Novatel 01019126 Wireless GNSS Receiver with Bluetooth User Manual OM 20000149AgStar
Novatel Inc Wireless GNSS Receiver with Bluetooth OM 20000149AgStar
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Agstar user manual
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| Document ID | 2118707 |
| Application ID | W3v85al2I+nttRfLKY5+cg== |
| Document Description | Agstar user manual |
| Short Term Confidential | No |
| Permanent Confidential | No |
| Supercede | No |
| Document Type | User Manual |
| Display Format | Adobe Acrobat PDF - pdf |
| Filesize | 150.58kB (1882295 bits) |
| Date Submitted | 2013-11-14 00:00:00 |
| Date Available | 2013-11-14 00:00:00 |
| Creation Date | 2013-10-11 10:20:42 |
| Producing Software | Acrobat Distiller 10.1.8 (Windows) |
| Document Lastmod | 2013-10-11 10:32:07 |
| Document Title | OM-20000149AgStar.book |
| Document Creator | FrameMaker 10.0.2 |
| Document Author: | RMunro |
AG-STAR User Manual OM-20000149 Rev 1A October 2013 AG-STAR User Manual Publication Number: Revision Level: Revision Date: OM-20000149 1A October 2013 Warranty NovAtel Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/ and for the following time periods: AG-STAR Receiver One (1) Year Cables and Accessories Ninety (90) Days Software Warranty One (1) Year Return Instructions To return products, refer to the instructions found under the Return Policy Tab on the Warranty page: www.novatel.com/products/warranty/. Proprietary Notice Information in this document is subject to change without notice and does not represent a commitment on the part of NovAtel Inc. The software described in this document is furnished under a licence agreement or nondisclosure agreement. The software may be used or copied only in accordance with the terms of the agreement. It is against the law to copy the software on any medium except as specifically allowed in the license or non-disclosure agreement. No part of this manual may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, for any purpose without the express written permission of a duly authorized representative of NovAtel Inc. The information contained within this manual is believed to be true and correct at the time of publication. AdVance, NovAtel, Narrow Correlator tracking technology, OEMStar and RT-2 are registered trademarks of NovAtel Inc. PAC and AG-STAR are trademarks of NovAtel Inc. The Bluetooth word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and any use of such marks by NovAtel Inc. is under license. All other brand names are trademarks of their respective holders. Manufactured and protected under U.S. Patent: #5,101,416* #5,390,207* #5,414,729* #5,495,499* #5,734,674 #5,736,961 #5,809,064 #6,184,822 B1 #6,243,409 B1 #6,608,988 B1 #6,664,923 B1 #6,728,637 B2 © Copyright 2013 NovAtel Inc. All rights reserved. Unpublished rights reserved under International copyright laws. AG-STAR User Manual Rev 1A Table of Contents Notice Customer Support 1 Introduction 10 1.1 Models and Features........................................................................................................................................10 1.2 Scope ...............................................................................................................................................................11 1.3 Conventions .....................................................................................................................................................11 2 Installation and Setup 12 2.1 Additional Equipment Required .......................................................................................................................12 2.1.1 AG-STAR Setup .....................................................................................................................................12 2.1.2 Power Supply Requirements..................................................................................................................13 2.1.3 Mounting Plate .......................................................................................................................................14 2.1.4 Mounting the AG-STAR .........................................................................................................................16 2.1.5 Connecting Data Communications Equipment......................................................................................16 2.2 Additional Features and Information ................................................................................................................17 2.2.1 Status Indicators ....................................................................................................................................17 2.2.2 MKI and PPS Strobes ............................................................................................................................18 2.2.3 Emulated Radar (ER) ..............................................................................................................................18 3 Operation 19 3.1 Communications with the Receiver..................................................................................................................19 3.1.1 Serial Port Default Settings ....................................................................................................................19 3.1.2 Communicating Using a Remote Terminal ............................................................................................19 3.1.3 Communicating Using a Computer........................................................................................................20 3.2 Getting Started .................................................................................................................................................20 3.2.1 Starting the Receiver..............................................................................................................................20 3.2.2 Communicating with the Receiver Using NovAtel Connect...................................................................20 3.3 Channel Configuration......................................................................................................................................21 3.4 Transmitting and Receiving Corrections ..........................................................................................................21 3.4.1 Base Station Configuration ....................................................................................................................23 3.4.2 Rover Station Configuration...................................................................................................................24 3.4.3 GPS + GLONASS Base and Rover Configuration .................................................................................24 3.4.4 Configuration Notes ...............................................................................................................................25 3.5 GLIDE ...............................................................................................................................................................25 3.6 Emulated Radar (ER) ........................................................................................................................................26 3.7 Recommended Configuration ..........................................................................................................................26 4 Bluetooth Configuration 27 4.1 Bluetooth Wireless Technology on the AG-STAR receiver ..............................................................................27 4.2 Pairing with a new AG-STAR............................................................................................................................27 4.3 Determining the Bluetooth Serial Port..............................................................................................................30 4.4 Communicate with the AG-STAR Using Bluetooth Wireless Technology........................................................33 5 NovAtel Firmware and Software 34 5.1 Firmware Updates and Model Upgrades .........................................................................................................34 5.1.1 Firmware Updates..................................................................................................................................34 5.1.2 Model Upgrades.....................................................................................................................................35 