Novatel 01018518 Smart-MR10 BlueTooth Intergration User Manual OM 20000130SMARTMR10
Novatel Inc Smart-MR10 BlueTooth Intergration OM 20000130SMARTMR10
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User Manual
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| Document ID | 1307064 |
| Application ID | swFTFfLI23E7y6DbBEK7Cw== |
| Document Description | User Manual |
| Short Term Confidential | No |
| Permanent Confidential | No |
| Supercede | No |
| Document Type | User Manual |
| Display Format | Adobe Acrobat PDF - pdf |
| Filesize | 156.88kB (1960997 bits) |
| Date Submitted | 2010-07-06 00:00:00 |
| Date Available | 2010-07-14 00:00:00 |
| Creation Date | 2010-05-13 09:30:26 |
| Producing Software | Acrobat Distiller 8.0.0 (Windows) |
| Document Lastmod | 2010-05-13 10:41:08 |
| Document Title | OM-20000130SMARTMR10.book |
| Document Creator | FrameMaker 8.0 |
| Document Author: | cjeffrey |
SMART-MR10
User Manual
OM-20000130 Rev 0B
SMART-MR10 User Manual
Publication Number:
Revision Level:
Revision Date:
Firmware Version:
OM-20000130
0B
2010/05/12
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:
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
© Copyright 2010 NovAtel Inc. All rights reserved. Unpublished rights reserved
under International copyright laws. Printed in Canada on recycled paper.
Recyclable.
SMART-MR10 User Manual Rev 0B
Table of Contents
Software License
Terms and Conditions
Warranty
Notice
Foreword
1 Introduction
10
12
13
16
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
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
Tables
10
11
12
13
14
15
16
17
18
19
20
21
SMART-MR10 Controller Models............................................................................... 20
SMART-MR10 Connector Pin-Out ............................................................................. 22
Use of MODE Pin....................................................................................................... 22
SMART-MR10 LED Status Indicators ........................................................................ 29
Available CAN Signals on the SMART-MR10 ............................................................ 31
NovAtel Logs for RINEX Conversion ......................................................................... 51
SMART-MR10 Evaluation Cable Pinouts................................................................... 69
SMART-MR10 Streamlined Cable Pinouts ................................................................ 71
SMART-MR10 Mating Connectors............................................................................. 72
Recommended Fuses ................................................................................................ 72
Commonly Used SMART-MR10 Commands in Alphabetical Order .......................... 73
COM Serial Port Identifiers ........................................................................................ 76
Parity .......................................................................................................................... 76
Handshaking .............................................................................................................. 76
FRESET Target.......................................................................................................... 78
Detailed Serial Port Identifiers.................................................................................... 82
Response Modes ....................................................................................................... 87
SMART-MR10 Logs in Alphabetical Order ................................................................ 93
Position or Velocity Type............................................................................................ 95
Solution Status ........................................................................................................... 96
Component Type........................................................................................................ 97
SMART-MR10 User Manual Rev 0B
Figures
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
SMART-MR10 Receiver ................................................................................................... 18
SMART-MR10 Connector ................................................................................................ 21
Simplified SMART-MR10 Setup ....................................................................................... 23
SMART-MR10 Universal Mounting Plate (70023085) ..................................................... 25
SMART-MR10 AG GPS 262 Layout Mounting Plate (70023086) .................................... 26
SMART-MR10 Pole Mount (70023087) ........................................................................... 27
Open Configuration Window ............................................................................................ 34
Basic Differential Setup .................................................................................................... 36
Convert4 Screen Examples ............................................................................................. 50
Convert4 Command Line Arguments ............................................................................... 52
Main Screen of WinLoad .................................................................................................. 55
WinLoad’s Open Dialog ................................................................................................... 56
Open File in WinLoad ....................................................................................................... 56
COM Port Setup ............................................................................................................... 57
Searching for Card ........................................................................................................... 57
Authorization Code Dialog ............................................................................................... 57
Upgrade Process Complete ............................................................................................. 58
SMART-MR10 Bluetooth Configuration ........................................................................... 59
Bluetooth Adapter for PC/Laptop ..................................................................................... 60
Bluetooth Standby: White ................................................................................................. 60
Bluetooth Error: Red ........................................................................................................ 60
My Bluetooth Places Window ........................................................................................... 61
Bluetooth PIN Code Request ........................................................................................... 61
PC/Laptop COM3 Port Assignment ................................................................................. 62
Bluetooth Connected: Green ............................................................................................ 62
COM3 Disconnect? .......................................................................................................... 63
SMART-MR10 Evaluation Cable ...................................................................................... 68
SMART-MR10 Streamlined Cable ................................................................................... 70
SMART-MR10 User Manual Rev 0B
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 ELECTRONIC PRODUCT (SOFTWARE, FIRMWARE, SCRIPT FILES, OR OTHER ELECTRONIC 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 conveyed 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 sustained 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
SMART-MR10 User Manual Rev 0B
Software License
visual output of the Software;
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 Software 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 howsoever) 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, consequential, 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, deficiency, 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 WARRANTIES, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTIES OF MERCHANTABILITY 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 performance or non-performance by NovAtel under or related to this Agreement are to the remedies specified by this Agreement.
