OM-20000016 Rev 3
â
MiLLennium
GPSCard
and Enclosures
(PowerPak II & ProPak II)
Guide to Installation & Operation
GPSCard™ Products
NovAtel Inc.
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Table Of Contents
TABLE OF CONTENTS
TABLE OF CONTENTS
FOREWORD
8
9
1 INTRODUCTION
MiLLennium GPSCard.........................................................................................................................9
PowerPak II ........................................................................................................................................11
ProPak II.............................................................................................................................................12
2 HARDWARE CONFIGURATION
13
MiLLennium GPSCard.......................................................................................................................13
Antenna........................................................................................................................................14
Antenna Considerations...............................................................................................................14
Antenna Cable Considerations.....................................................................................................15
Principal Power Supply ...............................................................................................................15
Optional LNA Power Supply.......................................................................................................15
RF Section ...................................................................................................................................15
Digital Electronics Section ..........................................................................................................16
Communication Ports ..................................................................................................................16
Optional User-Supplied External Oscillator ................................................................................17
3 INSTALLATION
18
Minimum Configuration .....................................................................................................................19
Anti-Static Precautions .......................................................................................................................19
Installation Procedure .........................................................................................................................19
Mounting the Printed Circuit Board.............................................................................................19
Preparing the Data, Signal & Power Harness ..............................................................................20
4 OPERATION
23
Communications with the Receiver ....................................................................................................23
Serial Port Default Settings..........................................................................................................24
Communicating Using a Remote Terminal..................................................................................24
Communicating Using a Personal Computer...............................................................................24
Getting Started....................................................................................................................................24
Power On.....................................................................................................................................25
DOS.............................................................................................................................................26
Microsoft Windows 3.1 or higher................................................................................................27
5 FIRMWARE UPGRADES & UPDATES
28
Upgrading Using the $AUTH Command............................................................................................28
Updating Using the LOADER Utility.................................................................................................29
Transferring Firmware Files........................................................................................................29
Using the LOADER Utility .........................................................................................................30
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Contents
APPENDICES
A
B
C
D
E
F
G
H
Anti-Static Practices..........................................................................................................31
Millennium Technical Specifications................................................................................33
Powerpak II.......................................................................................................................42
Propak II............................................................................................................................52
Edge-View Of Connector P1.............................................................................................65
Some Common Unit Conversions .....................................................................................66
Replacement Parts.............................................................................................................67
Index ................................................................................................................................68
TABLES
1
2
3
4
5
6
7
8
9
10
Common Feature Summary - MiLLennium Models.........................................................10
Disabled OEM2 Connector Pins........................................................................................20
Antenna LNA Power Configuration..................................................................................21
Prime Static Accumulators................................................................................................32
64 Pin I/O Connector Description .....................................................................................40
Serial Port Pin-Out Description.........................................................................................50
I/O Port Pin-Out Description.............................................................................................50
Straight Cable Pin Configurations.....................................................................................60
Null Modem Cable Pin Configurations .............................................................................61
I/O Port Pin-Out Description.............................................................................................62
FIGURES
1
MiLLennium GPSCard .......................................................................................................9
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
MiLLennium System Functional Diagram........................................................................13
Typical System Configuration...........................................................................................18
LNA Power Jumper P301 – 3 Cases .................................................................................21
Typical Operational Configuration....................................................................................23
Sample GPSolution Screen ...............................................................................................25
Main screen of LOADER program ...................................................................................30
MiLLennium Board Dimensions.......................................................................................33
L1/L2 Series Side & End Views .......................................................................................34
PowerPak II Front Panel ...................................................................................................42
Cigarette-Lighter Power Adapter ......................................................................................43
Y-Type Null-Modem Cable ..............................................................................................43
Opening the PowerPak II Enclosure..................................................................................45
Typical PowerPak II Installation Configuration................................................................46
Connections on the MiLLennium......................................................................................48
Installing the Ground Connector on the MiLLennium ......................................................48
ProPak II Front End-Cap...................................................................................................52
ProPak II Rear End-Cap....................................................................................................52
Power Cables ....................................................................................................................53
ProPak II Installation Configuration Possibilities..............................................................55
Typical Operational Configuration....................................................................................56
Removal of Connectors.....................................................................................................56
Mounting Bracket..............................................................................................................58
Mounting Bracket Drill Holes – Dimensions ....................................................................59
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Warranty Policy
WARRANTY POLICY
NovAtel Inc. warrants that its Global Positioning System (GPS) products are free from defects in materials and
workmanship, subject to the conditions set forth below, for the following periods of time:
GPSCard Series
One (1) Year
One (1) Year
One (1) Year
One (1) Year
Ninety (90) Days
One (1) Year
PowerPak Enclosure
ProPak Enclosure
GPSAntenna Series
Cables and Accessories
Software Support
Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s responsibility
respecting this warranty is limited solely to product repair at an authorized NovAtel location only. Determination of
repair will be made by NovAtel personnel or by technical personnel expressly authorized by NovAtel for this purpose.