5.2 Authorization Code...........................................................................................................................................35 5.3 Updating or Upgrading Using the WinLoad Utility ...........................................................................................36 5.3.1 Transferring Firmware Files....................................................................................................................36 5.3.2 Using the WinLoad Utility.......................................................................................................................37 5.4 Updating using SoftLoad Commands..............................................................................................................38 5.4.1 Working with S-Records ........................................................................................................................39 5.5 Upgrading Using the AUTH Command ............................................................................................................40 5.5.1 Upgrade Procedure................................................................................................................................40 AG-STAR User Manual Rev 1A Table of Contents A Technical Specifications 41 A.1 AG-STAR Receiver Performance .....................................................................................................................41 A.2 AG-STAR Specifications ..................................................................................................................................42 A.2.1 Dimensions ............................................................................................................................................43 A.2.2 AG-STAR Communications/Power Cable (01018256) ..........................................................................44 A.2.3 AG-STAR Connector and Cable Requirements.....................................................................................46 B Commands 47 B.1 Syntax Conventions .........................................................................................................................................47 B.2 COM Configure COM Port ............................................................................................................................48 B.3 FRESET Clear Selected Data from NVM and Reset .....................................................................................50 B.4 LOG Request Logs from the Receiver ..........................................................................................................51 B.5 RADARCFG Configure the ER Output ..........................................................................................................54 B.6 SELECTCHANCONFIG Set channel configuration ..........................................................................................55 C Logs 57 C.1 Position Logs ...................................................................................................................................................57 C.1.1 NMEA Logs............................................................................................................................................57 C.1.2 NovAtel Position Logs ...........................................................................................................................58 C.2 Other Logs .......................................................................................................................................................58 C.2.1 RADARSIGNAL ER Signal and Position Information ..........................................................................59 C.2.2 VERSION Hardware and Software Versions and Serial Numbers ......................................................61 D Replacement Parts 62 D.1 AG-STAR .........................................................................................................................................................62 D.2 User Manuals ...................................................................................................................................................62 Index AG-STAR User Manual Rev 1A 63 Figures 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 AG-STAR Receiver .........................................................................................................................................10 AG-STAR Connector ......................................................................................................................................12 Simplified AG-STAR Setup ............................................................................................................................13 AG-STAR Surface Mounting Plate (01018317) ..............................................................................................14 AG-STAR Pole Mounting Plate (01019142) ...................................................................................................15 AG-STAR Orientation .....................................................................................................................................16 Open Configuration Window ..........................................................................................................................20 Basic Differential Setup ..................................................................................................................................22 Bluetooth Icon ................................................................................................................................................27 Bluetooth Devices Window ............................................................................................................................28 Add a device window .....................................................................................................................................28 Add a device - Select a pairing option ...........................................................................................................29 Add a device - Enter pairing code .................................................................................................................29 Bluetooth Link Serial Port ..............................................................................................................................30 Add a device - Successful .............................................................................................................................30 Bluetooth Icon ................................................................................................................................................30 Bluetooth Devices Window ............................................................................................................................31 Bluetooth Devices Window - Device Menu ....................................................................................................32 Bluetooth Devices Window - Properties ........................................................................................................32 Properties - Services Tab ...............................................................................................................................33 WinLoad’s Open Window ..............................................................................................................................37 Open File in WinLoad .....................................................................................................................................37 COM Port Setup .............................................................................................................................................37 Searching for Card .........................................................................................................................................38 Authorization Code Window ..........................................................................................................................38 Upgrade Process Complete ...........................................................................................................................38 AG-STAR Dimensions ....................................................................................................................................43 AG-STAR Communication/Power Cable .......................................................................................................44 