(d)
SMART-MR10 User Manual Rev 0B
Software License
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
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
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
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.
10
SMART-MR10 User Manual Rev 0B
Terms and Conditions
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
11
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
Antenna
Cables and Accessories
Computer Discs
Software Warranty
One (1) Year
One (1) Year
Ninety (90) Days
Ninety (90) Days
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.
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; 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 PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN
REMOVED OR ALTERED. THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES, 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 SERVICES. IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
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.
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.
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.
SMART-MR10 User Manual Rev 0B
12
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 SMARTMR10 is connected
•
Consult the dealer or an experienced radio/TV technician for help
IMPORTANT:
WARNING:
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.
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.
SMART-MR10 User Manual Rev 0B
13
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.
14
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
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
BESTPOSA
RXCONFIGA
VERSIONA
once
ontime 1
once
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.
SMART-MR10 User Manual Rev 0B
15
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 SMARTMR10-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.
16
SMART-MR10 User Manual Rev 0B
Foreword
•
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.
SMART-MR10 User Manual Rev 0B
17
Chapter 1
Introduction
The SMART-MR10 is a rugged dual-constellation, dual-frequency smart antenna designed for onmachine applications in the agricultural, construction and industrial market segments.The SMARTMR10 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:
•
•
•
•
•
18
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 userSMART-MR10 User Manual Rev 0B
Introduction
•
•
•
•
Chapter 1
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.
SMART-MR10 User Manual Rev 0B
19
Chapter 1
1.2
Introduction
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.
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
Refer also to the OEMV Family Installation and Operation User Manual for information on receiver
communications and operation.
20
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.
•
2.1.1
A fused power supply (user-supplied) or other user equipment
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 SMARTMR10 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
21
SMART-MR10 User Manual Rev 0B
Chapter 2
Installation and Setup
Table 2: SMART-MR10 Connector Pin-Out
Pin
Use
Pin
Use
PWR+
13
RESERVED
PWR-
14
CHASSIS GROUND
CAN1-
15
SIGGND1
CAN1+
16
MKI
TXD2
17
PPS
RXD2
18
ER
TXD1
19
MODEa
RTS1/AUXTX
20
RESERVED
SIGGND2
21
RESERVED
10
RESERVED
22
CTS1/AUXRX
11
RESERVED
23
RXD1
12
RESERVED
a. The SMART-MR10 is RS-232/RS-422-selectable through pin 19
MODE, as shown in Table 3.
Table 3: Use of MODE Pin
MODE Pin
3.
22
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.
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.
SMART-MR10 User Manual Rev 0B
Installation and Setup
Chapter 2
Fuse/holder recommendations can be found in Table 10, Recommended Fuses on page 72
Tyco 23-pin
connector
COM1
User Supplied
5A Fuse
COM2
ER
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.
SMART-MR10 User Manual Rev 0B
23
Chapter 2
3.
Installation and Setup
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.
