
6 xxxx
7 [CR][LF]
32-bit CRC (ASCII and Binary only)
Sentence terminator (ASCII only) -
Hex
4
4
8
8
8
4
-
H
H+4
H+8
H+16
H+24
H+32
-
Type (binary)
Table 17: Position or Velocity Type
Type (ASCII) Description
16
17
18
19
0
1
2
8
NONE
FIXEDPOS a
FIXEDHEIGHT a
SINGLE
PSRDIFF
WAAS
PROPAGATED
No solution
Position has been fixed by the FIX POSITION command
Position has been fixed by the FIX HEIGHT/AUTO command
DOPPLER_VELOCITY Velocity computed using instantaneous Doppler
Single point position
Pseudorange differential solution
Solution calculated using corrections from an SBAS
Propagated by a Kalman filter without new observations a. With default PDPFILTER ENABLE, the bestpos will no longer show that the position has been fixed, unless
PDPFILTER is DISABLED.
AG-Star User Manual Rev 4 63
Table 18: Solution Status
Binary
Solution Status
ASCII
Description
6
7
4
5
2
3
0
1
SOL_COMPUTED
INSUFFICIENT_OBS
Solution computed
Insufficient observations
NO_CONVERGENCE No convergence
SINGULARITY Singularity at parameters matrix
COV_TRACE
TEST_DIST
COLD_START
V_H_LIMIT
Covariance trace exceeds maximum (trace > 1000 m)
Test distance exceeded (maximum of 3 rejections if distance > 10 km)
Not yet converged from cold start
Height or velocity limits exceeded (in accordance with export licensing restrictions)
10
11
8
9
VARIANCE
RESIDUALS
DELTA_POS
NEGATIVE_VAR
Variance exceeds limits
Residuals are too large
Delta position is too large
Negative variance
12
13
Reserved
INTEGRITY_WARNING Large residuals make position unreliable
14-17 Reserved for SPAN-capable receivers
18 PENDING When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid a
19 INVALID_FIX
20 UNAUTHORIZED
The fixed position, entered using the FIX POSITION command, is not valid
Position type is unauthorized - HP or XP on a receiver not authorized for it a. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid. The receiver needs to be tracking two or more GNSS satellites to perform this check. Under normal conditions PENDING should appear for a few seconds on power up before the GNSS receiver has locked onto its first few satellites. If your antenna is obstructed and you have entered a FIX POSITION command, then you may see PENDING indefinitely.
AG-Star User Manual Rev 4 64
C.2.2
VERSION Hardware and Software Versions and Serial Numbers
The Component Type of the VERSION log, refer to the OEMStar Firmware Reference Manual , is extended to
include AG-Star information as in Table 19, Component Type.
Table 19: Component Type
Binary Value a ASCII Value Description
3
8
0
1
UNKNOWN
GPSCARD
ENCLOSURE
USERINFO
Unknown Component
OEMStar GPSCard Component
AG-Star Receiver
User-application information component
981073925
(0x3A7A0005)
DB_USERAPPAUTO Auto-starting user-application firmware a. Unused numbers are reserved for future use.
For the AG-Star, the BT MAC address field has been added, in hexadecimal format, to the USERINFO block.
<
<
< VERSION COM1 0 85.0 UNKNOWN 0 11.971 004c0000 3681 12362
< 4
< GPSCARD "LXGMTSA" "DHD13302094" "M6XV1G-2.02-TT" "L6X010106RN0000"
"L6X010100RB0000" "2013/Aug/14" "11:10:30"
< DB_USERAPPAUTO "SmartApp" "0x0" "" "EAGST0200RN0000" ""
"2013/Sep/11" "14:28:32"
ENCLOSURE "AgStarBT" "NMEE13330008L" "0" "0" "0" "0" "0"
USERINFO "LMX9830" "0212" "AGSTAR" "" "" "" ""
In the above example, the firmware is shown as L6X010106RN0000 and the AG-Star application is shown as EAGST0200RN0000.
AG-Star User Manual Rev 4 65
Appendix D Replacement Parts
The following are lists of the replacement parts available for your NovAtel AG-Star receiver. Should you require assistance, or need to order additional components, contact your local NovAtel dealer or Customer
Service representative.
