Novatel 01018518 Smart-MR10 BlueTooth Intergration User Manual OM 20000130SMARTMR10
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OM-20000130 Rev 0B
SMART-MR10
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2 SMART-MR10 User Manual Rev 0B
SMART-MR10 User Manual
Publication Number: OM-20000130
Revision Level: 0B
Revision Date: 2010/05/12
Firmware Version: OEMV 3.710, SmartAgApp 1.200
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 licence
agreement or non-disclosure agreement. The software may be used or copied only in accordance with
the terms of the agreement. It is against the law to copy the software on any medium except as
specifically allowed in the license or non-disclosure agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express written
permission of a duly authorized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of
publication.
ALIGN
,
GL1DE
, Narrow Correlator, NovAtel, OEMV, and RT-20 are registered trademarks of NovAtel
Inc.
Pinwheel and RT-2 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. All other brand names are trademarks of their
respective holders.
Manufactured and protected under U.S. Patents:
© Copyright 2010 NovAtel Inc. All rights reserved. Unpublished rights reserved
under International copyright laws. Printed in Canada on recycled paper.
Recyclable.
PAC Correlator
#6,243,409 B1
#5,414,729
Narrow Correlator®
#5,101,416
#5,390,207
#5,495,499
#5,809,064
GLONASS
#6,608,998 B1
GALILEO
#6,184,822 B1
Dual Frequency GPS
#5,736,961
Position for Velocity Kalman Filter
#6,664,923 B1
Anti-Jamming Technology
#5,734,674
RTK Positioning
#6,728,637 B2
#6,664,923 B1
Pinwheel™ Antenna
#6,445,354 B1
#6,452,560 B2
#6,466,177 B1
#7,250,916
SMART-MR10 User Manual Rev 0B 3
Table of Contents
Software License 7
Terms and Conditions 10
Warranty 12
Notice 13
Foreword 16
1 Introduction 18
1.1 SMART-MR10 Features .......................................................................................18
1.2 SMART-MR10 Models .......................................................................................... 20
2 Installation and Setup 21
2.1 Additional Equipment Required ............................................................................21
2.1.1 SMART-MR10 Setup................................................................................... 21
2.1.2 Installing the PC Utilities..............................................................................23
2.1.3 Power Supply Requirements....................................................................... 24
2.1.4 Mounting Plates...........................................................................................25
2.1.5 Mounting the SMART-MR10 .......................................................................28
2.1.6 Connecting Data Communications Equipment............................................28
2.2 Additional Features and Information..................................................................... 28
2.2.1 MKI and PPS Strobes.................................................................................. 28
2.2.2 Status Indicators..........................................................................................28
2.2.3 Emulated Radar (ER) .................................................................................. 30
2.2.4 Controller Area Network (CAN) ...................................................................30
3 Operation 32
3.1 Communications with the Receiver.......................................................................32
3.1.1 Serial Port Default Settings .........................................................................32
3.1.2 Communicating Using a Remote Terminal..................................................33
3.1.3 Communicating Using a Personal Computer ..............................................33
3.2 Getting Started......................................................................................................33
3.2.1 Starting the Receiver...................................................................................33
3.2.2 Communicating with the Receiver Using CDU............................................34
3.3 Transmitting and Receiving Corrections ...............................................................35
3.3.1 Base Station Configuration.......................................................................... 37
3.3.2 Rover Station Configuration ........................................................................38
3.3.3 GPS + GLONASS Base and Rover Configuration ......................................39
3.3.4 Configuration Notes.....................................................................................39
3.3.5 SBAS (Satellite-Based Augmentation Systems) .........................................40
3.4 GL1DE®................................................................................................................42
3.5 ALIGN®.................................................................................................................42
3.5.1 ALIGN Heading Master and Remote Configurations................................... 42
3.6 Emulated Radar (ER)............................................................................................ 42
3.7 Recommended Configuration ...............................................................................43
4 PC Utilities 44
4.1 CDU/Convert Installation ......................................................................................44
4.2 CDU ...................................................................................................................... 45
4 SMART-MR10 User Manual Rev 0B
Table of Contents
4.3 Convert................................................................................................................. 50
4.3.1 RINEX Format............................................................................................. 50
4.3.2 Convert4 Command Line Switches............................................................. 52
4.4 Firmware Upgrades.............................................................................................. 53
4.4.1 Upgrading Using the AUTH Command....................................................... 53
4.4.2 Updating Using the WinLoad Utility ............................................................ 54
5 Bluetooth® Configuration 59
5.1 Enable Bluetooth on the SMART-MR10 Receiver................................................ 59
5.2 Set Up a PC/Laptop with a Bluetooth Adaptor ..................................................... 60
5.3 Locate a Bluetooth-Enabled SMART-MR10 in Range ......................................... 60
5.4 Communicate with the SMART-MR10 Using Bluetooth ....................................... 61
5.5 Stop Communicating with SMART-MR10 Using Bluetooth.................................. 63
A Technical Specifications 64
SMART-MR10 Receiver Performance ...................................................................... 64
SMART-MR10 Specifications .................................................................................... 65
B Commands 73
Syntax Conventions .................................................................................................. 73
BTCONTROL Enable/Disable Bluetooth ................................................................... 74
COM Configure COM Port ........................................................................................ 75
FRESET Clear Selected Data from NVM and Reset ................................................. 78
LOG Request Logs from the Receiver ...................................................................... 79
PDPFILTER Enable, disable or reset the PDP filter .................................................. 84
PDPMODE Select the PDP mode and dynamics ...................................................... 85
RADARCFG Configure the ER output ....................................................................... 86
RESET Performs a hardware reset ........................................................................... 88
SBASCONTROL Set SBAS test mode and PRN ...................................................... 89
C Logs 91
Position Logs ............................................................................................................. 91
Other Logs ................................................................................................................. 93
D Replacement Parts 98
SMART-MR10 ........................................................................................................... 98
Accessories ............................................................................................................... 98
SMART-MR10 User Manual Rev 0B 5
Tables
1 SMART-MR10 Controller Models............................................................................... 20
2 SMART-MR10 Connector Pin-Out............................................................................. 22
3 Use of MODE Pin....................................................................................................... 22
4 SMART-MR10 LED Status Indicators ........................................................................ 29
5 Available CAN Signals on the SMART-MR10............................................................ 31
6 NovAtel Logs for RINEX Conversion ......................................................................... 51
7 SMART-MR10 Evaluation Cable Pinouts................................................................... 69
8 SMART-MR10 Streamlined Cable Pinouts ................................................................ 71
9 SMART-MR10 Mating Connectors............................................................................. 72
10 Recommended Fuses................................................................................................ 72
11 Commonly Used SMART-MR10 Commands in Alphabetical Order .......................... 73
12 COM Serial Port Identifiers ........................................................................................ 76
13 Parity.......................................................................................................................... 76
14 Handshaking .............................................................................................................. 76
15 FRESET Target.......................................................................................................... 78
16 Detailed Serial Port Identifiers.................................................................................... 82
17 Response Modes ....................................................................................................... 87
18 SMART-MR10 Logs in Alphabetical Order ................................................................ 93
19 Position or Velocity Type............................................................................................ 95
20 Solution Status........................................................................................................... 96
21 Component Type........................................................................................................ 97
6SMART-MR10 User Manual Rev 0B
Figures
1 SMART-MR10 Receiver ................................................................................................... 18
2 SMART-MR10 Connector ................................................................................................ 21
3 Simplified SMART-MR10 Setup ....................................................................................... 23
4 SMART-MR10 Universal Mounting Plate (70023085) .....................................................25
5 SMART-MR10 AG GPS 262 Layout Mounting Plate (70023086) .................................... 26
6 SMART-MR10 Pole Mount (70023087) ........................................................................... 27
7 Open Configuration Window ............................................................................................ 34
8 Basic Differential Setup .................................................................................................... 36
9 Convert4 Screen Examples ............................................................................................. 50
10 Convert4 Command Line Arguments ............................................................................... 52
11 Main Screen of WinLoad .................................................................................................. 55
12 WinLoad’s Open Dialog ................................................................................................... 56
13 Open File in WinLoad ....................................................................................................... 56
14 COM Port Setup ...............................................................................................................57
15 Searching for Card ...........................................................................................................57
16 Authorization Code Dialog ............................................................................................... 57
17 Upgrade Process Complete .............................................................................................58
18 SMART-MR10 Bluetooth Configuration ........................................................................... 59
19 Bluetooth Adapter for PC/Laptop ..................................................................................... 60
20 Bluetooth Standby: White ................................................................................................. 60
21 Bluetooth Error: Red ........................................................................................................60
22 My Bluetooth Places Window ........................................................................................... 61
23 Bluetooth PIN Code Request ........................................................................................... 61
24 PC/Laptop COM3 Port Assignment .................................................................................62
25 Bluetooth Connected: Green ............................................................................................ 62
26 COM3 Disconnect? .......................................................................................................... 63
27 SMART-MR10 Evaluation Cable ...................................................................................... 68
28 SMART-MR10 Streamlined Cable ................................................................................... 70
SMART-MR10 User Manual Rev 0B 7
Software License
Software License
BY INSTALLING, COPYING, OR OTHERWISE USING THE SOFTWARE PRODUCT, YOU
AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT. IF YOU DO NOT
AGREE WITH THESE TERMS OF USE, DO NOT INSTALL, COPY OR USE THIS ELEC-
TRONIC PRODUCT (SOFTWARE, FIRMWARE, SCRIPT FILES, OR OTHER ELEC-
TRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE, ON A CD OR
AVAILABLE ON THE COMPANY WEB SITE) (hereinafter referred to as "Software").
1. License: NovAtel Inc. ("NovAtel") grants you a non-exclusive, non-transferable license (not a sale)
to, where the Software will be used on NovAtel supplied hardware or in conjunction with other
NovAtel supplied software, use the Software with the product(s) as supplied by NovAtel. You agree
not to use the Software for any purpose other than the due exercise of the rights and licences hereby
agreed to be granted to you.
2. Copyright: NovAtel owns, or has the right to sublicense, all copyright, trade secret, patent and
other proprietary rights in the Software and the Software is protected by national copyright laws,
international treaty provisions and all other applicable national laws. You must treat the Software like
any other copyrighted material except that you may make one copy of the Software solely for backup
or archival purposes (one copy may be made for each piece of NovAtel hardware on which it is
installed or where used in conjunction with other NovAtel supplied software), the media of said copy
shall bear labels showing all trademark and copyright notices that appear on the original copy. You
may not copy the product manual or written materials accompanying the Software. No right is con-
veyed by this Agreement for the use, directly, indirectly, by implication or otherwise by Licensee of
the name of NovAtel, or of any trade names or nomenclature used by NovAtel, or any other words or
combinations of words proprietary to NovAtel, in connection with this Agreement, without the prior
written consent of NovAtel.
3. Patent Infringement: NovAtel shall not be liable to indemnify the Licensee against any loss sus-
tained by it as the result of any claim made or action brought by any third party for infringement of
any letters patent, registered design or like instrument of privilege by reason of the use or application
of the Software by the Licensee or any other information supplied or to be supplied to the Licensee
pursuant to the terms of this Agreement. NovAtel shall not be bound to take legal proceedings against
any third party in respect of any infringement of letters patent, registered design or like instrument of
privilege which may now or at any future time be owned by it. However, should NovAtel elect to take
such legal proceedings, at NovAtel's request, Licensee shall co-operate reasonably with NovAtel in all
legal actions concerning this license of the Software under this Agreement taken against any third
party by NovAtel to protect its rights in the Software. NovAtel shall bear all reasonable costs and
expenses incurred by Licensee in the course of co-operating with NovAtel in such legal action.
4. Restrictions: You may not:
(a) copy (other than as provided for in paragraph 2), distribute, transfer, rent, lease, lend, sell or
sublicense all or any portion of the Software except in the case of sale of the hardware to a
third party;
(b) modify or prepare derivative works of the Software;
(c) use the Software in connection with computer-based services business or publicly display
8 SMART-MR10 User Manual Rev 0B
Software License
visual output of the Software;
(d) transmit the Software over a network, by telephone or electronically using any means (except
when downloading a purchased up[grade from the NovAtel Web site); or
(e) reverse engineer, decompile or disassemble the Software.
You agree to keep confidential and use your best efforts to prevent and protect the contents of the Soft-
ware from unauthorized disclosure or use.
5. Term and Termination: This Agreement and the rights and licences hereby granted shall continue
in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith. In the event
that the Licensee shall at any time during the term of this Agreement: i) be in breach of its obligations
hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days
of notice from NovAtel requiring its remedy; then and in any event NovAtel may forthwith by notice
in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel.
Licensee may terminate this Agreement by providing written notice to NovAtel. Upon termination,
for any reasons, the Licensee shall promptly, on NovAtel's request, return to NovAtel or at the election
of NovAtel destroy all copies of any documents and extracts comprising or containing the Software.
The Licensee shall also erase any copies of the Software residing on Licensee's computer equipment.
Termination shall be without prejudice to the accrued rights of either party, including payments due to
NovAtel. This provision shall survive termination of this Agreement howsoever arising.
6. Warranty: NovAtel does not warrant the contents of the Software or that it will be error free. The
Software is furnished "AS IS" and without warranty as to the performance or results you may obtain
by using the Software. The entire risk as to the results and performance of the Software is assumed by
you. See product enclosure, if any for any additional warranty.
7. Indemnification: NovAtel shall be under no obligation or liability of any kind (in contract, tort or
otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howso-
ever) to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any
loss, damage, actions, costs, claims, demands and other liabilities or any kind whatsoever (direct, con-
sequential, special or otherwise) arising directly or indirectly out of or by reason of the use by the
Licensee of the Software whether the same shall arise in consequence of any such infringement, defi-
ciency, inaccuracy, error or other defect therein and whether or not involving negligence on the part of
any person.
8. Disclaimer and Limitation of Liability:
(a) THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRAN-
TIES, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTIES OF MER-
CHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. NovAtel
DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES. IN NO EVENT WILL
NovAtel's LIABILITY OF ANY KIND INCLUDE ANY SPECIAL, INCIDENTAL OR
CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, EVEN IF NovAtel
HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE.
(b) NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software
or any other performance under this Agreement.
(c) NovAtel's entire liability and your exclusive remedies for our liability of any kind (including
liability for negligence) for the Software covered by this Agreement and all other perfor-
mance or non-performance by NovAtel under or related to this Agreement are to the reme-
dies specified by this Agreement.
Software License
SMART-MR10 User Manual Rev 0B 9
9. Governing Law: This Agreement is governed by the laws of the Province of Alberta, Canada.
Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of
Alberta.
10. Customer Support: For Software UPDATES and UPGRADES, and regular customer support,
contact the NovAtel GPS Hotline at 1-800-NOVATEL (U.S. or Canada only), or +1-403-295-4900,
Fax +1-403-295-4901, email to support@novatel.ca, Web site: http://www.novatel.com or write to:
NovAtel Inc.Customer Service Department
1120 - 68 Avenue NE
Calgary, Alberta, Canada T2E 8S5
10 SMART-MR10 User Manual Rev 0B
Terms and Conditions
Terms and Conditions
Standard Terms and Conditions of Sales
1. PRICES: All prices are Firm Fixed Price, FCA 1120 - 68th Avenue N.E., Calgary, Alberta. All
prices include standard commercial packing for domestic shipment. All transportation, insurance,
special packing costs and expenses, and all Federal, provincial and local excise, duties, sales, and
other similar taxes are the responsibility of the Purchaser.
2. PAYMENT: Terms are prepayment unless otherwise agreed in writing. Interest shall be charged
on overdue accounts at the rate of 18% per annum (1.5% per month) from due date. To expedite
payment by wire transfer to NovAtel Inc.: Bank - HSBC Bank of Canada
3. DELIVERY: Purchaser shall supply shipping instructions with each order. (Ship to and bill to
address, NovAtel Quotation #, Preferred carrier and account #, Custom broker/freight forwarder
including name and contact #) In the absence of specific instructions, NovAtel may select a carrier
and insure Products in transit and charge Purchaser accordingly. NovAtel shall not be responsible for
any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably
control. Risk of loss, damage or destruction shall pass to Purchaser upon delivery to carrier. Goods are
provided solely for incorporation into the Purchaser’s end product and shall not be onward delivered
except as incorporated in the Purchaser’s end product.