AG-STAR User Manual Rev 1A Tables 10 11 12 13 14 15 16 17 18 AG-STAR Models ............................................................................................................................................10 AG-STAR Connector Pin-Out .........................................................................................................................12 AG-STAR LED Status Indicators.....................................................................................................................17 AG-STAR Communication/Power Cable Pinouts ...........................................................................................45 AG-STAR Mating Connectors .........................................................................................................................46 Recommended Fuse and Fuse Holders..........................................................................................................46 AG-STAR Commands in Alphabetical Order ..................................................................................................47 FRESET Target................................................................................................................................................50 Detailed Serial Port Identifiers.........................................................................................................................53 Response Modes ............................................................................................................................................54 AG-STAR Channel Configuration Sets............................................................................................................56 OEMStar Channel Configurations ...................................................................................................................56 AG-STAR Logs in Alphabetical Order .............................................................................................................58 Position or Velocity Type.................................................................................................................................59 Solution Status ................................................................................................................................................60 Component Type ............................................................................................................................................61 AG-STAR Product ...........................................................................................................................................62 Reference User Manuals .................................................................................................................................62 AG-STAR User Manual Rev 1A Notice The following notices apply to the AG-STAR. Changes or modifications to this equipment not expressly approved by NovAtel Inc. could result in violation of FCC, Industry Canada and CE Marking rules and void the user’s authority to operate this equipment. FCC Notices This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. AG-STAR has been tested and found to comply with the emission limits for a Class B digital device, pursuant to part 15 of the FCC Rules. The Class B limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: • • • • Re-orient or relocate the AG-STAR Increase the separation between the equipment and the AG-STAR Connect the equipment to an outlet on a circuit different from that to which the AG-STAR is connected Consult the dealer or an experienced radio/TV technician for help Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. In order to maintain compliance as a Class “B” digital device, shielded cables should be used for the RS-232 serial data ports (Belden 1036A or equivalent) and twisted pair cable should be used for the CAN port (shielded twisted pair will improve CAN performance in electrically harsh environments). I/O signals should be referred to signal ground (connector pin 5) and not power ground (connector pin 9). If I/O signals route to different areas of the vehicle, dedicated signal grounds for I/O should be spliced into a common connection to connector pin 5 at a point close to the AG-STAR. Industry Canada AG-STAR Class B digital apparatuses comply with Canadian ICES-003. AG-STAR appareils numérique de la classe B sont conforme à la norme NMB-003 du Canada. This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device. Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement. AG-STAR User Manual Rev 1A Notice CE The enclosures carry the CE mark. "Hereby, NovAtel Inc. declares that this AG-STAR is in compliance with the essential requirements and other relevant provisions of the R&TTE Directive 1999/5/EC, EMC Directive 2004/108/EC and the RoHS Recast Directive 2011/65/EU." WEEE If you purchased your AG-STAR in Europe, please return it to your dealer or supplier at the end of its life. The objectives of the European Community's environment policy are, in particular, to preserve, protect and improve the quality of the environment, protect human health and utilise natural resources prudently and rationally. Sustainable development advocates the reduction of wasteful consumption of natural resources and the prevention of pollution. Waste electrical and electronic equipment (WEEE) is a regulated area. Where the generation of waste cannot be avoided, it should be reused or recovered for its material or energy. WEEE products may be recognized by their wheeled bin label ( ). 1 REACH NovAtel strives to comply with the EU Directive EC 1907/2006 on chemicals and their safe use as per the Registration, Evaluation, Authorization and Restriction of Chemical substances (REACH) for its products, including the AG-STAR product. Since REACH SVHC lists are updated occasionally, please contact NovAtel Customer Support if you require further information. Cables may contain DEHP (CAS Number 117-81-7) in concentrations above 0.1% w/w. 1. Visit the NovAtel Web site at www.novatel.com/products/weee-and-rohs/ for more information on WEEE. AG-STAR User Manual Rev 1A Customer Support NovAtel Knowledge Base If you have a technical issue, browse to the NovAtel Web site at www.novatel.com then select Support | Helpdesk and Solutions | Knowledge and Forums. Through this page, you can search for information about SMART® antennas and other technologies, information about NovAtel hardware and software, and installation and operation issues. Before Contacting Customer Support Before contacting NovAtel Customer Support about a software problem perform the following steps: 1. Issue the following logging commands to collect data to a file on your computer for 15 minutes: LOG VERSIONA ONCE LOG RXSTATUSA ONCE LOG RXCONFIGA ONCE LOG RAWEPHEMA ONNEW LOG BESTPOSA ONTIME 1 LOG RANGEA ONTIME 1 LOG GLORAWEPHEMB ONCHANGED1 2. Send the file containing the logs to NovAtel Customer Support, using either the NovAtel FTP site at www.novatel.com/support/firmware-software-and-manuals/ftp-site/ or through the support@novatel.com e-mail address. 3. You can also issue a FRESET command to the receiver to clear any unknown settings. The FRESET command will erase all user settings. You should know your configuration and be able to reconfigure the receiver before you send the FRESET command. If you are having a hardware problem, send a list of the troubleshooting steps taken and results. Contact Information Use one of the following methods to contact NovAtel Customer Support: Call the NovAtel Hotline at 1-800-NOVATEL (U.S. & Canada) or +1-403-295-4500 (international) Fax: +1-403-295-4501 E-mail: support@novatel.com Web site: www.novatel.com Write: NovAtel Inc. Customer Support Department 1120 - 68 Avenue NE Calgary, AB Canada, T2E 8S5 1. For GLONASS channel configuration. AG-STAR User Manual Rev 1A Chapter 1 Introduction The AG-STAR is a high-performance GNSS receiver and antenna, capable of receiving and tracking different combinations of GPS L1 and GLONASS L1 code and carrier signals on a maximum of 14 channels. SBAS (Satellite Based Augmentation Systems) support, which includes WAAS, EGNOS, and MSAS, is standard. Refer to the GNSS Book, available from our web site at www.novatel.com/support/knowledge-and-learning/, for an overview of each of the above signal types. The AG-STAR rear panel also features light emitting diodes (LEDs) for status indication. Once properly powered, the AG-STAR begins operating as a fully functional GNSS system. Figure 1, AG-STAR