2.1.3
Install the PC Utilities by advancing through the steps provided in the NovAtel PC Utilities setup
program.
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 BATTlabel) 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.
24
SMART-MR10 User Manual Rev 0B
Installation and Setup
2.1.4
Chapter 2
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)
SMART-MR10 User Manual Rev 0B
25
Chapter 2
Installation and Setup
Figure 5: SMART-MR10 AG GPS 262 Layout Mounting Plate (70023086)
26
SMART-MR10 User Manual Rev 0B
Installation and Setup
Chapter 2
INSERT
Figure 6: SMART-MR10 Pole Mount (70023087)
All measurements are in millimetres unless specified otherwise.
SMART-MR10 User Manual Rev 0B
27
Chapter 2
2.1.5
Installation and Setup
Mounting the SMART-MR10
When installing the SMART-MR10:
2.1.6
•
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.
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
28
SMART-MR10 User Manual Rev 0B
Installation and Setup
Chapter 2
Table 4 shows the meaning of the LED states in the expected sequence after power is applied.
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)
On
Flashing
Flashing
Fixed position with bad integrity
a. When acting as a reference receiver, all lights on solid indicates a good fixed position.
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:
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]
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 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 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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Chapter 4
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.
SMART-MR10 User Manual Rev 0B
49
Chapter 4
4.3
PC Utilities
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.
50
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.
SMART-MR10 User Manual Rev 0B
PC Utilities
Chapter 4
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
parameter as the station ID
ddd
day of year
file sequence number within the day - Convert4 sets this to zero
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 a
once
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51
Chapter 4
PC Utilities
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.
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.
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4.4
Chapter 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
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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:
54
WinLoad.exe
WinLoad utility program
HowTo.txt
Instructions on how to use the WinLoad utility
SMART-MR10 User Manual Rev 0B
PC Utilities
Chapter 4
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.
SMART-MR10 User Manual Rev 0B
55
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).
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SMART-MR10 User Manual Rev 0B
PC Utilities
Chapter 4
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 display, 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.
SMART-MR10 User Manual Rev 0B
57
Chapter 4
PC Utilities
Figure 17: Upgrade Process Complete
7.
Close WinLoad.
This completes the procedure required to upgrade an OEMV family receiver.
58
SMART-MR10 User Manual Rev 0B
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:
5.1
•
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
Enable Bluetooth on the SMART-MR10 Receiver
The SMART-MR10 Bluetooth configuration is illustrated in Figure 18:
SMART-MR10 Enclosure
COM1
DB9 Labeled COM1
COM2
DB9 Labeled COM2
DB9 Labeled AUX
AUX
SMART-MR10
CPU
COM3
Bluetooth
Module
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 User Manual Rev 0B
59
Chapter 5
5.2
Bluetooth® Configuration
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.
60
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.
SMART-MR10 User Manual Rev 0B
Bluetooth® Configuration
Chapter 5
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
SMART-MR10 User Manual Rev 0B
61
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
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SMART-MR10 User Manual Rev 0B
Bluetooth® Configuration
5.5
Chapter 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.
SMART-MR10 User Manual Rev 0B
63
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
Horizontal Position Accuracy (RMS)b
Autonomous (L1)
Autonomous (L1/L2)
SBASa
CDGPS
DGPS
OmniSTAR
VBS
XP
HP
RT-20™c(optional )
RT-2™c(optional)
1.5 m
1.2 m
0.6 m
0.6 m
0.4 m
0.6 m
0.15 m
0.1 m
0.2 m
1 cm+1 ppm
L1 C/A Code
L1 Carrier Phase
L2 P(Y) Code
L2 Carrier Phase
GPS
4 cm RMS
0.5 mm RMS
8 cm RMS
1.0 mm RMS
Maximum Data Rated
Measurements
Position
20 Hz
20 Hz
Time to First Fix
Cold Starte
Hot Startf
65 s
35 s
Signal Reacquisition
L1
L2
0.5 s (typical)
1.0 s (typical)
Measurement Precision
Time Accuracy
20 ns RMS
Velocity Accuracyb
0.03 m/s RMS
Velocityb
515 m/s RMS
GLONASS
15 cm RMS
1.5 mm RMS
8 cm RMS
1.5 mm RMS
a. Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe)
and MSAS (Japan).
b. Typical values. Performance specifications subject to GPS system characteristics, US DOD
operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline
length, multipath effects and the presence of intentional or unintentional interference sources.
