Novatel 01019126 Wireless GNSS Receiver with Bluetooth User Manual OM 20000149AgStar
Novatel Inc Wireless GNSS Receiver with Bluetooth OM 20000149AgStar
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![Introduction Chapter 1AG-STAR User Manual Rev 1A 111.2 ScopeThis manual contains information about the installation and operation of the AG-STAR system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer-service related inquiries.An AG-STAR system requires the addition of accessories and a power supply.The AG-STAR utilizes a comprehensive user-interface command structure, which requires communications through its communications ports. This manual describes the AG-STAR specific commands and logs, see Appendix B, Commands on page 47 and Appendix C, Logs on page 57. For descriptions of other commands and logs available for AG-STAR, refer to the OEMStar Firmware Reference Manual (OM-20000127). This manual is available on the NovAtel website (www.novatel.com/support/firmware-software-and-manuals/product-manuals-and-doc-updates/). It is recommended that these documents be kept together for easy reference.AG-STAR output is compatible with post-processing software from NovAtel's Waypoint® Products Group. Visit our web site at www.novatel.com for details.1.3 ConventionsThe following conventions are used in this manual: • The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log. Refer to the OEMStar Firmware Reference Manual (OM-20000127) 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, refer to the RANGE log in the OEMStar Firmware Reference Manual (OM-20000127).• 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 Unit Conversion available on our Web site at www.novatel.com/support/knowledge-and-learning/.See also Syntax Conventions on page 47 for more syntax when entering commands.Information that supplements or clarifies text.A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware.A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-11.png)
![Operation Chapter 3AG-STAR User Manual Rev 1A 203.1.3 Communicating Using a ComputerA computer can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files. Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver. For example, HyperTerminal or NovAtel’s Graphic User Interface (GUI) program NovAtel Connect. All data is sent as raw 8-bit binary or ASCII characters.3.2 Getting Started3.2.1 Starting the ReceiverWhen first powered, the AG-STAR undergoes a complete self-test. The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log. Refer to the OEMStar Firmware Reference Manual (OM-20000127) for more information. If a persistent error develops, contact your local NovAtel dealer first. If the problem is still unresolved, contact NovAtel directly through any of the methods listed in Customer Support on page 9.3.2.2 Communicating with the Receiver Using NovAtel ConnectNovAtel Connect is a Windows-based GUI used to access the receiver's many features. The Convert utility is a Windows-based utility that converts between file formats and strips unwanted records for data file compilation. Both are included in the NovAtel Connect PC Utilities bundle available from: www.novatel.com/support/firmware-software-and-manuals/firmware-software-updates/.Launch the NovAtel Connect program and select Device | Open from its main menu. The Open Configuration window appears. Figure 7: Open Configuration WindowRefer to the NovAtel Connect help file by selecting the Help | Contents menu or pressing F1 while the cursor is in a NovAtel Connect window. Ensure the Console and ASCII Messages windows are open by selecting them from the View menu.When the receiver is first turned on, no data is transmitted from the COM ports except for the port prompt. The console window displays a port name:[COM1] if connected to COM1 portor[COM2] if connected to COM2 port or through Bluetooth](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-20.png)
![Operation Chapter 3AG-STAR User Manual Rev 1A 21Any of these prompts indicate that the receiver is ready and waiting for command input.Commands are typed at the interfacing computing device’s keyboard and executed after issuing a carriage return command which is usually the same as pressing the <Enter> key.An example of a response to an input command is the FIX POSITION command. It can be as:[COM2] FIX POSITION 51.11635 -114.0383 1048.2 [carriage return]<OKwhere [COM2] is the port prompt, followed by the command entered and [carriage return] is a prompt to press the <Enter> key.The example above illustrates the command input to the base receiver’s COM2 port, which sets the position of the base station receiver for differential