Receiver shows the AG-STAR without connecting cables. Figure 1: AG-STAR Receiver 1.1 Models and Features The main features of the AG-STAR are: • a high performance GPS+GLONASS L1 receiver • a high performance GPS+GLONASS L1 antenna • emulated radar output • two (2) RS-232 COM ports or one (1) RS-232 COM port and Bluetooth® • three (3) LED status indicators • a water and dust tight enclosure • Bluetooth® wireless technology (optional) The AG-STAR is available in several different firmware models whose configurations may include other additional features. Some possible configurations can be seen in Table 1, AG-STAR Models. Table 1: AG-STAR Models Model Name NovAtel Part # Firmware Features AG-STAR 01019131 GPS L1, GLONASS L1, SBAS and emulated radar output AG-STAR with Bluetooth 01019129 GPS L1, GLONASS L1, SBAS, emulated radar output and Bluetooth Refer also to the OEMStar Firmware Reference Manual (OM-20000127) for information on receiver communications and operation. AG-STAR User Manual Rev 1A 10 Introduction 1.2 Chapter 1 Scope This manual contains information about the installation and operation of the AG-STAR system. It is beyond the scope of this manual to provide details on service or repair. Contact your local NovAtel dealer for any customer-service related inquiries. An AG-STAR system requires the addition of accessories and a power supply. The AG-STAR utilizes a comprehensive user-interface command structure, which requires communications through its communications ports. This manual describes the AG-STAR specific commands and logs, see Appendix B, Commands on page 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 Conventions The following conventions are used in this manual: Information that supplements or clarifies text. A caution that actions, operation or configuration may lead to incorrect or improper use of the hardware. A warning that actions, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage. • The letter H in the Offset columns of the commands and logs tables represents the header length for that command or log. Refer to the OEMStar Firmware Reference Manual (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. AG-STAR User Manual Rev 1A 11 Chapter 2 Installation and Setup This chapter contains instructions and tips to set up your AG-STAR to create a GNSS receiver system. 2.1 Additional Equipment Required In order for the receiver to perform optimally, the following additional equipment is required: 2.1.1 • A cable harness for powering and communicating with the AG-STAR. You can use a NovAtel cable (such as part number 01018256) or a custom cable. See Appendix A, Technical Specifications on page 41 for information about the AG-STAR connector pinout and NovAtel cables. • A fused power supply (user-supplied) • A computer (user-supplied) AG-STAR Setup Complete the following steps to connect and power the AG-STAR. 1. Mount the AG-STAR on a secure, stable structure with an unobstructed view of the sky from horizon to horizon. Refer to Section 2.1.4, Mounting the AG-STAR on page 16 for details. 2. Connect the NovAtel interface cable, or custom interface cable, to the COM and Power port on the back of the AG-STAR, see Figure 2, AG-STAR Connector. Figure 2: AG-STAR Connector Table 2: AG-STAR Connector Pin-Out Pin Use Pin Use COM1 TxD RESERVED (Do not connect) COM1 RxD Power Negative/Return COM2 TxDa 10 Emulated Radar Output COM2 RxDa 11 MKI (Mark Input) Signal Ground (COM/ER/MKI/PPS) 12 PPS (Pulse Per Second) Output RESERVED (Do not connect) 13 RESERVED (Do not connect) RESERVED (Do not connect) 14 Power Positive/Source a. On Bluetooth models, COM2 is not available. 3. Connect the NovAtel or custom cable to a DB-9 serial port on a computer or other data storage device. AG-STAR User Manual Rev 1A 12 Installation and Setup Chapter 2 4. Connect the NovAtel or custom cable to the power supply and turn on the power supply. The power LED on the receiver glows red when the AG-STAR is properly powered. Fuse/holder recommendations can be found in Table 6, Recommended Fuse and Fuse Holders on page 46. Figure 3: Simplified AG-STAR Setup COM User supplied 5A fast blow fuse COM MKI 2.1.2 PPS Emulated Radar Minimum conductor size for all wiring is 0.5 mm / 20 AWG. Power Supply Requirements The AG-STAR requires +8 to +36 VDC for the input power to the receiver. See Section A.2, AG-STAR Specifications on page 42 for additional power supply specifications. The AG-STAR cable provides power in (labelled BATT+) and power ground (labelled BATT-) bare wires for connections from the AG-STAR to a vehicular power system (or equivalent). For cable details see Section A.2.3, AG-STAR Connector and Cable Requirements on page 46. The AG-STAR power source must be protected by a 5A fast blow fuse (user supplied) or damage to wiring may result (not covered by warranty). AG-STAR User Manual Rev 1A 13 Installation and Setup 2.1.3 Chapter 2 Mounting Plate Two mounting plates are available to facilitate mounting the receiver: a surface mounting plate and a pole mounting plate. Figure 4: AG-STAR Surface Mounting Plate (01018317) All dimensions are in inches To install the surface mounting plate provided with the AG-STAR Development Kit, use the adhesive tape provided or the mounting holes at each corner of the plate. AG-STAR User Manual Rev 1A 14 Installation and Setup Chapter 2 Figure 5: AG-STAR Pole Mounting Plate (01019142) All dimensions are in inches To install the pole mounting plate: 1. Use four M4 screws to connect the mounting plate to the AG-STAR. 2. Screw the mounting plate onto a mount, such as a range pole, tribrach, or tripod, with a 1" x 14 thread. A 5/8” to 1” bushing adaptor is available (part number 12023275). AG-STAR User Manual Rev 1A 15 Installation and Setup 2.1.4 Chapter 2 Mounting the AG-STAR Mount the AG-STAR on a secure, stable structure capable of safe operation in the specific environment. • If installing on a vehicle, mount the AG-STAR on the vehicle roof, ideally close to the pivot point of the vehicle. The AG-STAR must be mounted with the connector facing the rear of the vehicle (see Figure 6, AG-STAR Orientation). Figure 6: AG-STAR Orientation Route cable toward back of vehicle • 2.1.5 Orient toward the front of vehicle The AG-STAR must be rigidly secured to the vehicle to avoid errors caused by vibration and motion. If installing in a stationary location, mount the AG-STAR in a location that has a clear view of the sky so that each satellite above the horizon can be tracked without obstruction. For more information, refer to the GNSS Book found at www.novatel.com/support/knowledge-and-learning/ 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 4, AG-STAR Communication/Power Cable Pinouts on page 45 for more information. AG-STAR User Manual Rev 1A 16 Installation and Setup 2.2 Chapter 2 Additional Features and Information This section contains information on the additional features of the AG-STAR, which may affect the overall design of your receiver system. 2.2.1 Status Indicators LED indicators on the AG-STAR provide the status of the receiver. Table 3, AG-STAR LED Status Indicators shows the meaning of the LED states in the expected sequence after power is applied. Table 3: AG-STAR LED Status Indicators Red Yellow Green Condition Off Off Off Power is not available. On Off Off Power is available but no satellites are being tracked yet 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 mode (WAAS/EGNOS/MSAS/DGPS). Flashing means that the LED is turning on and off at a 1 Hz rate - 0.5 seconds on and 0.5 seconds off. Troubleshooting: • If the power is on but the yellow LED does not flash within one minute, then no satellites are being tracked. There may be excessive blockage or the AG-STAR may be defective. Make sure the AG-STAR has an unobstructed view of the sky. Try power cycling the AG-STAR. • If the yellow LED is flashing but doesn’t progress to solid yellow within one minute, then insufficient satellites are being tracked or the signal quality is poor and ephemeris data cannot be received. Normally, four satellites are sufficient for a valid position as long as they are widely distributed in the sky. If LED is stuck on blinking yellow, there may be excessive signal blockage or the AG-STAR may be defective. Make sure the AG-STAR has an unobstructed view of the sky. Try power cycling the AG-STAR. • If the yellow LED is on, but the green doesn’t turn on within five minutes than no SBAS or DGPS positions are available. If you are using SBAS, make sure SBAS is available in your area and that the AG-STAR is configured to enable SBAS positions (SBASCONTROL ENABLE). For DGPS, make sure the AG-STAR is configured with the correct serial port parameters and to accept the DGPS protocol your area is using and that your data modem is connected and working. • The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled. The LED will stay dark if SBAS is not detected. AG-STAR User Manual Rev 1A 17 Installation and Setup 2.2.2 Chapter 2 MKI and PPS Strobes The Mark Input (MKI) and Pulse Per Second (PPS) strobes provide status and synchronization signals. PPS is a 3.3V CMOS output; MKI is a 5V logic tolerant input. Pin-out information can be found in Table 4, AG-STAR Communication/Power Cable Pinouts on page 45. 