4. COPYRIGHT AND CONFIDENTIALITY: Copyright in any specification, drawing, computer
software, technical description and other document supplied by NovAtel under or in connection with
the Order and all intellectual property rights in the design of any part of the Equipment or provision of
services, whether such design be registered or not, shall vest in NovAtel absolutely. The Buyer shall
keep confidential any information expressed or confirmed by NovAtel in writing to be confidential
and shall not disclose it without NovAtel's prior consent in writing to any third party or use it other
than for the operation and maintenance of any Equipment provided.
5. GENERAL PROVISIONS: All Purchase Orders are subject to approval and acceptance by
NovAtel. Any Purchase Order or other form from the Purchaser, which purports to expand, alter or
amend these terms and conditions, is expressly rejected and is and shall not become a part of any
agreement between NovAtel and the Purchaser. This agreement shall be interpreted under the laws of
the Province of Alberta.
Bank: HSBC Bank of Canada US Account # 788889-002
407 - 8 Avenue S.W. CDN Account # 788889-001
Calgary, AB, Canada T2P 1E5 EURO Account # 788889-270
Transit # 10029-016
Swift HKBCCATTCAL
Terms and Conditions
SMART-MR10 User Manual Rev 0B 11
6. LIMITED WARRANTY AND LIABILITY: Warranty Period: Products - 1 year; Accessories -
90 days (in each case from the date of invoice). NovAtel warrants that during the Warranty Period that
(a) the Product will be free from defects in material and workmanship and conform to NovAtel
specifications; (b) the software will be free from error which materially affect performance; and (c) if
applicable as defined in the User’s Manual, be eligible for access to post contract support and software
updates when available. THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER
WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION, ALL
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL, INDIRECT,
INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO
ANY CAUSE.
Purchaser’s exclusive remedy for a claim under this warranty shall be limited to the repair or
replacement at NovAtel’s option and at NovAtel’s facility, of defective or nonconforming materials,
parts or components or in the case of software, provision of a software revision for implementation by
the Buyer. All material returned under warranty shall be returned to NovAtel prepaid by the Buyer
and returned to the Buyer, prepaid by NovAtel. The foregoing warranties do not extend to (i)
nonconformities, defects or errors in the Products due to accident, abuse, misuse or negligent use of
the Products or use in other than a normal and customary manner, environmental conditions not
conforming to NovAtel’s specifications, or failure to follow prescribed installation, operating and
maintenance procedures, (ii) defects, errors or nonconformities in the Products due to modifications,
alterations, additions or changes not made in accordance with NovAtel’s specifications or authorized
by NovAtel, (iii) normal wear and tear, (iv) damage caused by force of nature or act of any third
person, (v) shipping damage, (vi) service or repair of Product by the Purchaser without prior written
consent from NovAtel, (vii) Products designated by NovAtel as beta site test samples, experimental,
developmental, preproduction, sample, incomplete or out of specification Products, (viii) returned
Products if the original identification marks have been removed or altered or (ix) Services or research
activities.
7. EXCLUSION OF LIABILITY: If a Party would, but for this paragraph (7), have concurrent
claims in contract and tort (including negligence) such claims in tort (including negligence) shall to
the extent permitted by law be wholly barred, unenforceable and excluded.
NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order
or of statutory duty or by reason of tort (including but not limited to negligence) for any loss of profit,
loss of use, loss of production, loss of contracts or for any financing costs or for any indirect or
consequential damage whatsoever that may be suffered by the Buyer.
In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of
the Order, NovAtel shall be liable to Buyer only for those damages which have been foreseen or might
have reasonably been foreseen on the date of effectivity of the Order and which are solely an
immediate and direct result of any act or omission of NovAtel in performing the work or any portion
thereof under the Order and which are not in the aggregate in excess of ten (10%) percent of the total
Order price.
SMART-MR10 User Manual Rev 0B 12
Warranty
Warranty
NovAtel Inc. warrants that its products are free from defects in materials and workmanship, subject to
the conditions set forth below, for the following periods of time, from the date of sale:
SMART-MR10 One (1) Year
Antenna One (1) Year
Cables and Accessories Ninety (90) Days
Computer Discs Ninety (90) Days
Software Warranty One (1) Year
Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s
responsibility respecting this warranty is solely to product replacement or product repair at an
authorized NovAtel location, or in the case of software, provision of a software revision for
implementation by the customer.
Determination of replacement or repair will be made by NovAtel personnel or by technical personnel
expressly authorized by NovAtel for this purpose.
There are no user serviceable parts in the NovAtel receiver and no maintenance is required. When the
status code indicates that a unit is faulty, replace with another unit and return the faulty unit to
NovAtel Inc.
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return
any defective product. When returning any product to NovAtel, please return the defective product in
the original packaging to avoid ESD and shipping damage.
THE FOREGOING WARRANTIES DO NOT EXTEND TO (I) NONCONFORMITIES, DEFECTS OR ERRORS
IN THE PRODUCTS DUE TO ACCIDENT, ABUSE, MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR
USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER, ENVIRONMENTAL CONDITIONS NOT
CONFORMING TO NOVATEL’S SPECIFICATIONS, OR FAILURE TO FOLLOW PRESCRIBED INSTALLA-
TION, OPERATING AND MAINTENANCE PROCEDURES, (II) DEFECTS, ERRORS OR NONCONFORMI-
TIES IN THE PRODUCTS DUE TO MODIFICATIONS, ALTERATIONS, ADDITIONS OR CHANGES NOT
MADE IN ACCORDANCE WITH NOVATEL’S SPECIFICATIONS OR AUTHORIZED BY NOVATEL, (III) NOR-
MAL WEAR AND TEAR, (IV) DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PER-
SON, (V) SHIPPING DAMAGE; OR (VI) SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT
PRIOR WRITTEN CONSENT FROM NOVATEL. IN ADDITION, THE FOREGOING WARRANTIES SHALL
NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES, EXPERIMENTAL,
DEVELOPMENTAL, PREPRODUCTION, SAMPLE, INCOMPLETE OR OUT OF SPECIFICATION PROD-
UCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN
REMOVED OR ALTERED. THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WAR-
RANTIES, EXPRESS OR IMPLIED, WRITTEN OR ORAL, INCLUDING THE IMPLIED WARRANTIES OF
MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED. NOVATEL SHALL
NOT BE LIABLE FOR ANY LOSS, DAMAGE, EXPENSE, OR INJURY ARISING DIRECTLY OR INDIRECTLY
OUT OF THE PURCHASE, INSTALLATION, OPERATION, USE OR LICENSING OR PRODUCTS OR SER-
VICES. IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR CONSE-
QUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
Before shipping any material to NovAtel or Dealer, please obtain a Return Material Authorization (RMA)
number from the point of purchase. You may also visit our Web site at http://www.novatel.com and select
Support | Repair Requests from the top menu.
SMART-MR10 User Manual Rev 0B 13
Notices
Notice
The following notices apply to the SMART-MR10. For more information on emissions testing, please
refer to the regulatory body in your geographic area; for example, in the US, the Federal
Communications Commission (FCC) and in Europe, the Conformité Européenne (CE).
FCC
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.
SMART-MR10 has been tested and found to comply with the emission limits for a Class B digital
device. The Class B limits are designed to provide reasonable protection against harmful interference
in a residential installation. SMART-MR10 has been certified by FCC for use in the 2400 MHz -
2483.5 MHz band (FCC ID # TBD).
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
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 SMART-MR10
• Increase the separation between the equipment and the SMART-MR10
• Connect the equipment to an outlet on a circuit different from that to which the SMART-
MR10 is connected
• Consult the dealer or an experienced radio/TV technician for help
IMPORTANT: In order to maintain compliance as a Class “A” or 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 one of the two signal grounds
(connector pin 9 or connector pin 15) and not power ground (connector pin 2).
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 one of the two signal
grounds (pin 9 or pin 15).] at a point close to the SMART-MR10.
WARNING: Changes or modifications to this equipment not expressly approved by NovAtel
Inc. could result in violation of Part 15 of the FCC rules and void the user’s
authority to operate this equipment.
14 SMART-MR10 User Manual Rev 0B
Notice
Industry Canada
SMART-MR10 Class B digital apparatus complies with Canadian ICES-003.
SMART-MR10 appareils numérique de la classe B est conforme à la norme NMB-003 du Canada.
SMART-MR10 has been certified for use in the 2400 MHz - 2483 MHz band by Industry Canada
(RSS-210) [IC ID # TBD].
CE
The SMART-MR10 enclosures carry the CE mark.
"Hereby, NovAtel Inc. declares that this SMART-MR10 is in compliance with the essential
requirements and other relevant provisions of the R&TTE Directive 1999/5/EC and of the EMC
Directive 2004/108/EC."
WEEE
If you purchased your OEMV® family product 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
RoHS
The SMART-MR10 is compliant with the European Union (EU) Restriction of Hazardous Substances
(RoHS) Directive 2002/95/EC. 1
1. Please visit the NovAtel Web site at http://www.novatel.com/support/weee.htm for more information
on WEEE and RoHS.
SMART-MR10 User Manual Rev 0B 15
Customer Service
OEMV Firmware Updates
Firmware updates are firmware releases, which include fixes and enhancements to the receiver
functionality. Firmware updates are released occasionally on the Web site as they become available.
Model upgrades enable features on the receiver and may be purchased.
OEMV Model Upgrades
Model upgrades are accomplished through NovAtel authorized dealers.
Contact your local NovAtel dealer first for more information. To locate a dealer in your area or if the
problem is not resolved, contact NovAtel Inc. directly.
WinLoad
Please refer to PC Software and Firmware, Firmware Upgrades in the OEMV Family Installation and
Operation User Manual for instructions on how to use the WinLoad program to upgrade your OEMV
receiver.
Contact Information
Contact your local NovAtel dealer first for more information. To locate a dealer in your area or if the
problem is not resolved, contact NovAtel Inc. directly using one of the following methods:
Call the NovAtel GPS Hotline at 1-800-NOVATEL (U.S. & Canada), or 403-295-4900 (international)
Fax: 403-295-4901
E-mail: support@novatel.com
Web site: http://www.novatel.com
Write: NovAtel Inc., Customer Service Dept., 1120 - 68 Avenue NE, Calgary, AB., Canada, T2E 8S5
Before contacting NovAtel Customer Service regarding software concerns, please do the
following:
1. Issue a FRESET command
2. Log the following data to a file on your PC/laptop for 30 minutes
RXSTATUSA once
BESTPOSA ontime 1
RXCONFIGA once
VERSIONA once
3. Send the file containing the logs to NovAtel Customer Service, using either the NovAtel ftp
site at ftp://ftp.novatel.com/incoming or the support@novatel.com e-mail address.
16 SMART-MR10 User Manual Rev 0B
Foreword
Foreword
Congratulations!
Congratulations on your purchase of the SMART-MR10, a smart antenna capable of receiving GPS
L1+L2, GLONASS L1+L2, and L-band signals, with exceptional flexibility and performance.
NovAtel is an industry leader in state-of-the-art Global Navigation Satellite Systems (GNSS) receiver
design. We believe that our SMART-MR10 will meet your high expectations, and are working hard to
ensure that future products and enhancements maintain that level of satisfaction.
This is your primary hardware and software reference.
Scope
This manual provides sufficient detail on the SMART-MR10, to allow you to effectively integrate and
fully operate it. The information in this manual is a companion to the OEMV family information in
the OEMV Firmware Reference Manual and the OEMV Installation and Operation User Manual.
After the addition of accessories and a power supply, the SMART-MR10 is ready to go.
SMART-MR10 utilizes a comprehensive user-interface command structure, which requires
communications through its communications (COM) ports. This manual describes the SMART-
MR10-specific commands and logs, seeCommands starting on Page 73 and Logs starting on Page 91.
Other supplementary manuals, available on the accompanying CD and on our Web site at
http://www.novatel.com/support/docupdates.htm, aid you in using the other commands and logs
available in the OEMV family of receivers.
PC Utilities are also described, see Chapter 4 starting on Page 44. Integrated with the Control and
Display Unit (CDU) software, these utilities provide graphical user interfaces for logging to a PC/
laptop, upgrading, and converting data types.
Prerequisites
The installation chapters of this document provide information concerning installation requirements
and considerations for SMART-MR10. To run the PC software supplied, your personal computer must
meet or exceed this minimum configuration:
• Windows-compatible mouse or pointing device and SVGA display
Although previous experience with Windows is not necessary to use CDU, familiarity with certain
actions that are customary in Windows will assist in the use of the program. This manual has been
written with the expectation that you already have a basic familiarity with Windows.
Conventions
The following conventions are used in this manual:
This is a notebox that contains important information.
Foreword
SMART-MR10 User Manual Rev 0B 17
• 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 OEMV Family Firmware
Reference Manual for ASCII and binary header details.
• The number following 0x is a hexadecimal number.
• Command descriptions’ brackets, [ ], represent the optionality of 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, please refer to the RANGE log in the OEMV Family 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, please refer to
the Unit Conversion section of the GNSS Reference Book available on our Web site
at http://www.novatel.com/support/docupdates.htm.
This symbol indicates an important statement, caution or warning.
See also Section B.1, Syntax Conventions on Page 73 for additional conventions.
18 SMART-MR10 User Manual Rev 0B
Chapter 1 Introduction
The SMART-MR10 is a rugged dual-constellation, dual-frequency smart antenna designed for on-
machine applications in the agricultural, construction and industrial market segments.The SMART-
MR10 consists of a high-performance GNSS receiver and antenna, capable of receiving and tracking
different combinations of GPS+GLONASS L1+L2 code and carrier signals, and L-band signals, on a
maximum of 72 channels.
The SMART-MR10 supports the following position modes:
• Autonomous
• SBAS (Satellite Based Augmentation Systems), including WAAS, EGNOS, and MSAS.
• DGPS
• OmniSTAR VBS/HP/XP
• CDGPS
• NovAtel
GL1DE
®, RT-20®, RT-2™ and RT-2L
For more information about the above, refer to the NovAtel web site at http://www.novatel.com/
support.
Once you connect the SMART-MR10 to a vehicle, it begins operating as a fully functional GNSS
system. Figure 1 below shows the SMART-MR10 without connecting cables.
Figure 1: SMART-MR10 Receiver
1.1 SMART-MR10 Features
The main features of the SMART-MR10 are as follows:
• Enhanced high performance GPS+GLONASS L1+L2 and L-band receiver (NovAtel OEMV-3).
• High performance GPS+GLONASS L1+L2 and L-band antenna.
• Emulated Radar output
• CAN port
• Three (3) RS-232 COM ports, one of which can be configured with flow control, or user-
Introduction Chapter 1
SMART-MR10 User Manual Rev 0B 19
switched to RS422.
• Rugged, water and dust tight enclosure, consisting of a cast aluminum base and plastic radome.
• Bluetooth
• Three (3) daylight viewable status LED indicators.
• Range of installation options, including a quick-release mounting plate and a 5m power/data
cable with tinned/tagged wires.
20 SMART-MR10 User Manual Rev 0B
Chapter 1 Introduction
1.2 SMART-MR10 Models
The SMART-MR10 is available in several different firmware models whose configurations may
include additional features. Available models are summarized in Table 1 below.
Refer also to the OEMV Family Installation and Operation User Manual for information on receiver
communications and operation.