operation. Confirmation that the command was actually accepted is the appearance of <OK.If a command is entered incorrectly, the receiver responds with:<Invalid Message ID (or a more detailed message)3.3 Channel ConfigurationThe 14 channels available on the AG-STAR are configured by selecting one of eight predefined channel configuration sets using the SELECTCHANCONFIG command. For information about the SELECTCHANCONFIG command, see page 55.3.4 Transmitting and Receiving CorrectionsDGPS corrections can be transmitted from a base station to a rover station to improve position accuracy.The base station is the GNSS receiver, which is acting as the stationary reference. It has a known position and transmits correction messages to the rover station. The rover station is the GNSS receiver which does not know its exact position and can be sent correction messages from a base station to calculate differential GNSS positions. The AG-STAR can be used as a base receiver to transmit DGPS corrections or a rover to receive the same corrections. An example of a differential setup is given in Figure 8, Basic Differential Setup on page 22.1. You may also have to wait for output from receiver self tests. For example, on start-up, the AG-STAR receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports. Refer to the OEMStar Firmware Reference Manual (OM-20000127) for more details.2. If you find that NovAtel Connect is unable to locate your AG-STAR receiver, try using a different COM port to communicate to the receiver. Once communication has been established, issue the command FRESET STANDARD. You should now be able to use your original communication port again.Ensure the Control Panel Power Settings on your computer are not set to go into Hibernate or Standby modes. Data will be lost if one of these modes occurs during a logging session.The AG-STAR can receive RTCM, RTCA, CMR, CMR+, RTCM 2.3 and RTCM 3.0 corrections to resolve DGPS solutions. With the DGPS_TX model upgrade, the AG-STAR can transmit non-carrier phase RTCM and RTCA corrections. Contact your local NovAtel dealer for more information. To locate a dealer in your area contact NovAtel Inc.](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-21.png)
![Operation Chapter 3AG-STAR User Manual Rev 1A 233.4.1 Base Station ConfigurationAt the base station, enter the following commands:COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]interfacemode port rx_type tx_type [responses]fix position latitude longitude heightlog port message [trigger [period]]Examples of these commands include the following:RTCA pdpfilter disablecom com2 115200 N 8 1 N off interfacemode com2 none rtca offfix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)log com2 rtca1 ontime 5log com2 rtcaephem ontime 10 1 (optional)RTCM pdpfilter disablecom com2 115200 N 8 1 N off interfacemode com2 none rtcm offfix position 51.11358042 -114.04358013 1059.4105 (enter your own lat, lon, hgt)log com2 rtcm1 ontime 5RTCMV3 pdpfilter disablecom com2 9600 N 8 1 N offinterfacemode com2 none rtcmv3 offfix position 51.11358042 -114.04358013 1059.4105log com2 rtcm1006 ontime 10log com2 rtcm1003 ontime 1CMR+ pdpfilter disablecom com2 9600 N 8 1 N offinterfacemode com2 none cmr offfix position 51.11358042 -114.04358013 1059.4105log com2 cmrobs ontime 1log com2 cmrplus ontime 1 (Important to use ontime 1 with cmrplus)CMR pdpfilter disablecom com2 9600 N 8 1 N offinterfacemode com2 none cmr offfix position 51.11358042 -114.04358013 1059.4105log com2 cmrobs ontime 1log com2 cmrref ontime 10log com2 cmrdesc ontime 10 1](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-23.png)
![Operation Chapter 3AG-STAR User Manual Rev 1A 243.4.2 Rover Station ConfigurationAt the rover station, enter:COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]interfacemode port rx_type tx_type [responses]For example:RTCA com com2 115200 N 8 1 N offinterfacemode com2 rtca none offRTCM com com2 115200 N 8 1 N offinterfacemode com2 rtcm none offRTCMV3 com com2 115200 N 8 1 N offinterfacemode com2 rtcmv3 none offCMR+ com com2 115200 N 8 1 N offinterfacemode com2 cmr none offCMR com com2 115200 N 8 1 N offinterfacemode com2 cmr none off (same as CMR+)3.4.3 GPS + GLONASS Base and Rover ConfigurationThis section shows you how to set up base and rover AG-STAR GPS + GLONASS enabled receivers for GPS + GLONASS DGPS corrections operation: 3.4.3.1 Base Station: pdpfilter disablefix position lat lon hgt (enter your own lat, lon, and hgt values)com com2 115200 N 8 1 N off interfacemode com2 none rtcm off log com2 rtcm1 ontime 5 log com2 rtcm31 ontime 5 1saveconfig (optional, save configuration to non-volatile memory)3.4.3.2 Rover Station (DGPS positions): com com2 115200 N 8 1 N off interfacemode com2 rtcm none off log com1 bestposa ontime 1 (optional, view position information)saveconfig (optional, save configuration to non-volatile memory)](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-24.png)