2.2.3 Emulated Radar (ER) The AG-STAR outputs an emulated RADAR signal via the bare wires labeled ER GND and ER_OUT on the AG-STAR cable. See Table 4, AG-STAR Communication/Power Cable Pinouts on page 45 for the pin-out details of this cable. The ER outputs a logic high of supply voltage minus 0.5 V minimum and logic low of 0.5 V maximum with a rise and fall time of less than 1 ms. Its output references signal GND and provides logic low output until its speed is greater than 1 km/Hr. ER can be configured to operate at one of three distinct frequencies (26.11, 28.12 or 36.11 Hz/km/Hr, with 26.11 Hz/km/Hr being the default value) and with an effective range from 1 km/ Hr to 55 km/Hr for near-horizontal applications. See Section B.5, RADARCFG Configure the ER Output on page 54 for more information. AG-STAR User Manual Rev 1A 18 Chapter 3 Operation Before operating the AG-STAR for the first time, ensure that you have followed the installation instructions in Chapter 2, Installation and Setup on page 12. It is assumed that a computer is used during initial operation and testing for greater ease and versatility. 3.1 Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device. This could be either a terminal or computer that is directly connected to the receiver serial port using a DB-9 connector on the AG-STAR multi-cable. If you are using a radio, it connects to another DB-9 connector on the same multi-cable by means of the radio serial cable supplied with the radio. It is recommended that you become thoroughly familiar with the commands and logs detailed in the OEMStar Firmware Reference Manual (OM-20000127) to ensure maximum utilization of the receiver’s capabilities. 3.1.1 When power is applied to the AG-STAR, the Power LED lights and the AG-STAR begins a self test and the boot up process. After the self test and boot up have completed, the command prompt becomes available on the serial port. Serial Port Default Settings The receiver communicates with your computer or terminal via an RS-232 serial port. For communication to occur, both the receiver and the computer or terminal have to be configured properly. The receiver’s COM1 and COM2 default port settings are as follows: • 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off Changing the default settings requires using the COM command. See Section B.2, COM Port on page 48 for details. Configure COM The data transfer rate you choose determines how fast information is transmitted. For example, outputting a log whose message byte count is 96. The default port settings allows 10 bits/byte (8 data bits + 1 stop bit + 1 framing bit). It therefore takes 960 bits per message. To get 10 messages per second then requires 9600 bps. Also remember that even if you set the bps to 9600, the actual data transfer rate is lower and depends on the number of satellites being tracked, data filters in use and idle time. It is suggested that you leave yourself a margin when choosing a data rate (115200 is recommended for most applications). 3.1.2 Although the receiver can operate at data transfer rates as low as 300 bps, this is not desirable. For example, if several data logs are active (that is, a significant amount of information needs to be transmitted every second) but the bit rate is set too low, data will overflow the serial port buffers, causing an error condition in the receiver status and loss of data. Communicating Using a Remote Terminal One method of communicating with the receiver is through a remote terminal. The receiver is pre-wired to allow proper RS-232 interface with a data terminal. To communicate with the terminal, the receiver only requires the RX, TX and GND lines to be used. Request to Send (RTS)/ Clear to Send (CTS) hardware handshaking is not available. Ensure the terminal’s communications set-up matches the receiver’s RS-232 protocol. AG-STAR User Manual Rev 1A 19 Operation 3.1.3 Chapter 3 Communicating Using a Computer A computer can be set up to emulate a remote terminal as well as provide the added flexibility of creating multiple command batch files and data logging storage files. Any standard communications software package that emulates a terminal can be used to establish bidirectional communications with the receiver. For example, HyperTerminal or NovAtel’s Graphic User Interface (GUI) program NovAtel Connect. All data is sent as raw 8-bit binary or ASCII characters. 3.2 Getting Started 3.2.1 Starting the Receiver When first powered, the AG-STAR undergoes a complete self-test. The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log. Refer to the OEMStar Firmware Reference Manual (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 Connect NovAtel Connect is a Windows-based GUI used to access the receiver's many features. The Convert utility is a Windows-based utility that converts between file formats and strips unwanted records for data file compilation. Both are included in the NovAtel Connect PC Utilities bundle available from: www.novatel.com/ support/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 Window Refer to the NovAtel Connect help file by selecting the Help | Contents menu or pressing F1 while the cursor is in a NovAtel Connect window. Ensure the Console and ASCII Messages windows are open by selecting them from the View menu. When the receiver is first turned on, no data is transmitted from the COM ports except for the port prompt. The console window displays a port name: [COM1] if connected to COM1 port or [COM2] if connected to COM2 port or through Bluetooth AG-STAR User Manual Rev 1A 20 Operation Chapter 3 Any of these prompts indicate that the receiver is ready and waiting for command input. 1. You may also have to wait for output from receiver self tests. For example, on start-up, the AG-STAR receiver is set to log the RXSTATUSEVENTA log ONNEW on all ports. Refer to the OEMStar Firmware Reference Manual (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. 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 thekey. 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] 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 " 6. Send the SOFTLOADCOMMIT command. 7. During the loading process, SOFTLOADSTATUSA logs report the load status. Wait for the SOFTLOADSTATUSA to indicate loading is COMPLETE. 8. Send the new auth-code for the receiver with the following special case of the AUTH command: AUTH ADD_DOWNLOAD 9. Reset the receiver by entering RESET, FRESET or power cycling. 10. Once the receiver resets, the new version of firmware is active. 5.4.1 The SoftLoad process can be cancelled safely at any time during the process using the RESET command. Working with S-Records • Records beginning with S0, S5 and S7 should be passed to the receiver directly using the SOFTLOADSREC command. These records contain meta data about the firmware image. • Records beginning with S3 form the actual firmware image and can be converted to SOFTLOADDATA binary commands. Aside from the header, each pair of characters forms the ASCII representation of binary byte. The format is as follows: S3 LL AAAAAAAA DDDDDDDD...DDDDDDDD CC Check Sum. One's compliment of all other bytes Little Endian Data. These bytes are copied into the "data" field of the SOFTLOADDATA command 4 - Byte Address. Set this as the value of "offset" in the SOFTLOADDATA command Length. This is the hexadecimal number of character pairs to follow in the record. This value minus 4 bytes for the address and 1 byte for the check sum is copied into the "data length" field of the SOFTLOADDATA command Header • Multiple S3 records can be packaged into a single SOFTLOADDATA command as long as the data from one S3 record follows immediately after the previous record, up to a maximum of 4096 bytes of data. That is, the address must equal the previous address plus the previous data length. The "offset" field remains the address of the first S3 record and the "data" and "data length" are updated to include the new data. • The hex file data may contain many gaps and jumps. For example, in most NovAtel hex files data for address 0x000_00000 is stored near the very end of the file. AG-STAR User Manual Rev 1A 39 NovAtel Firmware and Software 5.5 Chapter 5 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (unlocking) of model features. The AUTH command is used to upgrade a new receiver model, available with the same firmware version as the current model. This command only functions with a valid auth-code assigned by NovAtel Customer Support. The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program. 