Table 1: SMART-MR10 Controller Models
Model Name Firmware Feature
SMART-MR10-RT2-G GPS plus GLONASS 1 cm real-time kinematic positions,
RT-2 corrections and raw data, code positions and DGPS,
OmniSTAR HP/XP/VBS, CDGPS, SBAS, 20 Hz
SMART-MR10-RT2 GPS 1 cm real-time kinematic positions, RT-2 corrections
and raw data, code positions and DGPS, OmniSTAR HP/
XP/VBS, CDGPS, SBAS, 20 Hz
SMART-MR10-L1L2-G GPS plus GLONASS RT-2 corrections and raw data, code
positions and DGPS, OmniSTAR HP/XP/VBS, CDGPS,
SBAS, 20 Hz
SMART-MR10-L1L2 GPS RT-2 corrections and raw data, code positions and
DGPS, OmniSTAR HP/XP/VBS, CDGPS, SBAS, 20 Hz
SMART-MR10-HP GPS code positions and DGPS, OmniSTAR HP/XP/VBS,
CDGPS, SBAS, 20 Hz
SMART-MR10-SBAS L1L2 SBAS positions, 20 Hz
SMART-MR10-RT20-G GPS plus GLONASS 20 cm real-time kinematic positions,
RT-20 corrections and raw data, code positions and DGPS,
OmniSTAR VBS, CDGPS, SBAS, 20 Hz
SMART-MR10-RT20 GPS 20 cm real-time kinematic positions, RT-20 corrections
and raw data, code positions and DGPS, OmniSTAR VBS,
CDGPS, SBAS, 20 Hz
SMART-MR10-VBS GPS code positions, and DGPS, OmniSTAR VBS, CDGPS,
and SBAS positions, 20 Hz
SMART-MR10-L1-G GPS plus GLONASS RT-20 corrections and raw data, code
positions and DGPS, SBAS, 20 Hz
SMART-MR10-L1 GPS RT-20 corrections and raw data, code positions and
DGPS, SBAS, 20 Hz
SMART-MR10-GENERIC Hardware only, requires a firmware upgrade to produce
output
21 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
This chapter contains instructions and tips for setting up your SMART-MR10.
2.1 Additional Equipment Required
For the receiver to perform optimally, the following additional equipment is required:
• A PC/laptop (user-supplied)
• A means of communicating with, and powering, the SMART-MR10
• SMART-MR10 cable (see Appendix D Replacement Parts on page 98 for part
numbers). Refer to Figure 3, Simplified SMART-MR10 Setup on Page 23 for COM
and power connections
Use a serial COM connection to communicate with the receiver first.
• A fused power supply (user-supplied) or other user equipment
2.1.1 SMART-MR10 Setup
To connect and power your SMART-MR10:
1. Mount the SMART-MR10 on a secure, stable part of the vehicle (for example, cab roof) with an
unobstructed view of the sky from horizon to horizon, see Section 2.1.5, Mounting the SMART-
MR10 on Page 28.
2. Establish a physical communication connection between the SMART-MR10 and the PC/laptop.
Connect the COM and Power port on the back of the SMART-MR10, see Figure 2 below, to a
DB-9 serial port on a PC, laptop or other data storage device.
Figure 2: SMART-MR10 Connector
22 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
Table 3: Use of MODE Pin
3. Turn on the power supply to the SMART-MR10 (the SMART-MR10 cable is also a power cable).
The power LED on the back of the receiver glows red when the SMART-MR10 is properly
powered.
Table 2: SMART-MR10 Connector Pin-Out
Pin Use Pin Use
1PWR+ 13 RESERVED
2PWR- 14 CHASSIS GROUND
3CAN1- 15 SIGGND1
4CAN1+ 16 MKI
5TXD2 17 PPS
6RXD2 18 ER
7TXD1 19 MODEa
a. The SMART-MR10 is RS-232/RS-422-selectable through pin 19
MODE, as shown in Table 3.
8RTS1/AUXTX 20 RESERVED
9SIGGND2 21 RESERVED
10 RESERVED 22 CTS1/AUXRX
11 RESERVED 23 RXD1
12 RESERVED
MODE Pin Result
Open Pins 8 and 22 provide RS-232 access to the AUX
port and COM1 has no flow control.
Tied Low Pins 8 and 22 provide TXD1- and RXD1- for COM1
RS-422, and the AUX port (RXD3, TXD3) is not
available.
Tied High Pins 8 and 22 provide RTS1 and CTS1 for COM1
flow control, and the AUX port (RXD3,TXD3) is not
available.
Installation and Setup Chapter 2
SMART-MR10 User Manual Rev 0B 23
Fuse/holder recommendations can be found in Table 10, Recommended Fuses on page 72
Figure 3: Simplified SMART-MR10 Setup
Minimum conductor size for all wiring is 0.5 mm / 20 AWG.
2.1.2 Installing the PC Utilities
Once the SMART-MR10 is connected to the PC/laptop and a power supply, install NovAtel’s PC
Utilities. These include CDU, a graphical user interface program.
1. Start up the PC/laptop.
2. Insert the accompanying CD in the CD-ROM drive of the computer.
You can obtain the latest CDU (and PC utilities) version from the NovAtel Support site at
http://www.novatel.com/support/index.htm.
+
-
ER
COM2
COM1
User Supplied
5A Fuse
Tyco 23-pin
connector
24 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
3. Select Install the OEMV GPS PC Utilities from the window that is automatically displayed.
If the window does not automatically open when the CD is inserted, select Run from the Start
menu and select the Browse button to locate Setup.exe on the CD drive.
4. Install the PC Utilities by advancing through the steps provided in the NovAtel PC Utilities setup
program.
2.1.3 Power Supply Requirements
The SMART-MR10 requires +8 to +36 VDC for the input power to the receiver. See Page 65 for more
power supply specifications.
The SMART-MR10 cable provides power in (with a BATT+ label) and power ground (with a BATT-
label) bare wires for connections from the SMART-MR10 to a 12 to 24V vehicular power system (or
equivalent) protected by a user-supplied fuse. NovAtel recommends an automotive blade-type fuse,
rated for 5A with an operating voltage of more than 36V. For cable details, refer to Appendix A.2.3,
SMART-MR10 Connector and Cable Requirements starting on page 72.
WARNING!: The SMART-MR10 power source must be protected by a 5A fuse or damage to
wiring may result (not covered by warranty). If the voltage supplied is above or
below the specified range, the receiver will suspend operation. If the voltage
supplied is above 48V, the receiver may be permanently damaged, voiding your
warranty.
Installation and Setup Chapter 2
SMART-MR10 User Manual Rev 0B 25
2.1.4 Mounting Plates
Several mounting plate options are available for mounting the SMART-MR10 receiver:
• Universal mounting plate (NovAtel part number 70023085), shown in Figure 4 on page 25.
• Mounting plate with AG GPS 262 layout (NovAtel part number 70023086), shown in Figure 5 on
page 26.
• Pole-mount (NovAtel part number 70023087), shown in Figure 6 on page 27.
Figure 4: SMART-MR10 Universal Mounting Plate (70023085)
26 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
Figure 5: SMART-MR10 AG GPS 262 Layout Mounting Plate (70023086)
Installation and Setup Chapter 2
SMART-MR10 User Manual Rev 0B 27
Figure 6: SMART-MR10 Pole Mount (70023087)
All measurements are in millimetres unless specified otherwise.
INSERT
28 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
2.1.5 Mounting the SMART-MR10
When installing the SMART-MR10:
• Choose a location that has a clear view of the sky so that each satellite above the
horizon can be tracked without obstruction.
• Mount on a secure, stable structure capable of safe operation in the specific
environment. Typical installation is the vehicle roof.
2.1.6 Connecting Data Communications Equipment
To communicate with the receiver by sending commands and obtaining logs, a connection to data
communications equipment is required. See Table 7 on page 69 for more information.
2.2 Additional Features and Information
This section contains information on additional features of the SMART-MR10, which may affect the
overall design of your receiver system.
2.2.1 MKI and PPS Strobes
Input (MKI) and output (PPS) strobes provide status and synchronization signals. PPS is a 3.3V
CMOS output; MKI is a 5V-tolerant input. Pin-out information can be found on Page 69.
MKI can be used in conjunction with the MARKTIME and MARKPOS logs. For information about
these logs, refer to OEMV Family Firmware Reference Manual, available on the NovAtel Support
Web site at http://www.novatel.com/support/docupdates.htm.
2.2.2 Status Indicators
LED indicators on the SMART-MR10 provide receiver status information:
• Position Status
• Position Type
• Power
Installation and Setup Chapter 2
SMART-MR10 User Manual Rev 0B 29
Table 4 shows the meaning of the LED states in the expected sequence after power is applied.
Flashing means that the LED is turning on and off at a 1 Hz rate - 0.5 seconds on and 0.5 seconds off.
Debugging Guidelines:
• If the power is on but the yellow LED doe not flash within one minute, then no satellites are
tracking. There may be excessive blockage or the unit may be defective. Make sure the unit has
an unobstructed view of the sky. Try power cycling the unit.
• If the yellow LED does not flash within one minute and power cycling the unit does not fix the
problem, request a VERSION log to ensure that the auth code is correct.
Example of a receiver loaded with an incorrect auth code:
<ok
[com1]<version com1 0 72.0 unknown 0 12.387 004c0001 3681 5053
< 3
< gpscard "invalid authcode" "dhc09401009" "mcagtp-1.00-
22b" "3.710" "3.002" "2009/dec/30" "11:20:58"
< db_userappauto "smartag" "0" "" "1.100" "" "2010/jan/
25" "17:32:44"
< userinfo "no bt" "" "" "" "" "" ""
[com1]
• If the yellow LED is flashing but does not progress to solid yellow within one minute, then
insufficient satellites are tracking or the signal quality is poor and ephemeris data can’t be
received. Normally, four satellites are sufficient for a valid position as long as they are widely
Table 4: SMART-MR10 LED Status Indicators
Red Yellow Green
Condition
Off Off Off Power is not available. (Red indicator may also not be lit if a
boot failure has occurred.)
On Off Off Power available but no satellites are being tracked
On Flashing Off Tracking at least one satellite but not a valid position
On On Off Position valid in basic autonomous mode
On On Flashing SBAS tracking, but not enough data for enhanced solution.
On On On Position valid in an enhanced accuracy modea
(WAAS/EGNOS/MSAS/DGPS, OmniSTAR VBS/XP/HP, or
RTK)
a. When acting as a reference receiver, all lights on solid indicates a good fixed position.
On Flashing Flashing Fixed position with bad integrity
30 SMART-MR10 User Manual Rev 0B
Chapter 2 Installation and Setup
distributed in the sky. If it is stuck on blinking yellow, there may be excessive blockage or the unit
may be defective. Make sure the unit has an unobstructed view of the sky. Try power cycling the
unit.
• If the yellow LED is on, but the green does not 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 unit is configured to enable SBAS positions (SBASCONTROL ENABLE). For
DGPS, make sure the unit 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.
2.2.3 Emulated Radar (ER)
The SMART-MR10 outputs an emulated radar signal via the bare wires labeled ER GND and
ER_OUT on the SMART-MR10 cable. See Table 9 on page 72 for the pin-out details of this cable.
The ER outputs a logic high of supply voltage minus 0.5V minimum and logic low of 0.5V maximum
with a rise and fall time of less than 1 ms. Its output references signal GND and provides logic low
output until its 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 36.11 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 Appendix B.6
PDPFILTER Enable, disable or reset the PDP filter on page 84 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. In other word, one cannot have NMEA2000 without J1939 support as
well. J1939 is additionally “harmonized” with ISO 11783, a standard for the agriculture industry.
Installation and Setup Chapter 2
SMART-MR10 User Manual Rev 0B 31
The CAN module is generally not user-interactive. It is activated when a SETCANNAME command
is entered, and after a SAVECONFIG, the CAN module is activated immediately on all subsequent
start-ups. The module supports the following NMEA2000 Parameter Group Messages (PGN):
• PGN 129029 GNSSPositionData
• PGN 129025 GNSSPositionRapidUpdate
• PGN 129026 COGandSOGRapidUpdate
Table 5: Available CAN Signals on the SMART-MR10
CAN Pins
CAN1+ Pin 3
CAN1- Pin 4
32 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
Before operating the SMART-MR10 for the first time, please ensure that you have followed the
installation instructions in Chapter 2 Installation and Setup starting on page 21. The following
instructions are based on a COM port configuration such as that shown in Figure 8 on page 36. It is
assumed that a personal computer (PC), or laptop, is used during initial operation 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 PC/laptop that
is directly connected to the receiver serial port using a DB-9 connector on the SMART-MR10 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 OEMV Family Firmware Reference Manual to
ensure maximum utilization of the receiver’s capabilities.
3.1.1 Serial Port Default Settings
The receiver communicates with your PC/laptop or terminal via an RS-232 serial port. For
communication to occur, both the receiver and the operator interface have to be configured properly.
The receiver’s COM1, COM2 and AUX 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 Appendix B.3, COM Configure
COM Port starting on page 75 for details.
COM1 can be configured as RS422. It can also be configured with flow control. COM3 is not
available if COM1 flow control is enabled or if COM1 is configured as RS422. The default
configuration, with the MODE pin unconnected, is that COM1 is RS232 with no flow control.
SMART-MR10 configuration using the Mode pin is summarized in Table 3, Use of MODE
Pin on page 22.
The data transfer rate you choose determines how fast information is transmitted. Take for example 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).
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 33
CAUTION!: 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,
cause an error condition in the receiver status and result in lost data.
3.1.2 Communicating Using a Remote Terminal
One method of communicating with the receiver is through a remote terminal. The receiver has been
pre-wired to allow proper RS-232 interface with your 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.
3.1.3 Communicating Using a Personal Computer
A PC/laptop 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 our own graphic user interface (GUI) program, CDU. All
data is sent as raw 8-bit binary or ASCII characters.
3.2 Getting Started
Included with your receiver are NovAtel’s CDU and Convert programs. CDU is a Windows-based
GUI which allows you to access the receiver's many features without the need for communications
protocol or to write special software. The Convert utility is a Windows-based utility that allows you to
convert between file formats, and strips unwanted records for data file compilation. See also 2.1.2,
Installing the PC Utilities on page 23.
3.2.1 Starting the Receiver
When first powered, the SMART-MR10 undergoes a complete self-test. If an error condition is
detected during a self-test, the self-test status word changes. This self-test status word can be viewed
in the header of any data output log. Refer to the chapter on Messages in the OEMV Family Firmware
Reference Manual for header information. If a persistent error develops, please contact your local
NovAtel dealer first. If the problem is still unresolved, please contact NovAtel directly through any of
the methods listed in the Customer Service section at the beginning of this manual on page 15.
34 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
3.2.2 Communicating with the Receiver Using CDU
Launch the CDU program and select Device | Open from its main menu. The Open Configuration
window appears. Figure 7, below, shows an Open Configuration window with three possible
configurations already set up. Your configurations may be different or you may have none at all, in
which case, the Open Configuration window is empty.
Figure 7: Open Configuration Window
Refer to CDU’s help file by selecting the Help | Contents menu. Ensure you can see the Console and
ASCII Messages windows 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] if connected to COM1 port,
or
[COM2] if connected to COM2 port,
Any of the above 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 OEMV family receiver is set to log the RXSTATUSEVENTA log ONNEW on all
ports. Refer to the OEMV Family Firmware Reference Manual for more details.
2. If you find that CDU is unable to locate your OEMV family receiver, it may be that you
have previously used the SAVECONFIG command. In this case, 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.
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 35
Commands are typed at the interfacing computing device’s keypad or keyboard, and executed after
issuing a carriage return command which is usually the same as pressing the <Enter> key.
An example of a response to an input command is the FIX POSITION command, as shown in the
following example:
[COM2] fix position 51.11635 -114.0383 1048.2 [carriage return]
<OK
where [COM2] is the port prompt, followed by the command you enter from your keypad or keyboard
and [carriage return] indicates that you should 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)
WARNING!: Ensure the Control Panel’s Power Settings on your PC/laptop 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 Transmitting and Receiving Corrections
RTK or DGPS corrections can be transmitted from a base station to a rover station to improve position
accuracy. 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 SMART-MR10 can be used as a base receiver to
transmit RTK or DGPS corrections or a rover to receive the same corrections. An example of
differential setup is given in Figure 8 on page 36.