![NovAtel Firmware and Software Chapter 5AG-STAR User Manual Rev 1A 365.3 Updating or Upgrading Using the WinLoad UtilityWinLoad is the simplest and most common way to update or upgrade an AG-STAR receiver.5.3.1 Transferring Firmware FilesTo proceed with an update or possibly an upgrade, obtain the latest version of firmware from the NovAtel website at www.novatel.com/support/firmware-software-and-manuals/ (found with OEMStar).5.3.1.1 Types of Firmware FilesThe firmware update or upgrade file is one of two types:•Update Version (UPDT) - The update version includes the authorization codes for all AG-STAR receivers and receiver model upgrades purchased before the cut-off date1. The update version is named UPDTXXXX.EXE, where XXXX is the firmware version. If the receiver or model upgrade was purchased after the cut-off date, the authorization code does not appear in the UPDT file and the OEM version must be used.•OEM Version - Use the OEM version if the receiver or model upgrade was purchased after the cut-off date. When the OEM version is used, NovAtel Customer Service must generate and provide the required authorization code. Authorization codes are obtained by contacting support@novatel.com or at www.novatel.com/Support/.The OEM version is named OEMXXXX.EXE, where XXXX is the firmware version.For convenience, copy the update file to a GNSS sub-directory (for example, C:\GNSS\LOADER).If the firmware update file is password protected, NovAtel Customer Support provides the required password. After copying the file to a computer, perform the following steps to extract the files:Syntax: [filename] [password] (if required)where filename is the name of the compressed file (but not including the .EXE extension) and password is the password if required for extraction.Example: L6X010100RN0000.hexIn the above example, a window appears asking for a password.The self-extracting archive produces the following files:winload.exe WinLoad utility programhowto.txt Instructions on how to use the WinLoad utilitywhatsnew.rtf Information on the changes made in the firmware since the last revisionx..x.hex Firmware version upgrade file, where x..x defines the product name and release (e.g., L6X010100RN0000.hex)The files are extracted to unzip/program files/NovAtel Inc/x.xxx Full Update Disk, where x.xxx is the firmware version.1. For further information and the exact cut-off date, refer to the NovAtel website at www.novatel.com/support/firmware-software-and-manuals/firmware-software-updates/oemstar/.NovAtel has an online video tutorial that explains firmware uploading at www.novatel.com/support/knowledge-and-learning/video-tutorials-and-tech-presentations/.](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-36.png)
![AG-STAR User Manual Rev 1A 47Appendix B CommandsThe AG-STAR firmware implements the OEMStar family command set, documented in the OEMStar Firmware Reference Manual (OM-20000127). Commonly used AG-STAR commands are summarized in Table 7, AG-STAR Commands in Alphabetical Order and documented in this appendix. Table 7: AG-STAR Commands in Alphabetical OrderThe arguments for each of these commands are described in the following sections.For a complete listing and description of the other commands that the AG-STAR, an OEMStar-based receiver, is capable of processing, refer to the OEMStar Firmware Reference Manual (OM-20000127).B.1 Syntax ConventionsThe following rules apply when entering commands, at the command prompt, from a keyboard.1. Courier font is used to illustrate program output or user input.2. References to other commands, logs or any of their fields are shown in italics.3. The commands are not case sensitive. For example, you could type either RESET or reset.4. Except where noted, either a space or a comma can separate commands and their required entries. For example, you could type either fix position 51.11358042 -114.04358013 1059.4105 or fix position 51.11358042, -114.04358013, 1059.4105.5. At the end of a command, a carriage return is required. For example, press <Enter> or <Return> on your keyboard.6. Responses are provided to indicate whether or not an entered command was accepted. The format of the response depends on the format of the command. Refer to the OEMStar Firmware Reference Manual (OM-20000127) for more information.7. Optional parameters are indicated by square brackets ( [ ] ). For commands that contain optional parameters, the value used if the optional parameter is not specified is given in the syntax table for the command.8. Data format definitions, as specified in the “Format” field, are detailed in the OEMStar Firmware Reference Manual (OM-20000127). Note that all binary data is little-endian byte-ordered.ASCII Command Message ID DescriptionCOM 4 Configure the receiver serial port.FRESET 20 Factory reset (Existing OEMStar command extended to AG-STAR)LOG 1 Request logs from the receiver RADARCFG 8192 Configure the ER signal output (New AG-STAR command)RESET 18 Perform a hardware reset](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-47.png)