Export licensing restricts operation to a maximum velocity of 515 metres per second.
c. Expected accuracy after convergence. RT-20 is independent of GL1DE.
d. Model specific.
e. Typical value. No almanac or ephemerides and no approximate position or time.
64
SMART-MR10 User Manual Rev 0B
Technical Specifications
f.
A.2
Appendix A
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.
SMART-MR10 Specifications
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 b
Random
Sinusoidal
Shock
SMART-MR10 User Manual Rev 0B
MIL-STD-810F Method 514.5 C17
IEC 68-2-6 ASAE EP455, 5.15.2 Level 1 (TBD)
MIL-STD-810 F Method 516.5
65
Appendix A
Technical Specifications
a. When tracking GPS satellites.
b. See also the Notice section of this manual starting on Page 13.
DIMENSIONS
Antenna Phase Centre
Notes:
1. All dimensions are in millimetres
2. Mounting holes are labelled
according to their size and thread.
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SMART-MR10 User Manual Rev 0B
Technical Specifications
Appendix A
Antenna
Phase Centre
Note: All dimensions are in millimetres
SMART-MR10 User Manual Rev 0B
67
Appendix A
A.2.1
Technical Specifications
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.
Tyco 23-pin
connector
ER/PPS
MKI
COM1
CAN
User Supplied
5A Fuse
COM2
COM3
MODE
Figure 27: SMART-MR10 Evaluation Cable
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SMART-MR10 User Manual Rev 0B
Technical Specifications
Appendix A
Table 7: SMART-MR10 Evaluation Cable Pinouts
TYCO
23-PIN
COM1
D-SUB
COM2
D-SUB
COM3
D-SUB
TINNED
LEAD
SIGNAL
NAME
PWR+
PWR+
PWR-
PWR-
CAN-
CAN-
CAN+
CAN+
TXD2
RXD2
TXD1
RTS1/AUXTX/TXD3
SIGGND2
10
RESERVED
11
RESERVED
12
RESERVED
13
RESERVED
14
CHASSIS GROUNDa
15
SIGGND2
SIGGND1
SIGGND1
16
MKI
MKI
17
PPS
PPS
18
ER
ER
19
MODE
MODE
20
RESERVED
21
RESERVED
22
23
CTS1/AUXRX/RXD3
RXD1
a. Pin 14 is connected to cable shields.
SMART-MR10 User Manual Rev 0B
69
Appendix A
A.2.2
Technical Specifications
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.
Tyco 23-pin
connector
COM1
User Supplied
5A Fuse
COM2
ER
Figure 28: SMART-MR10 Streamlined Cable
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SMART-MR10 User Manual Rev 0B
Technical Specifications
Appendix A
Table 8: SMART-MR10 Streamlined Cable Pinouts
TYCO
23-PIN
COM1
D-SUB
COM2
D-SUB
TINNED
LEAD
SIGNAL
NAME
PWR+
PWR+
PWR-
PWR-
RESERVED
RESERVED
TXD2
RXD2
TXD1
RESERVED
SIGGND2
10
RESERVED
11
RESERVED
12
RESERVED
13
RESERVED
14
CHASSIS GROUNDa
15
SIGGND1
16
RESERVED
17
RESERVED
18
ER
19
RESERVED
20
RESERVED
21
RESERVED
22
RESERVED
23
SIGGND2
SIGGND1
ER
RXD1
a. Pin 14 is connected to cable shields.