36 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
Figure 8: Basic Differential Setup
Reference Description
1 SMART-MR10 receiver
2 User-supplied 5A fuse
3 User-supplied power supply, for example a battery
4 User-supplied device to COM1
5 User-supplied radio device to COM2
6 User-supplied PC/laptop, for setting up and monitoring, to COM1
System biases can introduce errors. Refer to the NovAtel web site at http://www.novatel.com/support/
for more information. In most cases you need to provide a data link between the base station and rover
station (two NovAtel receivers) in order to receive corrections. The application of SBAS corrections
to a single receiver are an exception 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 your base and rover are set up, you can configure them as outlined in the configuration examples
in 3.3.1, Base Station Configuration on page 37 and 3.3.2, Rover Station Configuration on page 38.
Base
Rover
+-
4
+-
1
2
1
2
3
3
5
5
6
COM1
COM2
COM1
COM2
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 37
3.3.1 Base Station Configuration
At the base station, enter the following commands:
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 interfacemode com2 none rtca off
fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 rtcaobs ontime 1
log com2 rtcaref ontime 10
log com2 rtca1 ontime 5 (optional, enable code-dgps coverage)
log com2 rtcaephem ontime 10 1 (optional)
RTCAOBS2 interfacemode com2 none rtca off
(recommended) fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 rtcaobs2 ontime 1
log com2 rtcaref ontime 10
RTCM V2.3 interfacemode com2 none rtcm off
fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 rtcm3 ontime 10
log com2 rtcm22 ontime 10 1
log com2 rtcm1819 ontime 1
log com2 rtcm1 ontime 5 (optional)
RTCM V3 interfacemode com2 none rtcmv3 off
fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 rtcm1002 ontime 1 (for L1 only models or cards OEMV1 and OEMV1G)
log com2 rtcm1004 ontime 1
(for L1/L2 models or cards OEMV1DF, OEMV2G, and OEMV3G)
log com2 rtcm1006 ontime 10
log com2 rtcm1019 ontime 120
RTCM V3 with GLONASS interfacemode com2 none rtcmv3 off
(recommended) fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 rtcm1002 ontime 1 (for L1 only models or cards OEMV1 and OEMV1G)
log com2 rtcm1004 ontime 1
(for L1/L2 models or cards OEMV1DF, OEMV2G, and OEMV3G)
log com2 rtcm1010 ontime 1 (for L1 only models or cards OEMV1 and OEMV1G)
log com2 rtcm1012 ontime 1
38 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
(for L1/L2 models or cards OEMV1DF, OEMV2G, and OEMV3G)
log com2 rtcm1006 ontime 10
log com2 rtcm1033 ontime 10
log com2 rtcm1019 ontime 120
log com2 rtcm1020 ontime 120
CMRPLUS (CMR+) interfacemode com2 none cmr off
fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 cmrobs ontime 1
log com2 cmrgloobs ontime 1
log com2 cmrplus ontime 1 (important to use ontime 1 with cmrplus)
CMR interfacemode com2 none cmr off
fix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)
log com2 cmrobs ontime 1
log com2 cmrgloobs ontime 1
log com2 cmrref ontime 10
log com2 cmrdesc ontime 10 1 (optional)
3.3.2 Rover Station Configuration
At the rover station, enter:
interfacemode port rx_type tx_type [responses]
For example:
RTCA interfacemode com2 rtca none off
RTCAOBS2 interfacemode com2 rtca none off
RTCM V2.3 interfacemode com2 rtcm none off
RTCM V3 interfacemode com2 rtcmv3 none off
RTCM V3 with GLONASS
interfacemode com2 rtcmv3 none off
CMR+ interfacemode com2 cmr none off
CMR interfacemode com2 cmr none off (same as CMR+)
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 39
3.3.3 GPS + GLONASS Base and Rover Configuration
This section shows you how to set up your base and rover OEMV GPS + GLONASS-enabled
receivers for GPS + GLONASS RTK operation:
Base Station:
fix position lat lon hgt (enter your own lat, lon, and hgt values)
com com2 115200 N 8 1 N off
interfacemode com2 none rtca off
log com2 rtcaref ontime 10
log com2 rtcaobs2 ontime 1
log com2 rtca1 ontime 5 (optional, enable code-DGPS coverage)
saveconfig (optional, save configuration to non-volatile memory)
Rover Station:
com com2 115200 N 8 1 N off
interfacemode com2 rtca none off
log com1 bestposa ontime 1 (optional, view position information)
saveconfig (optional, save configuration to non-volatile memory)
3.3.4 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 base and
rover examples above. 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 want to mix NovAtel format messages and RTCA, RTCAOBS2, RTCM, RTCMV3, CMR+ 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 3.3.1, Base Station Configuration on Page 37.
40 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
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 and RTKSOURCE commands set the station ID values which identify the
base stations from which to accept pseudorange or RTK corrections respectively. They are useful
commands when the rover station is receiving corrections from multiple base stations. Refer to the
GNSS Reference Book for more information on SBAS, available from our Web site at:
http://www.novatel.com/support/docupdates.htm
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 if you wish to modify
the format of the corrections for a non-standard application, or if you wish 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 also to the OEMV Family
Firmware Reference Manual, which describes the various message formats in more detail.
Information on how to send multiple commands and log requests using DOS or Windows, can
be found on our Web site at http://www.novatel.com/support/knowledgedb.htm.
3.3.5 SBAS (Satellite-Based Augmentation Systems)
A Satellite-Based Augmentation System (SBAS) is a type of geostationary satellite system that
improves the accuracy, integrity, and availability of the basic GNSS signals. Accuracy is enhanced
through the use of wide area corrections for GNSS orbits and ionospheric errors. Integrity is enhanced
by the SBAS network quickly detecting satellite signal errors and sending alerts to receivers to not use
the failed satellite. Availability is improved by providing an additional ranging signal to each SBAS
geostationary satellite.
OEMV family receivers, including the SMARTR-MR10, are capable of SBAS positioning. This
positioning mode is enabled using the SBASCONTROL command. The following command is used
to automatically track and use the SBAS service available in the area of operation, for example,
WAAS or EGNOS:
sbascontrol enable auto
For further information on SBASCONTROL, refer to the OEMV Family Installation and Operation
User Manual, available from the NovAtel Web site.
WAAS (Wide-Area Augmentation System)
The US Federal Aviation Administration (FAA) has developed a Wide Area Augmentation System
(WAAS) to provide accurate positioning to the aviation industry. As well as providing the industry
with this high quality service, it is available to all other civilian users and markets in North America,
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 41
free of charge. Future developments to this system will encompass the L5 signal.
EGNOS
EGNOS (European Geostationary Navigation Overlay Service) has been developed to work with
existing satellite navigation systems to improve the accuracy of navigation signals. The EGNOS
signal is transmitted by two geostationary satellites and covers all of Europe. EGNOS transmits a
signal containing information on the reliability and accuracy of the positioning signals sent out by
GPS.
ESTB (EGNOS System Test Bed) is a reduced version of EGNOS using dedicated monitoring stations
and processing devices. EGNOS and ESTB are two independent systems making use of their own
ground segment infrastructure and different GEOs. EGNOS and ESTB broadcast two different
signals.
The ESTB is broadcast on PRN (pseudorandom number) 126 and EGNOS is broadcast on PRNs 120
and 124.
Due to the experimental nature of the ESTB, the signals are broadcast without any guarantee of
service.
Use of the ESTB signal is not recommended by NovAtel. Use this command to prevent
tracking PRN 126: WAAS17 0 1 0 126 255 0 0 0 0 0 0 0.
EGNOS entered its pre-operational phase in 2006 and at the time of writing is still in test mode and so
the signal broadcast by the EGNOS satellites (via PRNs 120 & 124) should be used with caution. By
default NovAtel receivers will not use SBAS signals in test mode. If you wish to use these signals you
must issue the following command:
sbascontrol enable egnos 0 zerototwo
More information on the ESTB can be found at http://www.esa.int/estb. More information on EGNOS
can be found at http://www.esa.int/egnos.
42 SMART-MR10 User Manual Rev 0B
Chapter 3 Operation
3.4
GL1DE
®
SMART-MR10 contains NovAtel’s
GL1DE
,a positioning algorithm for single frequency GPS and GPS/
GLONASS applications.
GL1DE
produces a smooth position output tuned for applications where
optimal time relative (pass to pass) accuracy is more important than absolute accuracy, making it 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
GL1DE
algorithm fuses the information from the L1 code and the L1 phase
measurements into a Position-Time-Velocity (PVT) solution.
GL1DE
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.
Refer to the NovAtel white papers at www.novatel.ca/products/whitepapers.htm for more information
on
GL1DE
. Refer also to application note “APN-038 Pseudorange/Delta-Phase (PDP) and
GL1DE
Filters” at www.novatel.com/support/applicationnotes.htm.
3.5
ALIGN
®
3.5.1
ALIGN
Heading Master and Remote Configurations
This section shows you how to set up a master station with an ALIGN-capable remote receiver for
applications that require heading output. Refer to APN-048, available from our Web site for more
details on setting up a heading configuration.
Master:
interfacemode com2 none rtca off
fix position lat lon hgt (enter your own lat, lon, and hgt values)
or movingbasestation enable
log com2 rtcaobs2 ontime 1
log com2 rtcaref ontime 10
Remote:
interfacemode com2 rtca none off
log headinga onchanged (heading, baseline length, pitch and other data)
log gphdt onchanged (NMEA heading formatted log)
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 particularly
useful for applications such as spraying and planting. The SMART-MR10 eliminates the need for
Operation Chapter 3
SMART-MR10 User Manual Rev 0B 43
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 f requ e ncy ou tput .
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 Appendix B.6, PDPFILTER Enable, disable or reset the PDP filter starting on page 84 for
more detailed information.
Once it is configured using the RADARCFG command (see page 84), Emulated Radar (ER) data is
output through the SMART-MR10 cable (see Table 7 on page 69) and the RADARSIGNAL log (see
page 93).
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
GL1DE
:
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. Refer to the OEMV Family Firmware Reference
Manual for further details on these commands.
SMART-MR10 User Manual Rev 0B 44
Chapter 4 PC Utilities
Visit NovAtel’s Web site at http://www.novatel.com/support/fwswupdates.htm for the most recent
versions of the PC software and receiver firmware.
4.1 CDU/Convert Installation
The CD accompanying this manual contains the Windows applications CDU (Control and Display
Unit) and Convert. They are installed via a standard Install Shield set-up application. Also included on
the CD is sample source code, to aid development of software for interfacing with the receiver, and
product documentation.
These applications utilize a database in their operations so the necessary components of the Borland
Database Engine (BDE) are installed as well as the necessary database tables and an alias for the
database. The install set-up application does all this automatically so you have only to select where
you would like the applications installed on your PC. It is strongly recommended that you close all
applications before installing CDU and Convert. You must close any applications that may be using
the BDE before installing. The install set-up modifies the BDE configuration so that it can recognize
the new CDU and Convert.
The software operates from your PC’s hard drive. You will need to install the software from the CD
supplied by NovAtel or from our Web site:
1. Start Microsoft Windows.
2. Place the NovAtel CD in your CD-ROM drive. If the setup utility is not automatically accessible,
follow these steps:
a. Select Run from the Start menu.
b. Select the Browse button.
c. Locate Setup.exe on the CD drive and select Open.
d. Select OK to run the setup utility.
3. Advance through the steps provided by the setup utility.
When the installation is complete, click on a program icon to launch the application.
The latest CDU is available to download from our Web site at:
http://www.novatel.com/support/fwswupdates.htm
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SMART-MR10 User Manual Rev 0B 45
4.2 CDU
CDU is a 32-bit Windows application. The application provides a graphical user interface (GUI) to
allow you to set-up and monitor the operation of the NovAtel receiver by providing a series of
windows whose functionality is explained in this section. A help file is included with CDU. To access
the file, select Contents from the Help menu.
The rest of this section shows the CDU windows from the View menu and their descriptions.
Most windows have a popup menu accessible by right clicking on the window with the mouse. They
provide a way to customize the window by changing the font or to print the window contents. Some of
the windows have access to the Options dialog which contains further settings for certain windows.
•Constellation Window: The Constellation window displays each satellite being tracked by the
receiver. When you select a satellite, the window shows details of its PRN, Signal to Noise Ratio
(SNR), azimuth and elevation. Concentric circles from 0° to 90° represent elevations from the
46 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
horizon to directly overhead, respectively. The azimuth is mapped on a compass relative to true
North. The colored rings indicate the lowest elevation cut-off angles at which satellites are
tracked and can be changed or viewed via the button.
Each of the satellites being tracked are represented with icons according to their satellite system
as follows:
• Circular for GPS
• Square for GLONASS
• Hexagon for SBAS
There are also information icons and values at the bottom of the window:
• The number of GPS/GLONASS satellites used in the solution verses the number
being tracked. For example, 0/6 next to the Russian flag means that while the
receiver is tracking 6 GLONASS satellites, none are currently used in the position
solution.
• Satellite PRN number Azimuth and Elevation angle values
• Signal to Noise Ratio (SNR) value and indicator
The PRN of the satellite is displayed on the icon and color-coding is used to indicate the status of
the satellite or the tracking channel. Click on a satellite to display information on that satellite.
When a valid position has been achieved, dilution of precision (DOP) values can be viewed in the
DOP window.
Open this window by selecting Constellation Window from the View menu or by clicking
its button in the Window Toolbar.
•Channel Tracking Status Window: The Channel Tracking Status window displays key
information for each of the receiver's processing channels, including the PRN of the satellite
being tracked by that channel, the Signal to Noise Ratio, Pseudorange measurements, Doppler
values, Residuals measurements and Lock Time from the satellite.
The TRACKSTAT log provides the data for many of the fields listed in this window. The number
of channels displayed depends on the model of your receiver and the bars are color-keyed to indi-
cate the frequency type on the channel.
Open these windows by selecting Tracking Status Window GPS/GLONASS
from the View menu or by selecting the American and Russian flag buttons in the Window Tool-
bar.
•Position Window: The Position window displays:
• The receiver's latitude, longitude and height
• The Solution Type, also known as Position Type
• The solution or differential age (number of seconds the current solution has been
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SMART-MR10 User Manual Rev 0B 47
valid). Normally this represents the latency in the correction data.
• The number of satellites used in the solution
• The Solution Status
• The receiver's date and time (GMT and local)
Open this window by selecting Position Window from the View menu or its button in
the Window Toolbar.
Right-click in the Position window to enable you to set the PC clock to the receiver's time, change
the font used to display the position data or set the units through the Options dialog box.
•Velocity Window: The Velocity window displays vertical and horizontal speed and direction.The
numeric displays within the dial, and the velocity values below the dial, show the vector velocity
as well as the vertical, North, and East velocity components. If necessary, the scale in the dial
increases so that you have room to accelerate.
Open this window by selecting Velocity Window from the View menu or its button in
the Window Toolbar.
• Compass Window: The direction dial is a compass that displays the direction of motion of the
receiver over ground and its elevation (both in degrees). The white arrow indicates the elevation
value on the vertical scale down the centre of the dial. The black arrow on the outer rim of the dial
indicates the Track Over Ground value. Both the track over ground and elevation angles are also
shown at the bottom of the Compass window.
Open this window by selecting Compass Window from the View menu or its button in
the Window Toolbar.
•INS Window: If applicable, refer to your SPAN User Manual for more on INS. Information in
the INS Position, Velocity, Attitude window is only available if you have an INS-capable receiver
model.
The dial is a graphical display of the Roll, Pitch and Azimuth values indicated by an arrow on
each axis.
Open this window by selecting INS Window from the View menu or its button in the
Window Toolbar.
•Plan Window: The Plan window provides real-time graphic plotting of the current position of
each connected device. The latitude and longitude shown at the bottom of the window indicate
the receiver's reference position, which is used as the center of the grid system. The receiver's
48 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
subsequent positions, shown with a yellow + marker, are given relative to this initial starting
point. The current position is shown with a red + marker.