![AG-STAR User Manual Rev 1A 48B.2 COM Configure COM PortThis command permits you to configure the receiver’s asynchronous serial port communications drivers.The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of at least 250 milliseconds following the second break. This will:• Stop the logging of data on the current port (see UNLOGALL command in the OEMStar Firmware Reference Manual (OM-20000127)).• Clear the transmit and receive buffers on the current port.• Return the current port to its default settings (see Factory Defaults section in the OEMStar Firmware Reference Manual (OM-20000127)).• Set the interface mode to NovAtel for both input and output (see INTERFACEMODE command in the OEMStar Firmware Reference Manual (OM-20000127)).Message ID: 4Abbreviated ASCII Syntax:COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]]Factory Default:COM COM1 9600 N 8 1 N OFF ONCOM COM2 9600 N 8 1 N OFF ONASCII Example:COM COM1,57600,N,8,1,N,OFF,ON Baud rates higher than 115,200 bps are not supported by standard computer hardware. Special hardware may be required for higher rates, including 230400 bps, 460800 bps and 921600 bps. Also, some computers have trouble with baud rates beyond 57600 bps.On AG-STAR receivers with Bluetooth wireless technology, the default settings for COM2 are:com2 115200 n 8 1 cts off offChanging the COM2 serial port settings could interfere with the ability to communicate using Bluetooth wireless technology.Use the COM command before using the INTERFACEMODE command on each port. Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate.This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to have break detection disabled using the COM command.](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-48.png)
![AG-STAR User Manual Rev 1A 51B.4 LOG Request Logs from the ReceiverMany different types of data can be logged using several different methods of triggering the log events. Every log element can be directed to any combination of the two COM ports. The ONTIME trigger option requires the addition of the period parameter. See the OEMStar Firmware Reference Manual (OM-20000127) for further information and a complete list of data log structures. The LOG command tables in this section show the ASCII command format.The optional parameter [hold] prevents a log from being removed when the UNLOGALL command, with its defaults, is issued. To remove a log that was invoked using the [hold] parameter requires the specific use of the UNLOG command. To remove all logs that have the [hold] parameter, use the UNLOGALL command with the held field set to 1.The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the command was received on.Message ID: 1Abbreviated ASCII Syntax:LOG [port] message [trigger [period [offset [hold]]]]Factory Default:LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLDLOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLDAbbreviated ASCII Example 1:LOG COM1 BESTPOS ONTIME 7 0.5 HOLDThe 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 NOHOLD1. The OEMStar family of receivers can handle 30 logs at a time. If you attempt to log more than 30 logs at a time, the receiver responds with an Insufficient Resources error. 2. Maximum flexibility for logging data is provided to the user by these logs. The user is cautioned, however, to recognize that each log requested requires additional CPU time and memory buffer space. Too many logs may result in lost data and degraded CPU performance. Receiver overload can be monitored using the idle-time field and buffer overload bits of the Receiver Status in any log header.3. Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz.4. Use the ONNEW trigger with the MARKTIME or MARKPOS logs. 5. Only the MARKPOS or MARKTIME logs, and ‘polled’ log types are generated ‘on the fly’ at the exact time of the mark. Synchronous and asynchronous logs output the most recently available data.6. If you do use the ONTIME trigger with asynchronous logs, the time stamp in the log does not necessarily represent the time the data was generated, but rather the time when the log is being transmitted.](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-51.png)