5.5.1 Refer to Section 5.3.1.1, Types of Firmware Files on page 36 for details on updating versus upgrading. Upgrade Procedure 1. Power up the receiver and establish communications. 2. Issue the LOG VERSION command to verify the current model, firmware version and serial number (refer to Section 5.2, Authorization Code on page 35 for instructions on obtaining). 3. Issue the AUTH command, followed by the auth-code and model type (refer to Section 5.2, Authorization Code on page 35 for details on obtaining any auth-code). The syntax is as follows: auth where auth is a command that enables model upgrades and auth-code is the upgrade authorization code, expressed as follows: XXXXXX,XXXXXX,XXXXXX,XXXXXX,XXXXXX,MODEL,EXPDATE where: 1. Each X character is a case-insensitive ASCII character. 2. The MODEL string is a maximum of 15 characters long and represents the model enabled by the authcode. 3. The EXPDATE string is the auth-code’s expiry date, in YYMMDD format Example: auth 7WBMBK,887CB6,K5J3FH,5DF5P2,42PW8G,D1SB0GTT0,121211 When the AUTH command is executed, the receiver reboots. Issuing the LOG confirms the new upgrade model type and firmware version number. VERSION command If communicating using NovAtel Connect, the communication path must be closed and reopened using the Device menu. AG-STAR User Manual Rev 1A 40 Appendix A A.1 Technical Specifications AG-STAR Receiver Performance PERFORMANCE 14 GPS L1 12 GPS L1 + 2 SBASa 10 GPS L1 + 4 GLONASS L1 Channel Configuration 8 GPS L1 + 6 GLONASS L1 8 GPS L1 + 4 GLONASS L1 + 2 SBASa 10 GPS L1 + 2 GLONASS L1 + 2 SBASa 7 GPS L1 + 7 GLONASS L1 14 GLO L1 Absolute Horizontal Position Accuracy (RMS)b Autonomous SBAS DGPS Measurement Precision (RMS) Maximum Data Rate Time to First Fix Signal Reacquisition 0.9 m 0.5 m GPS GLONASS L1 C/A Code 5 cm 35 cm L1 Carrier Phase 0.6 mm 1.5 mm Measurements 10 Hz Position 10 Hz Cold Startc 85 s Hot Startd 55 s L1 <1.0 s (typical) Time Accuracy (RMS) Velocity Accuracyb (RMS) 1.5 m GPS GLONASS 20 ns 40 ns 0.05 m/s a. Satellite Based Augmentation Systems (SBAS) include WAAS (North America), EGNOS (Europe) and MSAS (Japan). b. Typical values. Performance specifications subject to GPS system characteristics, US DOD operational degradation, ionospheric and tropospheric conditions, satellite geometry, baseline length, multipath effects and the presence of intentional or unintentional interference sources. Export licensing restricts operation to a maximum velocity of 515 metres per second. c. Typical value. No almanac or ephemerides and no approximate position or time. d. Typical value. Almanac and recent ephemerides saved and approximate time entered. For more information, refer to the “SETAPPROXTIME” command in the OEMStar Firmware Reference Manual (OM-20000127) found on our web site at www.novatel.com/support/firmware-software-and-manuals/product-manuals-and-doc-updates/. AG-STAR User Manual Rev 1A 41 A.2 AG-STAR Specifications INPUT/OUTPUT CONNECTORS AG-STAR COM/PWR +8 to +36 V DC at 2.5 W (typical while logging) a For the cable pinouts and drawings, see Section A.2.2, AG-STAR Communications/Power Cable (01018256) on page 44. Serial Com Ports RS-232 F Compliant (Rx and Tx signals only) Emulated Radar Output High = Supply Voltage -0.5V Minimum Low = 0.5V Maximum Load = 3K Ohm Minimum PPS Output 3.3 V CMOS Logic Compatible MKI Input 3.3V CMOS Logic / 5V Tolerant INPUT/ OUTPUT CONNECTOR PROTECTION Electrical Conducted/ Coupled disturbance tolerance ISO 7637:2002 (Survives all pulse types) LED INDICATORS More details can also be found in Section 2.2.1, Status Indicators on page 17. PHYSICAL Size 155.3 x 66.8 x 155 mmb Weight 495 g maximum ENVIRONMENTAL Operating Temperature -40C to +75C Storage Temperature -55C to +90C Humidity Not to exceed 95% non-condensing Immersion MIL-STD-810F Method 512.4 Procedure 1 Vibration c Random MIL-STD-810F Method 514.5 C17 Sinusoidal IEC 68-2-6 ASAE EP455, 5.15.2 Level 1 Shock MIL-STD-810 F Method 516.5 a. When tracking GPS satellites. b. denotes diameter, here and in Figure 27, AG-STAR Dimensions on page 43. c. See also Notice on page 7. AG-STAR User Manual Rev 1A 42 A.2.1 Dimensions Figure 27: AG-STAR Dimensions All dimension are in millimeters. Use the Unit Conversions page found at www.novatel.com/ support/knowledge-and-learning/ for conversion to other measurements. AG-STAR User Manual Rev 1A 43 A.2.2 AG-STAR Communications/Power Cable (01018256) The AG-STAR cable that accompanies the AG-STAR Development Kit, see Figure 28, AG-STAR Communication/Power Cable, provides a means of supplying power from a battery while operating in the field. The exposed wires (red for positive and black for negative) can then be connected to a vehicular power circuit (or equivalent) protected by a 5A fast blow fuse (user supplied). The cable also has two DB-9 connectors. One can accommodate a computer serial (RS-232) communication port and the other can connect to a modem or radio transmitter to propagate differential corrections (refer to your user-supplied modem or radio transmitter user guide for more information on its connectors). Bluetooth wireless technology uses the COM2 port. When Bluetooth wireless technology is enabled, COM2 is not available on the AG-STAR connector or the cable. In addition, there are a number of bare wires where the outer insulation is cut away but the wires beneath are intact. See Table 4, AG-STAR Communication/Power Cable Pinouts on page 45 for their pinouts. For more information on mating connectors and part numbers, see Table 5, AG-STAR Mating Connectors on page 46. This cable is RoHS compliant. Figure 28: AG-STAR Communication/Power Cable AG-STAR User Manual Rev 1A 44 Table 4: AG-STAR Communication/Power Cable Pinouts Signal Name J1 J2 COM1_TXD COM1_RXD COM2_TXD COM2_RXD COM1 GND Label COM2 GND MKI GND J3 MKI GND ER GND ER GND PPS GND PULSE PER SECOND GND RESERVED CANI +a RESERVED CANI -a RESERVED PWR RET (GND) BATT - EMULATED RADAR OUT 10 ER_OUT EVENT MARK IN 11 MKI PPS 12 PPS RESERVED 13 PWR INPUT 14 BATT + a. Signal not available on AG-STAR. AG-STAR User Manual Rev 1A 45 A.2.3 AG-STAR Connector and Cable Requirements Custom cables for installing your AG-STAR can be created using the following guidelines: • Wire size: must be 0.5 mm-1.25 mm (20-16 AWG) • Batt + connection must be protected by 5A fast blow fuse • Serial data signals (TxD, RxD, signal ground) must be run in shielded cable. • Connect shields to ground at the AG-STAR end only. Use only the recommended mating connectors listed below. Use only gold plated pins Failure to observe the given cable construction guidelines in this section will result in damage to the wiring (not covered by warranty). The connector used in the AG-STAR is an “AMPSEAL” dust and water sealed type produced by Tyco. The following part numbers pertain to the mating connector required to make connections to the AG-STAR. These numbers are provided for information only and are not available from NovAtel as separate parts. Table 5: AG-STAR Mating Connectors Product Part Description Company Part Number AG-STAR mating connector (Figure 28, AG-STAR Communication/Power Cable on page 44) 14-pin sealed receptacle housing-black Tyco/AMP 776273-1 Gold plated pins for AG-STAR connector/loose Pins, loose piece Tyco/AMP 770854-3 Gold plated pins for AG-STAR connector/strip Pins, strip (reel) Tyco/AMP 770520-3 Seal Plug for unused pins on mating connector Seal Plug Tyco/AMP 770678-1 Table 6, Recommended Fuse and Fuse Holders on page 46 details the part numbers for recommended fuses and fuse holders. These numbers are provided for information only and are not available from NovAtel as separate parts. Table 6: Recommended Fuse and Fuse Holders Fuse 12 V Fuse (standard size blade) 12 V Fuse (mini size blade) 24V Fuse (standard size blade) 24V Fuse (mini size blade) Fuse Holder (standard size blade) Fuse Holder (mini size blade) AG-STAR User Manual Rev 1A Recommended Fuse/Fuse Holder ATO Blade Fuse 5A Littelfuse 0257005 Or Equivalent Mini Blade Fuse 5A Littelfuse 0297005 Or Equivalent TAC ATO Blade Fuse 5A Littelfuse 142.6185.450 Or Equivalent Mini Blade Fuse 58V 5A Littelfuse 0997005 Or Equivalent In-line ATO fuse holder Littelfuse FHAC0001 Or Equivalent In-line mini fuse holder Littelfuse 0FHM0001 Or Equivalent 46 Appendix B Commands The 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 Order ASCII Command Message ID Description COM Configure the receiver serial port. FRESET 20 Factory reset (Existing OEMStar command extended to AG-STAR) LOG Request logs from the receiver RADARCFG 8192 Configure the ER signal output (New AG-STAR command) RESET 18 Perform a hardware reset The arguments for each of these commands are described in the following sections. For a complete listing and description of the other commands that the AG-STAR, an OEMStar-based receiver, is capable of processing, refer to the OEMStar Firmware Reference Manual (OM-20000127). 