The buttons at the top of the window provide options for controlling the plan display:
• Zoom in or out of the Plan window
• View all configurations or center in on the active configuration
• Select a grid or circular display
• Show/Hide history
• Delete all history (no undo)
To open this window, select Plan Window from the View menu or select its button in the
Window Toolbar.
•DOP Window: A value representing the uncertainty of the position solution based on the
current satellite geometry. The lower the value, the greater the confidence in the solution.
In the DOP window, DOP is displayed in the following forms:
• GDOP Geometric DOP: Uncertainty of all parameters (latitude,
longitude, height, clock offset)
• PDOP Position DOP: Uncertainty of the three-dimensional
parameters (latitude, longitude, height)
• HDOP Horizontal DOP: Uncertainty of the two-dimensional
parameters (latitude, longitude)
• VDOP Vertical DOP: Uncertainty of the height
• TDOP Time DOP: Uncertainty of the clock offset
•Console Window: This window allows the user to communicate directly to the receiver through
the serial port. It is essentially a terminal emulator with added receiver functionality. Commands
can be issued to the receiver via the command editor (at the bottom of the window) and sent by
pressing the Enter button or simply pressing <Enter> on the keyboard. The command editor has
recall functionality similar to DosKey whereby pressing the up arrow on the keyboard will move
backward through the previously issued commands and pressing the down arrow will move
forward through the previously issued commands. This allows the user to scroll through
previously issued commands and then press the <Enter> key to issue that command again.
Feedback from the receiver is displayed in the ASCII Messages or Console window depending on
the format of the message (ASCII or Abbreviated ASCII respectively).
WARNING!: Ensure all other windows are closed in CDU when entering the
SAVECONFIG command in the Console window.
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SMART-MR10 User Manual Rev 0B 49
This window automatically opens when CDU is first connected to a receiver. To bring
the window to the front, select Console Window from the View menu or click its button in the
Window Toolbar.
•Logging Control Window: The Logging Control window provides a graphical interface for:
• Initiating data logging to a file
• Initiating logging to the receiver's serial ports
• Specifying a time window for data logging
• Stopping logging
• Editing log settings
To display the Logging Control window, select Logging Control Window from the
Tools menu or select its button in the Window Toolbar.
WARNING!: Ensure the Power Settings on your PC are not set to go into Hibernate or
Standby modes. Data will be lost if one of these modes occurs during a
logging session. Refer to the CDU’s online help for more information.
•ASCII Messages Window: This window displays ASCII formatted NovAtel logs.
To display the ASCII Messages window, select ASCII Messages Window from the View
menu or select its button in the Window Toolbar.
•Wizards: Several wizards are available, if you have the necessary receiver model, to assist with
various receiver operations. These are available through the Tools menu or, in some cases,
through buttons in the toolbar.
The Position Mode wizard takes you through the steps needed to set up your RTK system. You
must have an RTK-capable receiver model or the wizard will not continue past its opening page.
The SPAN wizards take you through the steps needed to set up your Synchronized Position
Attitude Navigation (SPAN) system. You must have a SPAN-capable receiver model, or the
wizard will not continue past its opening page. The SPAN wizards help with the alignment or
calibration of a SPAN system.
The ALIGN wizard allows you to set up your remote and master so that your remote can receive
heading information, if you have an
ALIGN
-capable receiver.
The Troubleshooting wizard enables the logging of specific logs for 10 minutes.
The COM Port wizard retrieves configuration information from your receiver and guides you
through COM port and interface mode configurations.
50 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
4.3 Convert
Convert is a 32-bit Windows application. It is shown in Figure 9. Convert will accept GPS file
formats and convert them to ASCII, Binary or RINEX format. The application also allows the user to
screen out particular logs by selecting the desired logs from the list of available logs. This feature is
useful for screening particular logs out of large data files in either ASCII or Binary formats.
Figure 9: Convert4 Screen Examples
4.3.1 RINEX Format
The Receiver-Independent Exchange (RINEX1) format is a broadly-accepted, receiver-independent
format for storing GPS data. It features a non-proprietary ASCII file format that can be used to
combine or process data generated by receivers made by different manufacturers.
1. For further information on RINEX Version 2.10 file descriptions, you may wish to consult
the U.S. National Geodetic Survey Web site at http://www.ngs.noaa.gov/CORS/Rinex2.html.
PC Utilities Chapter 4
SMART-MR10 User Manual Rev 0B 51
The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files.
Although RINEX is intended to be a receiver-independent format, there are many optional
records and fields. Please keep this in mind when combining NovAtel and non-NovAtel
RINEX data.
When converting to RINEX, two files are produced - a RINEX observation file and a RINEX
navigation file. A third GLONASS file is produced if the data contains GLONASS observations. The
default names of these files conform to the RINEX Version 2.10 recommended naming convention of
ssssdddf.yyt, where:
ssss 4 character station name - Convert4 uses the first four characters of the <infile>
parameter as the station ID
ddd day of year
f file sequence number within the day - Convert4 sets this to zero
t file type: o for the observation and n for the navigation file
Selecting the RINEX field, see Figure 9, Convert4 Screen Examples on page 50, in the Convert4 To
section causes the:
1. Destination File: field to be replaced by the Observation File: and Ephemeris File: fields. Note
that Observation File refers to the RINEX OBS file while Ephemeris File refers to the RINEX
NAV file.
2. RINEX Headers buttons to appear allowing you to supply additional information that appears in
the header records of the RINEX output files (for example, Company Name, Marker Name and
Marker Number).
For best results, the NovAtel receiver input data file should contain the logs as in Table 6, NovAtel
Logs for RINEX Conversion on page 51.
Table 6: NovAtel Logs for RINEX Conversion
NovAtel OEMV Family Log Recommended Trigger
RANGEA/B, or
RANGECMPA/B ontime 1
BESTPOSA/B, or
PSRPOSA/B, or
RTKPOSA/B, or
MARKPOSA/B
once
IONUTCA/B onchanged
RAWEPHEMA/B onchanged
GLORAWEPHEMA/B onchanged
VERSIONA/B aonce
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Chapter 4 PC Utilities
4.3.2 Convert4 Command Line Switches
Convert4 supports several command-line switches to facilitate batch processing. To access its
Command Line Arguments window, open a command prompt window (select Accessories |
Command Prompt from the Start menu). Change directory (cd) to the directory on the hard drive on
which Convert4 is stored. Type the following: convert4 -h
The Convert4 Command Line Arguments window appears as shown in Figure 10.
Figure 10: Convert4 Command Line Arguments
The name of the output file is the same as the input file when converting to ASCII or binary formats.
The file extension, however, is altered to indicate the format of the data:
*.asc for ASCII
*.bin for binary
When converting to RINEX, the output files are named according to the RINEX Version 2.10 naming
convention, see Section 4.3.1, RINEX Format on page 50.
The -batch arguments suppress the window display and convert the specified file automatically.
When converting to RINEX in batch mode, the navigation and observation file header
information from the most recent interactive Convert4 session is used.
a. Information from this log overrides data entered into the Receiver
Number, Type and Version fields using the OBS file button of the
RINEX Headers section, see Figure 9 on page 50.
PC Utilities Chapter 4
SMART-MR10 User Manual Rev 0B 53
4.4 Firmware Upgrades
The receiver stores its program firmware in non-volatile memory, which allows you to perform
firmware upgrades without having to return the receiver to the distributor. New firmware can be
transferred to the receiver through COM1, and the unit will immediately be ready for operation at a
higher level of performance.
The first step in upgrading your receiver is to contact your local NovAtel dealer. Your dealer will
assist you in selecting the best upgrade option that suits your specific GPS needs. If your needs are
still unresolved after seeing your dealer then you can contact NovAtel directly through any of the
methods described in the Customer Service section, page 15, at the beginning of this manual.
When you call, have your receiver model number, serial number, and program revision level
available. This information can be found by issuing the LOG VERSION command at the port prompt.
After establishing which new model/revision level would best suit your needs, and having described
the terms and conditions, you will be issued an authorization code (auth-code). The auth-code is
required to unlock the new features according to your authorized upgrade model type.
To upgrade to a higher performance model at the same firmware revision level, you can use the
AUTH command with the issued auth-code.
If you are upgrading to a higher firmware revision level, you will need to transfer new program
firmware to the OEMV family receiver using the WinLoad utility program. As WinLoad and the
upgrade file are generally provided in a compressed file format, you will also be given a
decompression password. WinLoad and the upgrade files can be found on NovAtel's FTP site at http:/
/www.novatel.com, or can be sent to you by e-mail.
Your local NovAtel dealer will provide you with all the information that you require to upgrade your
receiver.
4.4.1 Upgrading Using the AUTH Command
The AUTH command is a special input command which authorizes the enabling or unlocking of the
various model features. Use this command when upgrading to a higher performance OEMV family
model available within the same revision level as your current model. This command only functions
in conjunction with a valid auth-code assigned by Customer Service.
The upgrade can be performed directly from CDU's Command Line Screen, or from any other
communications program. The procedure is as follows:
1. Power-up the OEMV family receiver and establish communications over a serial port (see
Chapter 4 Operation in the OEMV Family Installation and Operation User Manual).
2. Issue the LOG VERSION command to verify the current firmware model number, revision level,
and serial number.
3. Issue the AUTH command, followed by the auth-code and model type. The syntax is as follows:
Syntax:
auth auth-code
where auth is a special command which allows program model upgrades
54 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
auth-code is the upgrade authorization code, expressed as hhhh,hhhh,hhhh,hhhh,hhhh,model# where
the h characters are an ASCII hexadecimal code, and the model# would be ASCII text
Example:
auth 17cb,29af,3d74,01ec,fd34,l1smrter
Once the AUTH command has been executed, the OEMV family receiver will reboot itself. Issuing
the LOG VERSION command will confirm the new upgrade model type and version number.
If communicating using CDU, the communication path needs to be closed and re-opened using the
Device menu.
4.4.2 Updating Using the WinLoad Utility
WinLoad is required (instead of the AUTH command) when upgrading previously released firmware
with a newer version of program and model firmware. WinLoad is a Windows utility program
designed to facilitate program and model upgrades. Once WinLoad is installed and running, it will
allow you to select a host PC serial port, bit rate, directory path, and file name of the new program
firmware to be transferred to the OEMV family receiver via its COM1 or COM2 port. The port chosen
must have an RS-232 interface to the PC.
Transferring Firmware Files
To proceed with your program upgrade, you must first acquire the latest firmware revision. You will
need a file with a name such as OEMXXXX.EXE (where XXXX is the firmware revision level). This
file is available from NovAtel's FTP site (http://www.novatel.com), or via e-mail
(support@novatel.ca). If transferring is not possible, the file can be mailed to you on CD. For more
information on how to contact NovAtel Customer Service please see page 15 at the beginning of this
manual.
You will need at least 1 MB of available space on your hard drive. For convenience, you may wish to
copy this file to a GPS sub-directory (for example, C:\GPS\LOADER).
The file is available in a compressed format with password protection; Customer Service will provide
you with the required password. After copying the file to your computer, it must be decompressed.
The syntax for decompression is as follows:
Syntax:
[filename] [password]
where filename is the name of the compressed file (but not including the .EXE extension) and
password is the password required to allow decompression
Example:
oem1001 12345678
A Windows-based dialog box is provided for password entry.
The self-extracting archive will then generate the following files:
WinLoad.exe WinLoad utility program
HowTo.txt Instructions on how to use the WinLoad utility
PC Utilities Chapter 4
SMART-MR10 User Manual Rev 0B 55
WhatsNew.txt Information on the changes made in the firmware since the last revision
XXXX.hex Firmware version upgrade file, where XXXX = program version level (for
example, 1001.hex)
Using the WinLoad Utility
WinLoad is a Windows-based program used to download firmware to OEMV family cards. The main
screen is shown in Figure 11 on page 55.
Figure 11: Main Screen of WinLoad
If you are running WinLoad for the first time you will need to make sure the file and communications
settings are correct.
56 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
Open a File to Download
From the file menu choose Open. Use the Open dialog to browse for your file, see Figure 12,
WinLoad’s Open Dialog on page 56.
Figure 12: WinLoad’s Open Dialog
Once you have selected your file, the name should appear in the main display area and in the title bar,
see Figure 13 below.
Figure 13: Open File in WinLoad
Communications Settings
To set the communications port and baud rate, select COM Settings from the Settings menu. Choose
the port on your PC from the Com Port dropdown list and the baud rate from the Download Baudrate
dropdown list. The baud rate should be as high as possible (the default of 115200 is preferred).
PC Utilities Chapter 4
SMART-MR10 User Manual Rev 0B 57
Figure 14: COM Port Setup
Downloading firmware
To download firmware follow these steps:
1. Set up the communications port as described in Communications Settings above.
2. Select the file to download, see Open a File to Download on page 56.
3. Make sure the file path and file name are displayed in main display area, see Figure 13, Open File
in WinLoad on page 56.
4. Click on the Write Flash button to download the firmware.
5. Power down and then power up the receiver when “Searching for card” appears in the main dis-
play, see Figure 15.
Figure 15: Searching for Card
6. Enter the authorization code and select OK when the Authorization Code dialog opens, see
Figure 16.
Figure 16: Authorization Code Dialog
The receiver should finish downloading and reset. The process is complete when “Done.” is
displayed in the main display area, see Figure 17.
58 SMART-MR10 User Manual Rev 0B
Chapter 4 PC Utilities
Figure 17: Upgrade Process Complete
7. Close WinLoad.
This completes the procedure required to upgrade an OEMV family receiver.
SMART-MR10 User Manual Rev 0B 59
Chapter 5 Bluetooth® Configuration
Bluetooth is a wireless radio communication standard designed for use over short ranges (within
10 m). This chapter describes how to:
• Enable Bluetooth on the SMART-MR10 receiver
• Set up a PC/laptop with a Bluetooth adaptor
• Locate a Bluetooth-enabled SMART-MR10 in range
• Communicate with the SMART-MR10 using Bluetooth
• Stop communicating with the SMART-MR10 using Bluetooth
5.1 Enable Bluetooth on the SMART-MR10 Receiver
The SMART-MR10 Bluetooth configuration is illustrated in Figure 18:
Figure 18: SMART-MR10 Bluetooth Configuration
Bluetooth is configured on the SMART-MR10 COM3 port and, by default, is enabled.
If the SMART-MR10 is turned off (or power is removed) then turned back on, the Bluetooth
mode is returned to the state it was in before power-down, as long as the SAVECONFIG
command was issued before the unit was powered off. When you issue a FRESET command,
COM3 defaults to Bluetooth mode.
If Bluetooth has been disabled, you will need to enable it before you can use it. From a PC/laptop,
connect to a SMART-MR10 serial port. Open communication with the receiver using HyperTerminal
or CDU. Refer to Appendix B.2, BTCONTROL Enable/Disable Bluetooth starting on page 74 for
further information. Once your PC/laptop is configured for Bluetooth operation, you will be able to
communicate with the SMART-MR10 through Bluetooth.
SMART-MR10
CPU
Bluetooth
Module
DB9 Labeled COM1
DB9 Labeled COM2
COM1
COM2
AUX
COM3
DB9 Labeled AUX
SMART-MR10 Enclosure
60 SMART-MR10 User Manual Rev 0B
Chapter 5 Bluetooth® Configuration
5.2 Set Up a PC/Laptop with a Bluetooth Adaptor
If your PC/laptop is already Bluetooth-equipped and ready, proceed to Section 5.3 on Page 60
1. With the PC/laptop powered on, install the driver(s) from the disc that came with your Bluetooth
adapter.
2. Connect the Bluetooth adapter. An example of a D-Link USB adapter is shown in Figure 19:
Figure 19: Bluetooth Adapter for PC/Laptop
Within two minutes of connecting the USB adapter, the Bluetooth icon appears in the Windows
task bar as shown in Figure 20.
Figure 20: Bluetooth Standby: White
Continue on to the next section when you see the white Bluetooth icon. If the Bluetooth icon is
red, as shown in Figure 21, the Bluetooth installation on your PC/laptop is incorrect and you
should return to step #1.