SMART-MR10 User Manual Rev 0B
71
Appendix A
A.2.3
Technical Specifications
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
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 SMARTMR10 connector/loose
Pins, loose piece
Tyco/
AMP
770854-3
Gold plated pins for SMARTMR10 connector/strip
Pins, strip (reel)
Tyco/
AMP
770520-3
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
Fuse
72
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
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
ASCII Command
Message ID
Description
btcontrol
8205
Enable/disable Bluetooth.
com
Configure the receiver’s asynchronous serial ports
communications drivers.
freset
20
Clear data stored in non-volatile memory and reset.
log
Request logs from the receiver.
pdpfilter
424
Enable, disable or reset the PDP (Pseudorange DeltaPhase) 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.
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 or
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.
SMART-MR10 User Manual Rev 0B
73
Appendix B
B.2
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.
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
74
Field
Data
Description
Binary
Bytes
Binary
Format
Binary
Offset
header
This field contains the command name or
the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.
switch
Enable or disable Bluetooth
0 = ENABLE
1 = DISABLE
(default = ENABLE)
Enum
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.
SMART-MR10 User Manual Rev 0B
Commands
B.3
Appendix B
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.
SMART-MR10 User Manual Rev 0B
75
Appendix B
WARNING!:
Commands
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
Binarya
ASCII
COM1
COM port 1
COM2
COM port 2
COM3
COM port 3 (available over
Bluetooth)
THISPORT
16
AUX
Description
Current COM port
AUX port
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.
Table 13: Parity
Binary
ASCII
Description
No parity (default)
Even parity
Odd parity
Table 14: Handshaking
76
Binary
ASCII
Description
No handshaking (default)
XON
XON/XOFF software handshaking
CTS
CTS/RTS hardware handshaking
SMART-MR10 User Manual Rev 0B
Commands
Field
Field
Type
Appendix B
ASCII
Value
COM header
port
Binary
Value
Binary Binary
Format Bytes
Binary
Offset
This field contains the
command name or the
message header depending on
whether the command is
abbreviated ASCII, ASCII or
binary, respectively.
See Table 12,
COM Serial Port
Identifiers on Page
76
Port to configure.
(default = THISPORT)
Enum
bps/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
H+4
parity
See Table 13 on
Page 76
Parity
Enum
H+8
databits
7 or 8
Number of data bits
(default = 8)
ULong
H+12
stopbits
1 or 2
Number of stop bits
(default = 1)
ULong
H+16
handshake
See Table 14 on
Page 76
Handshaking
Enum
H+20
echo
OFF
No echo
(default)
Enum
H+24
ON
Transmit any input characters
as they are received
OFF
Disable break detection
Enum
H+28
ON
Enable break detection
(default)
break
Description
SMART-MR10 User Manual Rev 0B
77
Appendix B
B.4
Commands
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.
Field
Field
Type
ASCII
Value
Binary
Value
FRESET
header
target
See Table 15
Binary
Format
Description
Binary
Bytes
Binary
Offset
This field contains the
command name or the
message header
depending on whether
the command is
abbreviated ASCII,
ASCII or binary,
respectively.
Data to be reset by the
receiver
Enum
Table 15: FRESET Target
Binary
78
ASCII
Description
STANDARD
Resets commands, ephemeris, and almanac (default). Also resets
all L-band related data except for subscription information.
COMMAND
Resets the stored commands (saved configuration)
GPSALMANAC
Resets the stored GPS almanac
GPSEPHEM
Resets the stored GPS ephemeris
GLOEPHEM
Resets the stored GLONASS ephemeris
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
SMART-MR10 User Manual Rev 0B
Commands
B.5
Appendix B
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 command 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.
SMART-MR10 User Manual Rev 0B
79
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.
80
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.
SMART-MR10 User Manual Rev 0B
Commands
Field
Appendix B
Field
Name
ASCII
Value
Description
Field
Type
LOG
(ASCII)
header
This field contains the command name or
the message header depending on whether
the command is abbreviated ASCII or
ASCII respectively.
port
See Table 16,
Detailed Serial Port
Identifiers on Page 82
Output port
(default = THISPORT)
Enum
message
Any valid message
name, with an optional
A or B suffix.