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 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. AG-STAR User Manual Rev 1A 47 B.2 COM Configure COM Port This command permits you to configure the receiver’s asynchronous serial port communications drivers. The current COM port configuration can be reset to its default state at any time by sending it two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds) with a pause of at least 250 milliseconds following the second break. This will: • Stop the logging of data on the current port (see UNLOGALL command in the OEMStar Firmware Reference Manual (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)). Baud rates higher than 115,200 bps are not supported by standard computer hardware. Special hardware may be required for higher rates, including 230400 bps, 460800 bps and 921600 bps. Also, some computers have trouble with baud rates beyond 57600 bps. Message ID: Abbreviated ASCII Syntax: COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] Factory Default: COM COM1 9600 N 8 1 N OFF ON COM COM2 9600 N 8 1 N OFF ON On AG-STAR receivers with Bluetooth wireless technology, the default settings for COM2 are: com2 115200 n 8 1 cts off off Changing the COM2 serial port settings could interfere with the ability to communicate using Bluetooth wireless technology. ASCII Example: COM COM1,57600,N,8,1,N,OFF,ON Use the COM command before using the INTERFACEMODE command on each port. Watch for situations where the COM ports of two receivers are connected together and the baud rates do not match. Data transmitted through a port operating at a slower baud rate may be misinterpreted as break signals by the receiving port if it is operating at a higher baud rate. This is because data transmitted at the lower baud rate is stretched relative to the higher baud rate. In this case, configure the receiving port to have break detection disabled using the COM command. AG-STAR User Manual Rev 1A 48 Binary Value Field Field Type ASCII Value Description Binary Binary Binary Format Bytes Offset COM header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary. port COM1 Select COM port 1 to configure Enum COM2 Select COM port 2 to configure THISPORT Select the current COM port (default) ALL Select all COM ports bps/baud 300, 600, 900, 1200, 2400, Communication baud rate (bps). 4800, 9600, 19200, 38400, 57600, 115200, or 230400 ULong H+4 parity No parity (default) Enum H+8 Even parity Odd parity 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 No handshaking (default) Enum H+20 XON XON/XOFF software handshaking CTS CTS/RTS hardware handshaking 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) echo break AG-STAR User Manual Rev 1A 49 B.3 FRESET Clear Selected Data from NVM and Reset The OEMStar freset command is extended to include AG-STAR features. An additional target field, userdata (value = 10), resets only the AG-STAR user data NVM, thereby resetting all parameters indicated in this document as “Stored in NVM” to factory defaults. Issuing the freset command with the “target” field set to standard, resets the userdata NVM as well as OEMStar parameters as indicated in the OEMStar Firmware Reference Manual (OM-20000127). If you issue the FRESET command without any parameters, it is the same as issuing a FRESET STANDARD command. Field Type Field ASCII Value Binary Value FRESET header target See Table 8, FRESET Target on page 50 Description Binary Format Binary Bytes Binary Offset This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary. Data to be reset by the receiver Enum Table 8: FRESET Target Binary ASCII Description STANDARD Resets commands, ephemeris, and almanac (default). 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 AG-STAR only commands 11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command 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 AG-STAR User Manual Rev 1A 50 B.4 LOG Request Logs from the Receiver Many different types of data can be logged using several different methods of triggering the log events. Every log element can be directed to any combination of the two COM ports. The ONTIME trigger option requires the addition of the period parameter. See the OEMStar Firmware Reference Manual (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. 1. The OEMStar family of receivers can handle 30 logs at a time. If you attempt to log more than 30 logs at a time, the receiver responds with an Insufficient Resources error. 2. Maximum flexibility for logging data is provided to the user by these logs. The user is cautioned, however, to recognize that each log requested requires additional CPU time and memory buffer space. Too many logs may result in lost data and degraded CPU performance. Receiver overload can be monitored using the idle-time field and buffer overload bits of the Receiver Status in any log header. 3. Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz. 4. Use the ONNEW trigger with the MARKTIME or MARKPOS logs. 5. Only the MARKPOS or MARKTIME logs, and ‘polled’ log types are generated ‘on the fly’ at the exact time of the mark. Synchronous and asynchronous logs output the most recently available data. 6. If you do use the ONTIME trigger with asynchronous logs, the time stamp in the log does not necessarily represent the time the data was generated, but rather the time when the log is being transmitted. Message ID: Abbreviated ASCII Syntax: LOG [port] message [trigger [period [offset [hold]]]] Factory Default: LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD Abbreviated ASCII Example 1: LOG COM1 BESTPOS ONTIME 7 0.5 HOLD The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0.5 seconds (output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not disrupted by the UNLOGALL command. To send a log only one time, the trigger option can be ignored. Abbreviated ASCII Example 2: LOG COM1 BESTPOS ONCE 0.000000 0.000000 NOHOLD AG-STAR User Manual Rev 1A 51 Refer 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 provided in the Logging Control window. Ensure the Power Settings on your computer are not set to go into Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging session. 