Figure 21: Bluetooth Error: Red
5.3 Locate a Bluetooth-Enabled SMART-MR10 in Range
Ensure your PC/laptop is equipped with a built in, or external-plug-in, Bluetooth adapter and
is already configured with the appropriate Bluetooth driver.
1. Power on the SMART-MR10.
2. Double-click the Bluetooth icon in the task bar, as shown in Figure 20, or select Programs | My
Bluetooth Places from the Start menu in Windows. The My Bluetooth Places window opens.
3. Click the Search for devices in range option from the Bluetooth Tasks side bar on the left of the
My Bluetooth Places window. Bluetooth-enabled devices within range appear in the Entire
Bluetooth Neighborhood folder, as shown in Figure 22.
Bluetooth® Configuration Chapter 5
SMART-MR10 User Manual Rev 0B 61
Figure 22: My Bluetooth Places Window
5.4 Communicate with the SMART-MR10 Using Bluetooth
1. Double-click the SMART-MR10 device icon in the Entire Bluetooth Neighborhood window, as
shown in Figure 22. The PC/laptop searches for available services. If Bluetooth is working
properly, a COM port service appears.
2. Double-click the COM3 icon. To use the serial COM port, the SMART-MR10 must be “paired”
with the PC/laptop to use the COM3 port. The Bluetooth PIN Code Request dialog appears.
3. Enter the SMART-MR10 default pin number of four zeroes (0000), as shown in Figure 23:
Figure 23: Bluetooth PIN Code Request
62 SMART-MR10 User Manual Rev 0B
Chapter 5 Bluetooth® Configuration
If the code is correct, a new COM dialog opens, showing the PC/laptop COM port that has been
assigned to the Bluetooth link. For example, in Figure 24, the PC/laptop port is COM21.
Figure 24: PC/Laptop COM3 Port Assignment
4. Open a terminal program (HyperTerminal, for example) and configure it to the serial port
specified in the Bluetooth configuration utility. In the above example, the terminal program must
be configured to connect through COM21.
5. Configure the port settings as follows:
9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off
6. Through the terminal program, connect to the Bluetooth serial port, and verify the connection.
7. Type the following VERSION log request into the command prompt to ensure that the connection
works:
LOG VERSION
The Bluetooth icon in the task bar turns green when it is connected, as shown in Figure 25.
Figure 25: Bluetooth Connected: Green
Bluetooth® Configuration Chapter 5
SMART-MR10 User Manual Rev 0B 63
5.5 Stop Communicating with SMART-MR10 Using Bluetooth
1. Double-click the Bluetooth icon in the task bar, as shown in Figure 20 on page 60, or select
Programs | My Bluetooth Places from the Start menu in Windows. The My Bluetooth Places
window opens.
2. Click the Search for devices in range option from the Bluetooth Tasks side bar on the left of the
My Bluetooth Places window. Bluetooth-enabled devices within range appear in the Entire
Bluetooth Neighborhood folder, as shown in Figure 22 on page 61.
3. Double-click the SMART-MR10 device icon in the Entire Bluetooth Neighborhood window. The
PC/laptop searches for available services. If Bluetooth is working properly, COM port service
appears.
4. Right-click the COM3 icon then select the Disconnect Serial COM Port option. A COM3 dialog
box appears, as shown in Figure 26, requesting confirmation that you want to disconnect.
Figure 26: COM3 Disconnect?
5. Click Yes in the COM3 dialog. The SMART-MR10 Bluetooth is unpaired from your PC/laptop.
When the SMART-MR10 and PC/laptop Bluetooth are unpaired, the Bluetooth icon in the task
bar appears white, as shown in Figure 20 on page 60.
64 SMART-MR10 User Manual Rev 0B
Appendix A Technical Specifications
A.1 SMART-MR10 Receiver Performance
PERFORMANCE
Channel Configuration
14 GPS L1, 14 GPS L2, 6 GPS L5
12 GLONASS L1, 12 GLONASS L2 (optional)
2 SBASa
1 L-band
a. Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe)
and MSAS (Japan).
Horizontal Position Accuracy (RMS)b
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.
Autonomous (L1) 1.5 m
Autonomous (L1/L2) 1.2 m
SBASa0.6 m
CDGPS 0.6 m
DGPS 0.4 m
OmniSTAR
VBS 0.6 m
XP 0.15 m
HP 0.1 m
RT-20™c(optional ) 0.2 m
RT-2™c(optional) 1 cm+1 ppm
c. Expected accuracy after convergence. RT-20 is independent of
GL1DE
.
Measurement Precision
GPS GLONASS
L1 C/A Code 4 cm RMS 15 cm RMS
L1 Carrier Phase 0.5 mm RMS 1.5 mm RMS
L2 P(Y) Code 8 cm RMS 8 cm RMS
L2 Carrier Phase 1.0 mm RMS 1.5 mm RMS
Maximum Data Rated
d. Model specific.
Measurements 20 Hz
Position 20 Hz
Time to First Fix Cold Starte65 s
Hot Startf35 s
e. Typical value. No almanac or ephemerides and no approximate position or time.
Signal Reacquisition L1 0.5 s (typical)
L2 1.0 s (typical)
Time Accuracy 20 ns RMS
Velocity Accuracyb0.03 m/s RMS
Velocityb515 m/s RMS
Technical Specifications Appendix A
SMART-MR10 User Manual Rev 0B 65
A.2 SMART-MR10 Specifications
f. Typical value. Almanac and recent ephemerides saved and approximate time entered. For more
information, Please refer to the “SETAPPROXTIME” command in the OEMV Family Firmware
Reference Manual found on our Web site at http://www.novatel.com/support/docupdates.htm.
INPUT/OUTPUT CONNECTORS
SMART-MR10 COM/
PWR +8 to +36 V DC at 2.5 W (typical while logging) a
For the cable pinouts and drawings, see SMART-MR10 Evaluation
Cable (Part Number 01018515) starting on page 68 and SMART-MR10
Streamlined Cable (Part Number 01018526) starting on page 70.
Serial Com Ports 3 RS-232 serial ports (1 port configurable to RS422) [230,400 bps
maximum]
CAN SAE J1939/ ISO 11783/ ISO 11898 Compliant
Emulated Radar Output High = Supply Voltage -0.5V Minimum
Low = 0.5 V Maximum
Load = 3K Ohm Minimum
PPS Output 3.3 V CMOS Logic Compatible
MKI Input 3.3 V CMOS Logic/ 5 V Tolerant
Mode Pin 0 to 36 V DC (depending on the desired configuration, the Mode pin
can be left open, connected to ground, or connected to the supply
voltage)
INPUT/ OUTPUT CONNECTOR PROTECTION
Electrical Conducted/
Coupled disturbance
tolerance
ISO 7637-2:2004 (Survives all pulse types)
ISO 15003 (TBD)
LED INDICATORS
More details can also be found in Section 2.2.2, Status Indicators starting on Page 28
PHYSICAL
Size 223 mm x 223 mm x 90 mm height
Weight 2.2 kg maximum
ENVIRONMENTAL
Operating Temperature -40°C to +75°C
Storage Temperature -55°C to +90°C
Humidity Not to exceed 95% non-condensing
Immersion MIL-STD-810F Method 512.4 Procedure 1
Vibration bRandom MIL-STD-810F Method 514.5 C17
Sinusoidal IEC 68-2-6 ASAE EP455, 5.15.2 Level 1 (TBD)
Shock MIL-STD-810 F Method 516.5
66 SMART-MR10 User Manual Rev 0B
Appendix A Technical Specifications
a. When tracking GPS satellites.
b. See also the Notice section of this manual starting on Page 13.
DIMENSIONS
Notes:
1. All dimensions are in millimetres
2. Mounting holes are labelled
according to their size and thread.
Antenna Phase Centre
Technical Specifications Appendix A
SMART-MR10 User Manual Rev 0B 67
Note: All dimensions are in millimetres
Antenna
Phase Centre
68 SMART-MR10 User Manual Rev 0B
Appendix A Technical Specifications
A.2.1 SMART-MR10 Evaluation Cable (Part Number 01018515)
The SMART-MR10 evaluation cable provided with the SMART-MR10 Development Kit, is
illustrated in Figure 27 and equipped as follows:
• Exposed power wires (red for positive and black for negative) are connected to a 12 or 24V
vehicular power circuit (or equivalent), which must be protected by a user-supplied 5A fuse
(NovAtel recommends an automotive blade-type fuse rated for 5A with an operating voltage of
more than 36 V).
• Two DB-9 connectors. One of these is normally connected to a PC/laptop serial (RS-232)
communication port and another to a modem or radio transmitter, to propagate differential
corrections (refer to your user-supplied modem or radio transmitter user guide for more
information).
• Four pairs of bare wires, where the outer insulation is cut away but the wires beneath are intact.
These are provided for emulated radar, MKI, PPS, and CAN bus. See Table 7 on page 69 for their
pinouts and use. For more information on mating connectors and part numbers, see Table 9 on
page 72.
This cable is RoHS compliant.
Figure 27: SMART-MR10 Evaluation Cable
+
-
MKI
ER/PPS
CAN
COM2
COM1
User Supplied
5A Fuse
Tyco 23-pin
connector
COM3
MODE
Technical Specifications Appendix A
SMART-MR10 User Manual Rev 0B 69
Table 7: SMART-MR10 Evaluation Cable Pinouts
TYCO
23-PIN COM1
D-SUB COM2
D-SUB COM3
D-SUB TINNED
LEAD SIGNAL
NAME
1PWR+ PWR+
2PWR- PWR-
3CAN- CAN-
4CAN+ CAN+
5 2 TXD2
6 3 RXD2
7 2 TXD1
8 2 RTS1/AUXTX/TXD3
9SIGGND2 SIGGND2
10 RESERVED
11 RESERVED
12 RESERVED
13 RESERVED
14 CHASSIS GROUNDa
a. Pin 14 is connected to cable shields.
15 5 5 5 SIGGND1 SIGGND1
16 MKI MKI
17 PPS PPS
18 ER ER
19 MODE MODE
20 RESERVED
21 RESERVED
22 3CTS1/AUXRX/RXD3
23 3RXD1
70 SMART-MR10 User Manual Rev 0B
Appendix A Technical Specifications
A.2.2 SMART-MR10 Streamlined Cable (Part Number 01018526)
The SMART-MR10 streamlined cable, designed for reduced size and weight, and increased flexibility,
provides:
• Connection to a battery while operating in the field. The exposed wires (red for positive and black
for negative) can be connected to a 12 or 24V vehicular power circuit (or equivalent), which must
be protected by a user-supplied 5A fuse (NovAtel recommends an automotive blade-type fuse
rated for 5A with an operating voltage of more than 36 V).
• Two DB-9 connectors. One of these is normally connected to a PC/laptop serial (RS-232)
communication port and the other 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).
• One pair of bare wires, where the outer insulation is cut away but the wires beneath are intact, are
provided for emulated radar. See Table 8 on page 71 for their pinouts. For more information on
mating connectors and part numbers, see Table 9 on page 72.
This cable is RoHS compliant.
Figure 28: SMART-MR10 Streamlined Cable
+
-
ER
COM2
COM1
User Supplied
5A Fuse
Tyco 23-pin
connector
Technical Specifications Appendix A
SMART-MR10 User Manual Rev 0B 71
Table 8: SMART-MR10 Streamlined Cable Pinouts
TYCO
23-PIN COM1
D-SUB COM2
D-SUB TINNED
LEAD SIGNAL
NAME
1PWR+ PWR+
2PWR- PWR-
3RESERVED
4RESERVED
5 2 TXD2
6 3 RXD2
7 2 TXD1
8RESERVED
9SIGGND2 SIGGND2
10 RESERVED
11 RESERVED
12 RESERVED
13 RESERVED
14 CHASSIS GROUNDa
a. Pin 14 is connected to cable shields.
15 5 5 SIGGND1 SIGGND1
16 RESERVED
17 RESERVED
18 ER ER
19 RESERVED
20 RESERVED
21 RESERVED
22 RESERVED
23 3RXD1
72 SMART-MR10 User Manual Rev 0B
Appendix A Technical Specifications
A.2.3 SMART-MR10 Connector and Cable Requirements
Custom cables for installing your SMART-MR10 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 (value TBD) fast blow fuse
• Serial data signals (TxD, RxD, signal ground) must be run in shielded cable. Connect shields to
ground at SMART-MR10 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
WARNING!: 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 SMART-MR10 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
SMART-MR10. These numbers are provided for information only and are not available from NovAtel
as separate parts.
Table 9: SMART-MR10 Mating Connectors
Table 10 details the part numbers for recommended fuses. These numbers are provided for
information only and are not available from NovAtel as separate parts.
Table 10: Recommended Fuses
Product Part Description Company Part Number
SMART-MR10 mating
connector (see Figure 27,
SMART-MR10 Evaluation
Cable on Page 68 and Figure
28, SMART-MR10
Streamlined Cable on Page
70)
23-pin sealed
receptacle
housing black
Tyco/
AMP 1-770680-1
Gold plated pins for SMART-
MR10 connector/loose Pins, loose piece Tyco/
AMP 770854-3
Gold plated pins for SMART-
MR10 connector/strip Pins, strip (reel) Tyco/
AMP 770520-3
Fuse Recommended Fuse/Fuse Holder
Blade Fuse 58V 5A Littelfuse 142.6185.450
Mini Blade Fuse 58V 5A Littelfuse 0997005
SMART-MR10 User Manual Rev 0B 73
Appendix B Commands
The SMART-MR10 firmware implements the OEMV family command set, documented in OEMV
Family Firmware Reference Manual. For convenience, commonly used SMART-MR10 commands
are summarized in Table 11 and documented in this appendix.
Table 11: Commonly Used SMART-MR10 Commands in Alphabetical Order
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 SMART-MR10, an OEMV-3
based receiver, is capable of processing, refer to the OEMV Family 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 OEMV Family Firmware
Reference Manual for more information.
ASCII Command Message ID Description
btcontrol 8205 Enable/disable Bluetooth.
com 4 Configure the receiver’s asynchronous serial ports
communications drivers.
freset 20 Clear data stored in non-volatile memory and reset.
log 1 Request logs from the receiver.
pdpfilter 424 Enable, disable or reset the PDP (Pseudorange Delta-
Phase) filter.
pdpmode 970 Select the PDP filter mode and dynamics.
radarcfg 8192 Configure the ER signal output.
reset 18 Perform a hardware reset.
sbascontrol 652 Set SBAS test mode and PRN.
74 SMART-MR10 User Manual Rev 0B
Appendix B Commands
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 OEMV Family
Firmware Reference Manual. Note that all binary data is little-endian byte-ordered.
B.2 BTCONTROL Enable/Disable Bluetooth
The BTCONTROL command enables or disables the Bluetooth module. To ensure no possibility of
interference, when the module is disabled it is completely powered down.
Abbreviated ASCII Syntax: Message ID: 8205
BTCONTROL switch
Factory Default:
The Bluetooth module is enabled by default.
Example 1 to disable Bluetooth:
btcontrol disable
Example 2 to enable Bluetooth:
btcontrol enable
1. If users want the current state of the Bluetooth module to persist across receiver resets and
power-ups, they should issue a saveconfig command.
2. Changing the Bluetooth from disabled to enabled takes several seconds to execute. This
means that, even though the user will get an immediate “OK>” response followed by the
COM prompt, the Bluetooth module may not be ready for communication.
Field Data Description Binary
Bytes Binary
Format Binary
Offset
1header This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.
- - 0
2switch Enable or disable Bluetooth
0 = ENABLE
1 = DISABLE
(default = ENABLE)
4Enum H
Commands Appendix B
SMART-MR10 User Manual Rev 0B 75
B.3 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
OEMV Family 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
Chapter 2 Commands of the OEMV Family Firmware Reference Manual).
• Set the interface mode to NovAtel for both input and output (see
INTERFACEMODE command in the OEMV Family Firmware Reference Manual).