Message name of log to output
Char [ ]
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
period
Any positive double
value larger than the
receiver’s minimum
raw measurement
period
Log period (for ONTIME trigger) in seconds
(default = 0)
Double
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
hold
NOHOLD
Allow log to be removed by the UNLOGALL
command (default)
Enum
HOLD
Prevent log from being removed by the
UNLOGALL command
SMART-MR10 User Manual Rev 0B
81
Appendix B
Commands
Table 16: Detailed Serial Port Identifiers
ASCII Port
Name
Hex Port
Value
Decimal Port
Value a
Description
NO_PORTS
No ports specified
COM1_ALL
All virtual ports for COM port 1
COM2_ALL
All virtual ports for COM port 2
COM3_ALL
All virtual ports for COM port 3
THISPORT_ALL
All virtual ports for the current port
ALL_PORTS
All virtual ports for all ports
XCOM1_ALL
All virtual COM1 ports
XCOM2_ALL
10
10
All virtual COM2 ports
USB1_ALL
13
All virtual ports for USB port 1
USB2_ALL
14
All virtual ports for USB port 2
USB3_ALL
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
82
SMART-MR10 User Manual Rev 0B
Commands
Appendix B
ASCII Port
Name
Hex Port
Value
Decimal Port
Value a
Description
THISPORT_31
df
223
Current COM port, virtual port 31
FILE c
e0c
224c
User-specified file destination, 0 c
FILE_1c
e1c
225c
User-specified file destination, 1 c
FILE_31c
ff c
255c
User-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
AUXc
8a0c
2208c
AUX port, virtual port 0 b
AUX_31c
8bfc
2239c
AUX 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.
SMART-MR10 User Manual Rev 0B
83
Appendix B
B.6
Commands
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:
pdpfilter switch
Message ID: 424
Factory Default:
pdpfilter disable
ASCII Example:
pdpfilter enable
Field
Field
Type
PDPFILTER
header
switch
1.
84
ASCII
Value
Binary
Value
DISABLE
ENABLE
RESET
Description
Binary Binary Binary
Format Bytes Offset
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
Enable/disable/reset the PDP filter. Enum
A reset clears the filter memory so
that the pdp filter can start over.
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
SMART-MR10 User Manual Rev 0B
Commands
B.7
Appendix B
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:
pdpmode mode dynamics
Message ID: 970
Factory Default:
pdpmode normal auto
ASCII Example:
pdpmode relative dynamic
Field
Field
ASCII
Type
Value
PDPMODE header
Binary
Value
mode
NORMAL 0
RELATIVE 1
dynamics
AUTO
STATIC
DYNAMIC
SMART-MR10 User Manual Rev 0B
Description
Binary Binary Binary
Format Bytes Offset
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
Enum
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.
Auto detect dynamics mode
Enum
Static mode
Dynamic mode
H+4
85
Appendix B
B.8
Commands
RADARCFG Configure the ER output
Use this command to configure the Emulated Radar (ER) output. ER is available through the SMARTMR10 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
Header
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
switch
Enable or disable radar emulation
0 = ENABLE
1 = DISABLE
(default = enable)
Enum
none
freq_step
Frequency step per kilometre per
hour.
Range: 26.11, 28.12 or 36.11
(default = 36.11)
Double
Hz/
kph
H+4
update_rate
Specify how often to update radar
output
Range: 1, 2, 5, 10, 20
(default = 10)a
Integer
Hz
H+12
resp_mode
Specify the time, response mode,
over which to average velocity
samples, see Table 17.
(Default = 500)a
Integer
none
H+16
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)
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.
86
SMART-MR10 User Manual Rev 0B
Commands
Appendix B
Table 17: Response Modes
Mode
Description
2000
2000 ms
1000
1000 ms
500
500 ms (default)
Automatically switches between 1000 and 500 ms
Performs no smoothing
The time period over which to smooth
velocity samples
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
SMART-MR10 User Manual Rev 0B
87
Appendix B
B.9
Commands
RESET Performs a hardware reset
This command performs a hardware reset. Following a RESET command, the receiver initiates a coldstart 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:
reset [delay]
Message ID: 18
Example
reset 120
The RESET command can be used to erase any unsaved changes to the receiver
configuration.