![AG-STAR User Manual Rev 1A 52Refer to the Command Formats section of the OEMStar Firmware Reference Manual (OM-20000127) for additional examples. 1. In NovAtel Connect there are two ways to initiate data logging to the receiver's serial ports. You can either enter the LOG command in the Console window, or use the interface pro-vided in the Logging Control window. Ensure the Power Settings on your computer are not set to go into Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging session.2. Only the ASCII/Abbreviated ASCII log table is included in this manual. Refer to the LOG command in the OEMStar Firmware Reference Manual (OM-20000127) for binary log details.Field Field Name ASCII Value Description Field Type1LOG (ASCII) header- This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively.-2port See Table 9, Detailed Serial Port Identifiers on page 53Output port(default = THISPORT)Enum3 message Any valid message name, with an optional A or B suffix.Message name of log to output Char [ ]4 trigger ONNEW Output when the message is updated (not necessarily changed)EnumONCHANGED Output when the message is changedONTIME Output on a time intervalONNEXT Output only the next messageONCE Output only the current message. (default)ONMARK Output when a pulse is detected on the mark 1 input, MK1I 5period Any positive double value larger than the receiver’s minimum raw measurement periodLog period (for ONTIME trigger) in seconds(default = 0)Double6 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)Double7 hold NOHOLD Allow log to be removed by the UNLOGALL command (default)EnumHOLD Prevent log from being removed by the UNLOGALL command](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-52.png)
![AG-STAR User Manual Rev 1A 55B.6 SELECTCHANCONFIG Set channel configurationThis command changes the channel configuration used on the AG-STAR receiver. It causes an immediate software reset. See Table 11, AG-STAR Channel Configuration Sets on page 56 for a list of available channel configurations.Message ID: 1149Abbreviated ASCII Syntax:SELECTCHANCONFIG [set]Factory Default (without GLONASS option):selectchanconfig 2Factory Default (with GLONASS option):selectchanconfig 3Abbreviated ASCII Example:selectchanconfig 2The SELECTCHANCONFIG command should only be used by advanced users.Configurations containing GLONASS channels are only available when the AG-STAR has the GLONASS option.Field Field Type ASCII ValueBinary Value Description Binary FormatBinary BytesBinary Offset1 SELECTCHANCONFIG header- - This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary.-H02target See Table 11, AG-STAR Channel Configuration Sets on page 56Channel configuration set Ulong 4 H](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-55.png)
![AG-STAR User Manual Rev 1A 59C.2.1 RADARSIGNAL ER Signal and Position InformationThis log contains position and Emulated Radar (ER) signal information.Message ID: 8193Log Type: AsynchRecommended Input:log radarsignala onchangedASCII Example 1 (stationary AG-STAR):#RADARSIGNALA,COM1,0,61.5,FINESTEERING,1501,248381.628,00000000,8a1c,3723; SOL_COMPUTED,WAAS,0.0139,0.00,0.00*f0d580caASCII Example 2 (moving AG-STAR):#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 Table 14: Position or Velocity TypeField # Field type Data Description Format Binary BytesBinary Offset1 RADARSIGNAL headerLog header H 02 sol status Solution status, see Table 15, Solution Status on page 60 Enum 4 H3 vel type Velocity type, see Table 14, Position or Velocity Type on page 59Enum 4 H+44 speed Speed over ground (m/s) Double 8 H+84 varf freq External VARF output frequency (Hz) Double 8 H+165 radar freq Radar signal frequency (Hz) as output by the Emulated Radar Out signal. Double 8 H+246 xxxx 32-bit CRC (ASCII and Binary only) Hex 4 H+327 [CR][LF] Sentence terminator (ASCII only) - - -Type (binary) Type (ASCII) Description0 NONE No solution1FIXEDPOSaa. With default PDPFILTER ENABLE, the bestpos will no longer show that the position has been fixed, unless PDPFILTER is DISABLED.Position has been fixed by the FIX POSITION command2FIXEDHEIGHTaPosition has been fixed by the FIX HEIGHT/AUTO command8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler16 SINGLE Single point position17 PSRDIFF Pseudorange differential solution18 WAAS Solution calculated using corrections from an SBAS19 PROPAGATED Propagated by a Kalman filter without new observations](https://usermanual.wiki/Novatel/01019126.Agstar-user-manual/User-Guide-2118707-Page-59.png)