Baud rates higher than 115,200 bps are not supported by standard PC hardware. Special PC
hardware may be required for higher rates, including 230400 bps, 460800 bps and 921600 bps.
Also, some PC's have trouble with baud rates beyond 57600 bps.
Abbreviated ASCII Syntax: Message ID: 4
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
com aux 9600 n 8 1 n off on
Do not alter the COM3 port configuration, since COM3 is reserved for Bluetooth.
ASCII Example:
com com1,57600,n,8,1,n,off,on
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.
76 SMART-MR10 User Manual Rev 0B
Appendix B Commands
WARNING!: Use the COM command before using the INTERFACEMODE command on
each port. Turn break detection off using the COM command to stop the port
from resetting because it is interpreting incoming bits as a break command.
Table 12: COM Serial Port Identifiers
Table 13: Parity
Table 14: Handshaking
Binarya
a. This table lists the commonly used SMART-MR10 COM
ports. For a complete list of COM ports, refer to the
COM Serial Port Identifiers table in the COM command
section of the OEMV Family Firmware Reference
Manual.
ASCII Description
1 COM1 COM port 1
2 COM2 COM port 2
3 COM3 COM port 3 (available over
Bluetooth)
6 THISPORT Current COM port
16 AUX AUX port
Binary ASCII Description
0 N No parity (default)
1 E Even parity
2 O Odd parity
Binary ASCII Description
0 N No handshaking (default)
1 XON XON/XOFF software handshaking
2 CTS CTS/RTS hardware handshaking
Commands Appendix B
SMART-MR10 User Manual Rev 0B 77
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1COM header - - This field contains the
command name or the
message header depending on
whether the command is
abbreviated ASCII, ASCII or
binary, respectively.
- H 0
2port See Table 12,
COM Serial Port
Identifiers on Page
76
Port to configure.
(default = THISPORT) Enum 4 H
3bps/baud 300, 600, 900,
1200, 2400, 4800,
9600, 19200,
38400, 57600,
115200, or 230400
Communication baud rate
(bps).
Bauds of 460800 and 921600
are also available on COM1 of
OEMV-2-based products.
ULong 4H+4
4parity See Table 13 on
Page 76 Parity Enum 4H+8
5databits 7 or 8 Number of data bits
(default = 8) ULong 4H+12
6stopbits 1 or 2 Number of stop bits
(default = 1) ULong 4H+16
7handshake See Table 14 on
Page 76 Handshaking Enum 4H+20
8echo OFF 0No echo
(default) Enum 4H+24
ON 1Transmit any input characters
as they are received
9break OFF 0Disable break detection Enum 4H+28
ON 1Enable break detection
(default)
78 SMART-MR10 User Manual Rev 0B
Appendix B Commands
B.4 FRESET Clear Selected Data from NVM and Reset
This command is extended to include SMART-MR10 features. An additional target field, userdata
(value = 10), resets only the SMART-MR10 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 OEMV parameters as indicated in
the OEMV Family Firmware Reference Manual.
If you issue the FRESET command without any parameters, it is the same as issuing a FRESET
STANDARD command.
Table 15: FRESET Target
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1 FRESET
header - - This field contains the
command name or the
message header
depending on whether
the command is
abbreviated ASCII,
ASCII or binary,
respectively.
-H0
2 target See Table 15 Data to be reset by the
receiver Enum 4 H
Binary ASCII Description
0 STANDARD Resets commands, ephemeris, and almanac (default). Also resets
all L-band related data except for subscription information.
1 COMMAND Resets the stored commands (saved configuration)
2 GPSALMANAC Resets the stored GPS almanac
3 GPSEPHEM Resets the stored GPS ephemeris
4 GLOEPHEM Resets the stored GLONASS ephemeris
5 MODEL Resets the currently selected model
10 USERDATA Reset SMART-MR10-only commands
11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE
20 SBASALMANAC Resets the stored SBAS almanac
21 LAST_POSITION Resets the position using the last stored position
31 GLOALMANAC Resets the stored GLONASS almanac
Commands Appendix B
SMART-MR10 User Manual Rev 0B 79
B.5 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 three COM ports and three USB
ports. The ONTIME trigger option requires the addition of the period parameter. See the OEMV
Family 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 which 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 com-
mand was received on.
1. The OEMV 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. Each
COM port (serial and USB) already has RXSTATUSEVENT log associated with it. This
means that with 3 serial ports and no USB ports, 7 logs are already accounted for, as
shown below:
• RXSTATUSEVENT on COM1, COM2, and COM3
• TRACKSTAT, BESTVEL, and PSRXYZ on XCOM1
See the example on the next page.
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, MARK2TIME, MARKPOS or MARK2POS
logs.
5. Only the MARKPOS, MARK2POS, MARKTIME or MARK2TIME 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.
80 SMART-MR10 User Manual Rev 0B
Appendix B Commands
Abbreviated ASCII Syntax: Message ID: 1
LOG [port] message [trigger [period [offset [hold]]]]
Factory Default:
log com1 rxstatuseventa onnew 0 0 hold
log com2 rxstatuseventa onnew 0 0 hold
log com3 rxstatuseventa onnew 0 0 hold
log aux rxstatuseventa onnew 0 0 hold
log usb1 rxstatuseventa onnew 0 0 hold
log usb2 rxstatuseventa onnew 0 0 hold
log usb3 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
Refer to the Command Formats section of the OEMV Family Firmware Reference Manual for
additional examples.
1. In CDU 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 PC 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. Please refer to the
LOG command in the OEMV Family Firmware Reference Manual for binary log details.
Commands Appendix B
SMART-MR10 User Manual Rev 0B 81
Field Field
Name ASCII
Value Description Field
Type
1LOG
(ASCII)
header
- This field contains the command name or
the message header depending on whether
the command is abbreviated ASCII or
ASCII respectively.
-
2 port See Table 16,
Detailed Serial Port
Identifiers on Page 82
Output port
(default = THISPORT) Enum
3 message Any valid message
name, with an optional
A or B suffix.
Message name of log to output Char [ ]
4 trigger ONNEW Output when the message is updated (not
necessarily changed) Enum
ONCHANGED Output when the message is changed
ONTIME Output on a time interval
ONNEXT Output only the next message
ONCE Output only the current message. (default)
ONMARK Output when a pulse is detected on the
mark 1 input, MKI
5 period Any positive double
value larger than the
receiver’s minimum
raw measurement
period
Log period (for ONTIME trigger) in seconds
(default = 0) Double
6 offset Any positive double
value smaller than the
period.
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
7 hold NOHOLD Allow log to be removed by the UNLOGALL
command (default) Enum
HOLD Prevent log from being removed by the
UNLOGALL command
82 SMART-MR10 User Manual Rev 0B
Appendix B Commands
Table 16: Detailed Serial Port Identifiers
ASCII Port
Name Hex Port
Value Decimal Port
Value aDescription
NO_PORTS 0 0 No ports specified
COM1_ALL 1 1 All virtual ports for COM port 1
COM2_ALL 2 2 All virtual ports for COM port 2
COM3_ALL 3 3 All virtual ports for COM port 3
THISPORT_ALL 6 6 All virtual ports for the current port
ALL_PORTS 8 8 All virtual ports for all ports
XCOM1_ALL 9 9 All virtual COM1 ports
XCOM2_ALL 10 10 All virtual COM2 ports
USB1_ALL d 13 All virtual ports for USB port 1
USB2_ALL e 14 All virtual ports for USB port 2
USB3_ALL f 15 All virtual ports for USB port 3
AUX_ALL 10 16 All virtual ports for the AUX port b
XCOM3_ALL 11 17 All virtual COM3 ports
COM1 20 32 COM port 1, virtual port 0
COM1_1 21 33 COM port 1, virtual port 1
...
COM1_31 3f 63 COM port 1, virtual port 31
COM2 40 64 COM port 2, virtual port 0
...
COM2_31 5f 95 COM port 2, virtual port 31
COM3 60 96 COM port 3, virtual port 0
...
COM3_31 7f 127 COM port 3, virtual port 31
USB 80 128 USB port, virtual port 0
...
USB_31 9f 159 USB port, virtual port 31
SPECIAL a0 160 Unknown port, virtual port 0
...
SPECIAL_31 bf 191 Unknown port, virtual port 31
THISPORT c0 192 Current COM port, virtual port 0
Continued on the following page
Commands Appendix B
SMART-MR10 User Manual Rev 0B 83
THISPORT_31 df 223 Current COM port, virtual port 31
FILE ce0c224cUser-specified file destination, 0 c
FILE_1ce1c225cUser-specified file destination, 1 c
...
FILE_31cff c255cUser-specified file destination, 31 c
XCOM1 1a0 416 Virtual COM1 port, virtual port 0
XCOM1_1 1a1 417 Virtual COM1 port, virtual port 1
...
XCOM1_31 1bf 447 Virtual COM1 port, virtual port 31
XCOM2 2a0 672 Virtual COM2 port, virtual port 0
XCOM2_1 2a1 673 Virtual COM2 port, virtual port 1
...
XCOM2_31 2bf 703 Virtual COM2 port, virtual port 31
USB1 5a0 1440 USB port 1, virtual port 0
USB1_1 5a1 1441 USB port 1, virtual port 1
...
USB1_31 5bf 1471 USB port 1, virtual port 31
USB2 6a0 1696 USB port 2, virtual port 0
...
USB2_31 6bf 1727 USB port 2, virtual port 31
USB3 7a0 1952 USB port 3, virtual port 0
...
USB3_31 7bf 1983 USB port 3, virtual port 31
AUXc8a0c2208cAUX port, virtual port 0 b
...
AUX_31c8bfc2239cAUX port, virtual port 31 b
XCOM3 9a0 2464 Virtual COM3 port, virtual port 0
...
XCOM3_31 9bf 2495 Virtual COM3 port, virtual port 31
a. Decimal port values 0 through 16 are only available to the UNLOGALL command and
cannot be used in the UNLOG command, or in the binary message header.
b. The AUX port is available on OEMV-2-based and OEMV-3-based products.
c. Not available with SMART-MR10.
ASCII Port
Name Hex Port
Value Decimal Port
Value aDescription
84 SMART-MR10 User Manual Rev 0B
Appendix B Commands
B.6 PDPFILTER Enable, disable or reset the PDP filter
This command enables, disables or resets the Pseudorange/Delta-Phase (PDP) filter. The main
advantages of the Pseudorange/Delta-Phase (PDP) implementation are:
• Smooths a jumpy position
• Bridges outages in satellite coverage (the solution is degraded from normal but
there is at least a reasonable solution without gaps)
Enable the PDP filter to output the PDP solution in BESTPOS, BESTVEL and NMEA logs.
Refer to the Operation chapter of the OEMV Installation and Operation Manual for a section
on configuring your receiver for PDP or
GL1DE
operation.
GL1DE
Position Filter
GL1DE
is a mode of the PDP1 filter which optimizes the position for consistency over time rather than
absolute accuracy. This is ideally in clear sky conditions where the user needs a tight, smooth, and
consistent output. The
GL1DE
filter works best with CDGPS or WAAS. The PDP filter is smoother
than a least squares fit but is still noisy in places. The
GL1DE
filter produces a very smooth solution
with consistent rather than absolute position accuracy. There should be less than 1 cm difference
typically from epoch to epoch.
GL1DE
also works in single point, DGPS and OmniSTAR VBS modes.
See also the PDPMODE command on page 85.
Abbreviated ASCII Syntax: Message ID: 424
pdpfilter switch
Factory Default:
pdpfilter disable
ASCII Example:
pdpfilter enable
1. Refer also to our application note on Pseudorange/Delta-Phase (PDP), available on our
Web site as APN-038 at http://www.novatel.com/support/applicationnotes.htm
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1PDPFILTER
header - - This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
-H0
2 switch DISABLE 0 Enable/disable/reset the PDP filter.
A reset clears the filter memory so
that the pdp filter can start over.
Enum 4 H
ENABLE 1
RESET 2
Commands Appendix B
SMART-MR10 User Manual Rev 0B 85
B.7 PDPMODE Select the PDP mode and dynamics
This command allows you to select the mode and dynamics of the PDP filter.
1. You must issue a PDPFILTER enable command before the PDPMODE command. See
PDPFILTER Enable, disable or reset the PDP filter starting on page 84.
2. If you choose RELATIVE mode (
GL1DE
) while in WAAS or CDGPS mode:
• With an L1-only receiver model, you must force the iono type to GRID in the
SETIONOTYPE command.
• With an L1/L2 receiver model, you must force the iono type to L1L2 in the
SETIONOTYPE command.
Abbreviated ASCII Syntax: Message ID: 970
pdpmode mode dynamics
Factory Default:
pdpmode normal auto
ASCII Example:
pdpmode relative dynamic
Field Field
Type
ASCII
Value
Binary
Value Description Binary
Format
Binary
Bytes
Binary
Offset
1 PDPMODE
header - - This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
-H0
2 mode NORMAL 0 In relative mode,
GL1DE
,
performance is optimized to obtain
a consistent error in latitude and
longitude over time periods of 15
minutes or less rather than to
obtain the smallest absolute
position error. See also GL1DE
Position Filter on Page 84.
Enum 4 H
RELATIVE 1
3 dynamics AUTO 0 Auto detect dynamics mode Enum 4 H+4
STATIC 1 Static mode
DYNAMIC 2 Dynamic mode
86 SMART-MR10 User Manual Rev 0B
Appendix B Commands
B.8 RADARCFG Configure the ER output
Use this command to configure the Emulated Radar (ER) output. ER is available through the SMART-
MR10 multi-cable, see page 69 for pin-out details.
Syntax
radarcfg switch freq_step update_rate resp_mode threshold
Message ID = 8192
Field Data Description Bytes Format Units Offset
1 Header This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
--0
2 switch Enable or disable radar emulation
0 = ENABLE
1 = DISABLE
(default = enable)
4 Enum none H
3 freq_step Frequency step per kilometre per
hour.
Range: 26.11, 28.12 or 36.11
(default = 36.11)
8 Double Hz/
kph H+4
4 update_rate Specify how often to update radar
output
Range: 1, 2, 5, 10, 20
(default = 10)a
4 Integer Hz H+12
5 resp_mode Specify the time, response mode,
over which to average velocity
samples, see Table 17.
(Default = 500)a
4 Integer none H+16
6 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)
8 Double kph 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.
Commands Appendix B
SMART-MR10 User Manual Rev 0B 87
Table 17: Response Modes
Example 1 to disable radar emulation: radarcfg disable 26.11 1 1 2
Example 2 to set the frequency step to 36.11 Hz/kph,
update rate to 1 Hz and no smoothing: radarcfg enable 36.11 1 1 2
Mode Description
2000 2000 ms The time period over which to smooth
velocity samples
1000 1000 ms
500 500 ms (default)
2 Automatically switches between 1000 and 500 ms
1 Performs no smoothing
88 SMART-MR10 User Manual Rev 0B
Appendix B Commands
B.9 RESET Performs a hardware reset
This command performs a hardware reset. Following a RESET command, the receiver initiates a cold-
start boot up. Therefore, the receiver configuration reverts either to the factory default, if no user
configuration was saved, or the last SAVECONFIG settings.
The optional delay field is used to set the number of seconds the receiver is to wait before resetting.
Abbreviated ASCII Syntax: Message ID: 18
reset [delay]
Example
reset 120
The RESET command can be used to erase any unsaved changes to the receiver
configuration.
Field Field
Type ASCII
Value Binary
Value Description Binary
Format Binary
Bytes Binary
Offset
1RESET header - - This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
- H 0
2delay Seconds to wait before resetting.
(default = 0) Ulong 4 H
Commands Appendix B
SMART-MR10 User Manual Rev 0B 89
B.10 SBASCONTROL Set SBAS test mode and PRN
This command allows you to dictate how the receiver handles Satellite Based Augmentation System
(SBAS) corrections. The receiver automatically switches to Pseudorange Differential (RTCM or
RTCA) or RTK if the appropriate corrections are received, regardless of the current setting.