D.1 AG-Star
Table 20: AG-Star Product
Part Description
AG-Star
AG-Star with Bluetooth
AG-Star Communications/Power Cable
14-pin socket to 2 DB-9 connectors, twisted CAN I/O pair, and other bare wire connectors (see
Section A.2.2, AG-Star Communications/Power Cable (01018256) on page 47)
Mounting Plate
Pole Mount Kit
NovAtel Part
01019131
01019129
01018256
01018317
01019142
D.2 User Manuals
Table 21: Reference User Manuals
Part Description
OEMStar Installation and Operation User Manual
OEMStar Firmware Reference Manual
NovAtel Part
OM-20000126
OM-20000127
The accessories above are also available from www.novatel.com
AG-Star User Manual Rev 4 66
OM-20000149 Rev 4 March 2015
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Table of contents
- 7 Notices
- 10 Customer Support
- 11 Introduction
- 11 1.1 Models and Features
- 12 1.2 Scope
- 12 1.3 Conventions
- 13 Installation and Setup
- 13 2.1 Additional Equipment Required
- 13 2.1.1 AG-Star Setup
- 14 2.1.2 Power Supply Requirements
- 15 2.1.3 Mounting Plate
- 17 2.1.4 Mounting the AG-Star
- 17 2.1.5 Connecting Data Communications Equipment
- 18 2.2 Additional Features and Information
- 18 2.2.1 Status Indicators
- 19 2.2.2 MKI and PPS Strobes
- 19 2.2.3 Emulated Radar (ER)
- 19 2.2.4 Controller Area Network (CAN)
- 20 Operation
- 20 3.1 Communications with the Receiver
- 20 3.1.1 Serial Port Default Settings
- 20 3.1.2 Communicating Using a Remote Terminal
- 21 3.1.3 Communicating Using a Computer
- 21 3.2 Getting Started
- 21 3.2.1 Starting the Receiver
- 21 3.2.2 Communicating with the Receiver Using NovAtel Connect
- 22 3.3 Channel Configuration
- 22 3.4 Transmitting and Receiving Corrections
- 24 3.4.1 Base Station Configuration
- 25 3.4.2 Rover Station Configuration
- 25 3.4.3 GPS + GLONASS Base and Rover Configuration
- 26 3.4.4 Configuration Notes
- 26 3.5 GLIDE
- 27 3.6 Emulated Radar (ER)
- 27 3.7 Recommended Configuration
- 28 Bluetooth Configuration
- 28 4.1 Bluetooth Wireless Technology on the AG-Star Receiver
- 28 4.2 Pairing with a new AG-Star
- 31 4.3 Determining the Bluetooth Serial Port
- 34 4.4 Communicate with the AG-Star Using Bluetooth Wireless Technology
- 35 NovAtel Firmware and Software
- 35 5.1 Firmware Updates and Model Upgrades
- 35 5.1.1 Firmware Updates
- 36 5.1.2 Model Upgrades
- 36 5.2 Authorization Code
- 37 5.3 Updating or Upgrading Using the WinLoad Utility
- 37 5.3.1 Transferring Firmware Files
- 38 5.3.2 Using the WinLoad Utility
- 40 5.4 Updating using SoftLoad Commands
- 41 5.4.1 Working with S-Records
- 41 5.5 Upgrading Using the AUTH Command
- 41 5.5.1 Upgrade Procedure
- 43 Technical Specifications
- 43 A.1 AG-Star Receiver Performance
- 44 A.2 AG-Star Specifications
- 46 A.2.1 Dimensions
- 47 A.2.2 AG-Star Communications/Power Cable (01018256)
- 49 A.2.3 AG-Star Connector and Cable Requirements
- 50 Commands
- 50 B.1 Syntax Conventions
- 51 B.2 COM Configure COM Port
- 53 B.3 FRESET Clear Selected Data from NVM and Reset
- 54 B.4 LOG Request Logs from the Receiver
- 57 B.5 RADARCFG Configure the ER Output
- 58 B.6 SELECTCHANCONFIG Set channel configuration
- 60 B.7 SETCANNAME Sets the CAN name fields
- 61 Logs
- 61 C.1 Position Logs
- 61 C.1.1 NMEA Logs
- 62 C.1.2 NovAtel Position Logs
- 62 C.2 Other Logs
- 63 C.2.1 RADARSIGNAL ER Signal and Position Information
- 65 C.2.2 VERSION Hardware and Software Versions and Serial Numbers
- 66 Replacement Parts
- 66 D.1 AG-Star
- 66 D.2 User Manuals