2. Only the ASCII/Abbreviated ASCII log table is included in this manual. Refer to the LOG command in the OEMStar Firmware Reference Manual (OM-20000127) for binary log details. Field Field Name ASCII Value Field Type Description This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively. LOG (ASCII) header port See Table 9, Detailed Serial Port Output port Identifiers on page 53 (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, MK1I period Any positive double value larger Log period (for ONTIME trigger) in seconds than the receiver’s minimum raw (default = 0) measurement period offset Any positive double value smaller than the period. Offset for period (ONTIME trigger) in seconds. If Double 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) hold NOHOLD Allow log to be removed by the UNLOGALL command (default) HOLD Prevent log from being removed by the UNLOGALL command AG-STAR User Manual Rev 1A Double Enum 52 Table 9: Detailed Serial Port Identifiers ASCII Port Name Hex Port Value Decimal Port Value NO_PORTS No ports specified COM1 COM port 1 COM2 COM port 2 THISPORT The current COM port ALL All COM ports AG-STAR User Manual Rev 1A Description 53 B.5 RADARCFG Configure the ER Output Use this command to configure the Emulated Radar (ER) output. ER is available through the AG-STAR Communication/Power cable, see Table 4, AG-STAR Communication/Power Cable Pinouts on page 45 for pin-out details. Message ID: 8192 Syntax radarcfg switch freq_step update_rate resp_mode threshold Field Data Description Bytes Header This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary. switch Enable or disable radar emulation Format Units Offset Enum none 0 = ENABLE 1 = DISABLE (default = enable) freq_step Frequency step per kilometer per hour. Range: 26.11, 28.12 or 36.11 (default = 26.11) 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 10, Response Modes on page 54. (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. Table 10: 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 AG-STAR User Manual Rev 1A 54 B.6 SELECTCHANCONFIG Set channel configuration The SELECTCHANCONFIG command should only be used by advanced users. This command changes the channel configuration used on the AG-STAR receiver. It causes an immediate software reset. See Table 11, AG-STAR Channel Configuration Sets on page 56 for a list of available channel configurations. Configurations containing GLONASS channels are only available when the AG-STAR has the GLONASS option. Message ID: 1149 Abbreviated ASCII Syntax: SELECTCHANCONFIG [set] Factory Default (without GLONASS option): selectchanconfig 2 Factory Default (with GLONASS option): selectchanconfig 3 Abbreviated ASCII Example: selectchanconfig 2 Field ASCII Value Field Type SELECTCHANCONFIG header target AG-STAR User Manual Rev 1A Binary Value 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. See Table 11, AG-STAR Channel configuration set Channel Configuration Sets on page 56 Ulong 55 Table 11: AG-STAR Channel Configuration Sets Binary ASCII Description 14 GPS L1 channels 12 GPS L1 channels 2 SBAS L1 channels 10 GPS L1 channels 4 GLONASS L1 channels 8 GPS L1 channels 6 GLONASS L1 channels 8 GPS L1 channels 4 GLONASS L1 channels 2 SBAS L1 channels 10 GPS L1 channels 2 GLONASS L1 channels 2 SBAS L1 channels 7 GPS L1 channels 7 GLONASS L1 channels 14 GLONASS L1 channels 7 GPS L1 + 7 GLONASS L1 channel configuration is recommended for timing-only applications. Table 12: OEMStar Channel Configurations Configurations Set Description GPS 0 to 13 for GPS L1 channels GPS/SBAS 0 to 11 for GPS L1 channels 12 to 13 for SBAS L1 channels GPS/GLONASS 0 to 9 for GPS L1 channels 10 to 13 for GLONASS L1 channels GPS/GLONASS 0 to 7 for GPS L1 channels 8 to 13 for GLONASS L1 channels GPS/GLONASS/SBAS 0 to 7 for GPS L1 channels 8 to 11 for GLONASS L1 channels 12 to 13 for SBAS L1 channels GPS/GLONASS/SBAS 0 to 9 for GPS L1 channels 10 to 11 for GLONASS L1 channels 12 to 13 for SBAS L1 channels GPS/GLONASS 0 to 6 for GPS L1 channels 7 to 13 for GLONASS L1 channels GLONASS 0 to 13 GLONASS L1 channels AG-STAR User Manual Rev 1A 56 Appendix C Logs C.1 Position Logs C.1.1 NMEA Logs The NMEA logs (receiver outputs) supported by the AG-STAR are summarized in the OEMStar Firmware Reference Manual (OM-20000127). The available logs include: • GPGGA, which outputs a log of position system fix data and undulation. There are variants of GPGGA, specifically: • GPGGALONG, which has both greater precision and the undulation field GPVTG, which outputs track made good and ground speed The steps for configuring the receiver output, through the command line are: 1. Configure the communication port using the COM command, described in Section B.2, COM COM Port on page 48. To set COM port 2 as follows: Bit Rate 9600 Parity none Data Bits Stop Bits Handshaking None Echo Off Break On Configure enter the following string: com com2 9600 n 8 1 n off on 2. Select and configure the NMEA string that you want to output. For example, to log gpgga (position system fix data and undulation) at 2 Hz, enter the following string: log gpgga ontime 0.5 You can configure the log to output at various frequencies, as described in Section B.4, LOG from the Receiver on page 51. Request Logs The above command line operations can also be carried out through NovAtel Connect. Information about configuring the communication port can be found in the NovAtel Connect online help. The procedure for adding a NMEA log through NovAtel Connect is summarized as follows: 1. In the Logging control window, click Logging to one or more of the receiver's serial ports. The Add Log window displays. 2. Beside Select list, select Complete List or NMEA List. 3. Beside Log to file, select the NMEA log you want to add. 4. Select the port. 5. Configure the remaining fields then click Add. AG-STAR User Manual Rev 1A 57 C.1.2 NovAtel Position Logs In addition to NMEA logs, NovAtel supports a range of non-NMEA position logs, described in the OEMStar Firmware Reference Manual (OM-20000127), including: • BESTPOS: This log contains the best available position computed by the receiver, for example: log bestposa ontime 0.5 • BESTXYZ: This log contains the receiver’s best available position and velocity in ECEF coordinates, for example: log bestxyza ontime 1 C.2 Other Logs The AG-STAR firmware generates the logs in Table 13, AG-STAR Logs in Alphabetical Order, in addition to those of the OEMStar family log set. Refer to the OEMStar Firmware Reference Manual (OM-20000127), which also contains procedures and explanations related to data logging and is available from our web site at: www.novatel.com/support/firmware-software-and-manuals/product-manuals-and-doc-updates/ Table 13: AG-STAR Logs in Alphabetical Order Message ID ASCII Log Description 8193 RADARSIGNAL Radar signal and position information (AG-STAR log) 37 VERSION Hardware versions, software versions, and serial numbers (Existing OEMStar log extended to AG-STAR) AG-STAR User Manual Rev 1A 58 C.2.1 RADARSIGNAL ER Signal and Position Information This log contains position and Emulated Radar (ER) signal information. Message ID: 8193 Log Type: Asynch Recommended Input: log radarsignala onchanged ASCII Example 1 (stationary AG-STAR): #RADARSIGNALA,COM1,0,61.5,FINESTEERING,1501,248381.628,00000000,8a1c,3723; SOL_COMPUTED,WAAS,0.0139,0.00,0.00*f0d580ca ASCII Example 2 (moving AG-STAR): #RADARSIGNALA,COM1,0,42.5,FINESTEERING,1428,206179.600,00000000,baa8,3349; SOL_COMPUTED,WAAS,0.3315,2,0.3152,473.97,29.62*c1479c20 Field # Field type Data Description Format RADARSIGNAL Log header header sol status Solution status, see Table 15, Solution Status on page 60 vel type Binary Binary Bytes Offset Enum Velocity type, see Table 14, Position or Velocity Type on page 59 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. Double H+24 xxxx 32-bit CRC (ASCII and Binary only) Hex H+32 [CR][LF] Sentence terminator (ASCII only) Table 14: Position or Velocity Type Type (binary) Type (ASCII) Description NONE No solution FIXEDPOSa Position has been fixed by the FIX POSITION command FIXEDHEIGHTa 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 a. With default PDPFILTER ENABLE, the bestpos will no longer show that the position has been fixed, unless PDPFILTER is DISABLED. AG-STAR User Manual Rev 1A 59 Table 15: 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 Large residuals make position unreliable Reserved for SPAN-capable receivers 18 PENDING When a FIX POSITION command is entered, the receiver computes its own position and determines if the fixed position is valid a 19 INVALID_FIX The fixed position, entered using the FIX POSITION command, is not valid 20 UNAUTHORIZED Position type is unauthorized - HP or XP on a receiver not authorized for it a. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION entered into the receiver is valid. The receiver needs to be tracking two or more GNSS satellites to perform this check. Under normal conditions PENDING should appear for a few seconds on power up before the GNSS receiver has locked onto its first few satellites. If your antenna is obstructed and you have entered a FIX POSITION command, then you may see PENDING indefinitely. AG-STAR User Manual Rev 1A 60 C.2.2 VERSION Hardware and Software Versions and Serial Numbers The Component Type of the VERSION log, refer to the OEMStar Firmware Reference Manual (OM-20000127), is extended to include AG-STAR information as in Table 16, Component Type. Table 16: Component Type Binary Valuea ASCII Value Description UNKNOWN Unknown Component GPSCARD OEMStar GPSCard Component ENCLOSURE AG-STAR 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 AG-STAR, the BT MAC address field has been added, in hexadecimal format, to the USERINFO block.
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