To enable the position solution corrections, you must issue the SBASCONTROL ENABLE
command. The GPS receiver does not attempt to track any GEO satellites until you use the
SBASCONTROL command to tell it to use either WAAS, EGNOS, or MSAS corrections.
When in AUTO mode, if the receiver is outside the defined satellite system’s corrections grid, it
reverts to ANY mode and chooses a system based on other criteria.
Once tracking satellites from one system in ANY or AUTO mode, it does not track satellites from
other systems. This is because systems such as WAAS, EGNOS and MSAS do not share broadcast
information and have no way of knowing each other are there.
The “testmode” parameter in the example is to get around the test mode of these systems. EGNOS at
one time used the IGNOREZERO test mode. At the time of printing, ZEROTOTWO is the correct
setting for all SBAS, including EGNOS, running in test mode. On a simulator, you may want to leave
this parameter off or specify NONE explicitly.
When you use the SBASCONTROL command to direct the GPS receiver to use a specific correction
type, the GPS receiver begins to search for and track the relevant GEO PRNs for that correction type
only.
You can force the GPS receiver to track a specific PRN using the ASSIGN command. You can force
the GPS receiver to use the corrections from a specific SBAS PRN using the SBASCONTROL
command.
Disable stops the corrections from being used.
Abbreviated ASCII Syntax: Message ID: 652
sbascontrol keyword [system] [prn] [testmode]
90 SMART-MR10 User Manual Rev 0B
Appendix B Commands
Factory Default:
sbascontrol disable auto 0 none
Abbreviated ASCII Example 1:
sbascontrol enable waas 0 zerototwo
NovAtel's OEMV receivers work with SBAS systems including EGNOS (Europe), MSAS
(Japan) and WAAS (North America)
System Types
ASCII Binary Description
NONE 0 Don’t use any SBAS satellites
AUTO 1 Automatically determine satellite
system to use (default)
ANY 2 Use any and all SBAS satellites found
WAAS 3 Use only WAAS satellites
EGNOS 4 Use only EGNOS satellites
MSAS 5 Use only MSAS satellites
SMART-MR10 User Manual Rev 0B 91
Appendix C Logs
C.1 Position Logs
C.1.1 NMEA Logs
The NMEA logs (receiver outputs) supported by the SMART-MR10 are summarized in Chapter 3 of
the OEMV Family Firmware Reference Manual in section "NMEA Standard Logs". The available
logs include:
• GPGGA, which outputs a log of position system fix data and undulation. There are variants of
GPGGA, specifically:
- GPGGARTK, which has greater precision than GPGGA but with the loss of the
undulation field
- GPGGALONG, which has both greater precision and the undulation field
• GPVTG, which outputs track made good and ground speed
Each of the available NMEA standard logs is described in more detail in its own section of Chapter 3
of the OEMV Family Firmware Reference Manual.
The steps for configuring the receiver output, through the command line are:
1. Configure the communication port using the COM command, described in Appendix B.3, COM
Configure COM Port on Page 75. To set COM port 2 as follows:
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. The information is described in
Chapter 3 Data Logs of the OEMV Family Firmware Reference Manual, in the section for the
particular log. For example, to log gpgga (position system fix data and undulation) at 2 Hz, enter
the following string:
log gpgga ontime 0.5
Bit Rate 9600
Parity none
Data Bits 8
Stop Bits 1
Handshaking None
Echo Off
Break On
92 SMART-MR10 User Manual Rev 0B
Appendix C Logs
You can configure the log to output at various frequencies, as described in Appendix B.5, LOG
Request Logs from the Receiver on Page 79.
The above command line operations can also be carried out through the CDU. Information about
configuring the communication port can be found in the CDU online help in Contents > Getting
Started > Connecting to the receiver. Information about logging data can be found in Getting Started >
Logging Data. The procedure for adding a NMEA log through the CDU 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.
C.1.2 NovAtel Position Logs
In addition to NMEA logs, NovAtel supports a range of non-NMEA position logs, described in the
OEMV Family Firmware Reference Manual, including:
• BESTPOS: This log contains the best available position (GPS and GLONASS if available),
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
Logs Appendix C
SMART-MR10 User Manual Rev 0B 93
C.2 Other Logs
The SMART-MR10 firmware generates the logs in Table 18, in addition to those of the OEMV Family
log set. Refer to the OEMV Family Firmware Reference Manual, which also contains procedures and
explanations related to data logging and is available from our Web site at:
http://www.novatel.com/support/docupdates.htm
Table 18: SMART-MR10 Logs in Alphabetical Order
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 SMART-MR10):
#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 SMART-MR10):
#RADARSIGNALA,COM1,0,42.5,FINESTEERING,1428,206179.600,
00000000,baa8,3349;SOL_COMPUTED,WAAS,0.3315,2,0.3152,
473.97,29.62*c1479c20
Message ID ASCII Log Description
8193 RADARSIGNAL Radar signal and position information (new
SMART-MR10 log)
37 VERSION Hardware versions, software versions, and serial
numbers (existing OEMV log extended to SMART-
MR10)
94 SMART-MR10 User Manual Rev 0B
Appendix C Logs
Field # Field type Data Description Format Binary
Bytes Binary
Offset
1RADAR-
SIGNAL
header
Log header H 0
2sol status Solution status, see Table 20, Solution Status on
Page 96 Enum 4 H
3vel type Velocity type, see Table 19, Position or Velocity
Type on Page 95 Enum 4H+4
4speed Speed over ground (m/s) Double 8H+8
4varf freq External VARF output frequency (Hz) Double 8H+16
5radar freq Radar signal frequency (Hz) as output by the
Emulated Radar Out signal. See SMART-MR10
Evaluation Cable starting on Page 68.
Double 8H+24
6 xxxx 32-bit CRC (ASCII and Binary only) Hex 4H+32
7[CR][LF] Sentence terminator (ASCII only) - - -
Logs Appendix C
SMART-MR10 User Manual Rev 0B 95
Table 19: Position or Velocity Type
Type (binary) Type (ASCII) Description
0NONE No solution
1 FIXEDPOS Position has been fixed by the FIX POSITION command
2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT/AUTO
command
8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler
16 SINGLE Single point position
17 PSRDIFF Pseudorange differential solution
18 WAAS Solution calculated using corrections from an SBAS
19 PROPAGATED Propagated by a Kalman filter without new observations
32 L1_FLOAT Floating L1 ambiguity solution
33 IONOFREE_FLOAT Floating ionospheric-free ambiguity solution
34 NARROW_FLOAT Floating narrow-lane ambiguity solution
48 L1_INT Integer L1 ambiguity solution
49 WIDE_INT Integer wide-lane ambiguity solution
50 NARROW_INT Integer narrow-lane ambiguity solution
96 SMART-MR10 User Manual Rev 0B
Appendix C Logs
Table 20: Solution Status
Solution Status Description
(Binary) (ASCII)
0SOL_COMPUTED Solution computed
1INSUFFICIENT_OBS Insufficient observations
2NO_CONVERGENCE No convergence
3SINGULARITY Singularity at parameters matrix
4COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)
5TEST_DIST Test distance exceeded (maximum of 3 rejections if
distance > 10 km)
6COLD_START Not yet converged from cold start
7V_H_LIMIT Height or velocity limits exceeded (in accordance with
export licensing restrictions)
8VARIANCE Variance exceeds limits
9RESIDUALS Residuals are too large
10 DELTA_POS Delta position is too large
11 NEGATIVE_VAR Negative variance
12 Reserved
13 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 The fixed position, entered using the FIX POSITION
command, is not valid
20 UNAUTHORIZED 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 GPS satellites to
perform this check. Under normal conditions you should only see PENDING for a few seconds on
power up before the GPS receiver has locked onto its first few satellites. If your antenna is
obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see
PENDING indefinitely.
Logs Appendix C
SMART-MR10 User Manual Rev 0B 97
C.2.2 VERSION HW & SW Versions and Serial Numbers
The Component Type of the VERSION log, refer to the OEMV Family Firmware Reference Manual,
is extended to include SMART-MR10 information as in Table .
Table 21: Component Type
For the SMART-MR10, the BT MAC address field has been added, in hexadecimal format, to the
USERINFO block, “002166000001” in the following example.
[COM1]<VERSION COM1 0 94.5 UNKNOWN 0 156.357 004c0001 3681 5010
< 3
< GPSCARD "N1GA" "DHC09401037" "MCAGTP-1.00-22B"
"3.710" "3.002" "2009/Nov/30" "11:08:19"
< DB_USERAPPAUTO "SmartAg" "0" "" "1.100" ""
"2009/Nov/27" "13:22:29"
< USERINFO "LMX9830" "0212" "002166000001" "" "" "" ""
[COM1]
In the above example, the firmware is shown as 3.710 and the SMART-MR10 application is shown as
1.100.
Binary Valuea
a. Unused numbers are reserved for future use.
ASCII Value Description
0 UNKNOWN Unknown Component
1 GPSCARD OEMV GPSCard Component
3 ENCLOSURE SMART-MR10 Receiver
8 USERINFO User-application information
component
981073925
(0x3A7A0005) DB_USERAPPAUTO Auto-starting user-application
firmware
98 SMART-MR10 User Manual Rev 0B
Appendix D Replacement Parts
The following are a list of the replacement parts available for your NovAtel SMART-MR10 receiver.
Should you require assistance, or need to order additional components, please contact your local
NovAtel dealer or Customer Service representative.
D.1 SMART-MR10
D.2 Accessories
The accessories above are also available from www.novatel.com
Part Description NovAtel Part
SMART-MR10 01018518
Full connectivity cable [23-pin socket to 3 DB-9 connectors, twisted CAN I/O pair, and
other bare wire connectors (see SMART-MR10 Evaluation Cable (Part Number
01018515) starting on Page 68)]
01018515
Streamlined cable 01018526
Universal Mounting Plate 70023085
AG GPS 262 Mounting Plate 70023086
Pole Mount 70023087
Part Description NovAtel Part
OEMV Family Compact Disc with PC utilities including CDU 01018235
OEMV Family Installation and Operation User Manual OM-20000093
OEMV Family Firmware Reference Manual OM-20000094
SMART-MR10 User Manual Rev 0B 99
Index
A
accuracy
position, 35, 64
velocity, 64
ALIGN, 42
almanac, 78
antenna
internal, 18
specifications, 65
ascii, 50
AUTH command, 53
authorization, 54
AUX port, 83
identifier, 76
B
base station, 40
baseline, 35
baud rate, 32
baud rate, see bps
BESTPOS log, 92
BESTXYZ log, 92
bidirectional communication, 33
bit rate, see bps
Bluetooth, 23
configuration, 59–63
power-down, 59
bps, 77
break, 75, 77
bridge, 84
BTCONTROL, 74
buffer, 33, 79
C
cable
customer interface, 68
serial, 32
streamlined, 70
warranty, 12
CAN. See Controller Area Network
CDU software, 44, 80, 98
CMR, 39
cold start, 64
COM command, 75
COM port, 80
command
CDU, 34
communication, 32
error message, 35
example, 35
in CDU, 48, 53
interface, 39
multiple, 40
note, 34
port, 32
pre-configure, 37
prompt, 34
RTK, 40
communication
bidirectional, 33
Bluetooth, 59
CDU, 34, 59
getting started, 33
notice, 13
operation, 32
PC/laptop, 33
physical, 21
port, 28, 32
remote terminal, 33
COMVOUT command, 75
configuration
additional equipment, 21
base station, 37
Bluetooth, 59–63
CDU, 34
port, 32, 75
receiver, 88
reset, 88
rover station, 38
RTK, 39
typical hardware, 32
connector
input/output, 65
mounting bracket, 25
100 SMART-MR10 User Manual Rev 0B
Index
specifications, 65
Controller Area Network, 30
Convert software, 50
copyright, 2
CPUrequirements, 79
customer interface cable, 68
Customer Service, 15, 53
D
dataBluetooth, 59
collect, 29
erase, 78
format, 74
L-band, 78
link, 36
log, 79–80
NVM, 78
port, 28, 32
start, 33–34
storage device, 36
terminal, 33
Warning, 35
DC power, 65
dealer, 53
default
Bluetooth, 59, 61
factory, 78, 88
interface mode, 39
log, 80
offset, 81
period, 81
port, 32, 79–81
reset, 78
trigger, 81
differential
configuration note, 39
corrections, 35, 68, 70
operation, 35
serial cable, 68, 70
directional communication, 33
distance exceeded, 96
dynamics, 85
E
echo, 77
EGNOS, 41
EGNOS (European SBAS), 90
e-mail, 15
Emulated Radar (ER), 30, 86, 93
operation, 42
enable Bluetooth, 59
ESTB, 41
F
factory default
reset, 88
setting, 75
features, 20, 33, 53
filter, 84–85
firmware upgrades, 53–54
FRESET command, 78
G
gaps, 84
GL1DE, 42, 85
GLONASS
RINEX files, 51
GPGGA log, 91
GPVTG log, 91
graphical user interface, 45
H
handshaking, 32, 76–77
hardware
Bluetooth, 60
connector, 21
enclosure, 18
replace, 98
required, 21
reset, 88
setup, 23, 36
header, 17
height limit, 96
hexadecimal, 17
hibernate mode, PC, 80
hold, 79, 81
I
identifier, serial port, 82
idle time, 32
Index
SMART-MR10 User Manual Rev 0B 101
input
command, 34–35
connector, 65
differential, 37–38
mark, 81
power, 24
syntax, 73
install, 16
installation, 44
integration, 16
interface
base or rover, 37–38
Bluetooth, 59
communication, 33
graphical, 23
serial, 32
introduction, 18
L
laptop power settings, 80
LEDpower, 22, 28
log, 39, 79–80, 93
LOG command, 79
logs in CDU, 49
M
message trigger, 81
models
SMART-MR10, 20
mounting plates, 25
MSAS (Japanese SBAS), 90
N
NMEA logs, 91
note, logging, 79
Notices, 13
NovAtel Inc., 2, 15
NovAtel position logs, 92
O
operation, 32
optionality, 17
outages, 84
output
connector, 65
convention, 17
log, 79–81
status, 33–34
syntax, 73
overload, 79
P
parity, 32, 76–77
PC power settings, 80
period, 79, 81
port Bluetooth, 61
COM, 21, 32, 34, 39
configuration, 75, 77
identifier, 76, 82–83
interface mode, 37–38
log, 79–81
output, 81
prompt, 34–35
serial, 33
settings, 32
position
accuracy, 35
base, 35, 37
best, 93
command, 35, 39
position logs, 92
power, 22, 24
power-down, 59
pseudorange, 40
pseudorange/delta-phase (PDP), 84–85
R
RADARCFG command, 84
RADARSIGNAL log, 93
receiver outputs, 91
receiver status, 79
relative pseudorange/delta phase, 85
replacement parts, 98
resetFRESET command, 34, 78
hardware, 88
option, 78
target, 78
revision, firmware, 1, 53
RINEX, 50
102 SMART-MR10 User Manual Rev 0B
Index
rover station, 40
configuration, 38
RTCA, 39
RTCM, 39
RTCM1819, 37
RTCMV3, 37, 39
S
satellite, 28, 32
coverage, 84
SBAS
control, 89
system type, 90
self-test, 33, 79
serial
cable, 32
number, 53
port, 39, 82
sleep
Bluetooth, 59
SMART-MR10
models, 20
smooth, 84
standby mode, PC, 80
static mode, 85
status, receiver, 79
streamlined cable, 70
support, 12, 15
syntax, 73
T
technical specifications, 64
time, 79, 81
transmit, 77
trigger, log, 79–80
U
upgrade firmware, 53–54
V
velocity limit, 96
version, 54
W
WAAS (North American SBAS), 90
WAAS (Wide Area Augmentation Sys-
tem), 40
Warning
CE, 14
FCC, 13
voltage, 24
warranty, 12
antenna, 12
Web site, 15
windows in CDU, 45–49
WinLoad, 54
Index
SMART-MR10 User Manual Rev 0B 103
OM-20000130 Rev 0B 2010/05/12