Field
Field
Type
RESET header
delay
88
ASCII
Value
Binary
Value
Binary
Format
Description
Binary Binary
Bytes Offset
This field contains the command
name or the message header
depending on whether the
command is abbreviated ASCII,
ASCII or binary, respectively.
Seconds to wait before resetting.
(default = 0)
Ulong
SMART-MR10 User Manual Rev 0B
Commands
Appendix B
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]
SMART-MR10 User Manual Rev 0B
89
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
90
ASCII
Binary
Description
NONE
Don’t use any SBAS satellites
AUTO
Automatically determine satellite
system to use (default)
ANY
Use any and all SBAS satellites found
WAAS
Use only WAAS satellites
EGNOS
Use only EGNOS satellites
MSAS
Use only MSAS satellites
SMART-MR10 User Manual Rev 0B
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:
Bit Rate
9600
Parity
none
Data Bits
Stop Bits
Handshaking
None
Echo
Off
Break
On
enter the following string:
com com2 9600 n 8 1 n off on
2.
Select and configure the NMEA string that you want to output. 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
SMART-MR10 User Manual Rev 0B
91
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:
92
•
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
SMART-MR10 User Manual Rev 0B
Logs
Appendix C
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
Message ID
C.2.1
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 SMARTMR10)
RADARSIGNAL ER Signal and Position Information
This log contains position and Emulated Radar (ER) signal information.
Message ID:
Log Type:
8193
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
SMART-MR10 User Manual Rev 0B
93
Appendix C
Field #
Logs
Field type
Data Description
Format
RADARSIGNAL
header
Log header
sol status
Solution status, see Table 20, Solution Status on
Page 96
vel type
Binary Binary
Bytes Offset
Enum
Velocity type, see Table 19, Position or Velocity
Type on Page 95
Enum
H+4
speed
Speed over ground (m/s)
Double
H+8
varf freq
External VARF output frequency (Hz)
Double
H+16
radar freq
Radar signal frequency (Hz) as output by the
Emulated Radar Out signal. See SMART-MR10
Evaluation Cable starting on Page 68.
Double
H+24
xxxx
32-bit CRC (ASCII and Binary only)
Hex
H+32
[CR][LF]
Sentence terminator (ASCII only)
94
SMART-MR10 User Manual Rev 0B
Logs
Appendix C
Table 19: Position or Velocity Type
Type (binary)
Type (ASCII)
Description
NONE
No solution
FIXEDPOS
Position has been fixed by the FIX POSITION command
FIXEDHEIGHT
Position has been fixed by the FIX HEIGHT/AUTO
command
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
SMART-MR10 User Manual Rev 0B
95
Appendix C
Logs
Table 20: Solution Status
Solution Status
(Binary)
Description
(ASCII)
SOL_COMPUTED
Solution computed
INSUFFICIENT_OBS
Insufficient observations
NO_CONVERGENCE
No convergence
SINGULARITY
Singularity at parameters matrix
COV_TRACE
Covariance trace exceeds maximum (trace > 1000 m)
TEST_DIST
Test distance exceeded (maximum of 3 rejections if
distance > 10 km)
COLD_START
Not yet converged from cold start
V_H_LIMIT
Height or velocity limits exceeded (in accordance with
export licensing restrictions)
VARIANCE
Variance exceeds limits
RESIDUALS
Residuals are too large
10
DELTA_POS
Delta position is too large
11
NEGATIVE_VAR
Negative variance
12
Reserved
13
INTEGRITY_WARNING
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
Large residuals make position unreliable
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.
96
SMART-MR10 User Manual Rev 0B
Logs
Appendix C
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
Binary Valuea
ASCII Value
Description
UNKNOWN
Unknown Component
GPSCARD
OEMV GPSCard Component
ENCLOSURE
SMART-MR10 Receiver
USERINFO
User-application information
component
981073925
(0x3A7A0005)
DB_USERAPPAUTO
Auto-starting user-application
firmware
a. Unused numbers are reserved for future use.
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]
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