THE FOREGOING WARRANTIES DO NOT EXTEND TO (I) NONCONFORMITIES, DEFECTS OR ERRORS IN
THE PRODUCTS DUE TO ACCIDENT, ABUSE, MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR USE IN
OTHER THAN
A
NORMAL AND CUSTOMARY MANNER, ENVIRONMENTAL CONDITIONS NOT
CONFORMING TO NOVATEL’S SPECIFICATIONS, OR FAILURE TO FOLLOW PRESCRIBED
INSTALLATION, OPERATING AND MAINTENANCE PROCEDURES, (II) DEFECTS, ERRORS OR
NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS, ALTERATIONS, ADDITIONS OR
CHANGES NOT MADE IN ACCORDANCE WITH NOVATEL’S SPECIFICATIONS OR AUTHORIZED BY
NovAtel, (III) NORMAL WEAR AND TEAR, (IV) DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY
THIRD PERSON, (V) SHIPPING DAMAGE; OR (VI) SERVICE OR REPAIR OF PRODUCT BY THE DEALER
WITHOUT PRIOR WRITTEN CONSENT FROM NovAtel.
IN ADDITION, THE FOREGOING WARRANTIES SHALL NOT APPLY TO PRODUCTS DESIGNATED BY
NovAtel AS BETA SITE TEST SAMPLES, EXPERIMENTAL, DEVELOPMENTAL, PREPRODUCTION, SAMPLE,
INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL
IDENTIFICATION MARKS HAVE BEEN REMOVED OR ALTERED.
THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES, EXPRESS OR
IMPLIED, WRITTEN OR ORAL, INCLUDING THE IMPLIED WARRANTIES OF MERCHANTABILITY OR
FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED.
NovAtel SHALL NOT BE LIABLE FOR ANY LOSS, DAMAGE OR EXPENSE ARISING DIRECTLY OR
INDIRECTLY OUT OF THE PURCHASE, INSTALLATION, OPERATION, USE OR LICENSING OR PRODUCTS
OR SERVICES. IN NO EVENT SHALL NovAtel BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR
CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
There are no user serviceable parts in the MiLLennium and no maintenance is required. When the status code indicates
that a unit is faulty, replace with another unit and return the faulty unit to NovAtel Inc.
You must obtain a RETURN MATERIAL AUTHORIZATION (RMA) number by calling NovAtel Customer
Service at 1-800-NOVATEL (Canada and the U.S. only or 403-295-4900 before shipping any product to NovAtel or
Dealer.
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return any defective
product. When returning any product to NovAtel, please return all original diskettes along with the defective product in
the original packaging to avoid ESD and shipping damage.
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Customer Service
CUSTOMER SERVICE
If you require customer service, please provide the following information along with a detailed description of the problem
when you call or write:
Serial No. ______________________________________ Model No. _________________________________________
Software Release No. _____________________________
Date Purchased: _________________________________
Purchased from: ____________________________________________________________________________________
User name: _____________________________________ Title:______________________________________________
Company: _________________________________________________________________________________________
Address: __________________________________________________________________________________________
City:___________________________________________ Prov/State: _________________________________________
Zip/Postal Code: _________________________________ Country: ___________________________________________
Phone #: _______________________________________ Fax #: _____________________________________________
E-mail: ________________________________________
MiLLennium interface: Computer type: ___________________________Operating Shell: ______________________
Other interface used:_________________________________________________________________________________
Please provide a complete description of any problems you may be experiencing, or the nature of your inquiry (attach
additional sheets if needed):
__________________________________________________________________________________________________
__________________________________________________________________________________________________
__________________________________________________________________________________________________
__________________________________________________________________________________________________
__________________________________________________________________________________________________
You may photocopy and fax this page, call, or mail the above information to the address listed below.
For customer support, contact the NovAtel GPS Hotline at 1-800-NOVATEL or 403-295-4900; send a fax to
NovAtel Inc.
GPS Customer Service
1120 68 Avenue NE
Calgary, Alberta, Canada
T2E 8S5
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Notice
FCC NOTICE
The following statements refer only to a MiLLennium GPSCard in a ProPak II or PowerPak II enclosure, not the card on
its own:
The United States Federal Communications Commission (in 47 CFR 15) has specified that the following notices be
brought to the attention of users of the PowerPak II and the ProPak II.
“This equipment has been tested and found to comply with the limits for a class A digital device, pursuant to Part 15 of
the FCC rules. These limits are designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case
the user will be required to correct the interference at his own risk.”
“Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority
to operate the equipment.”
Important:
In order to maintain compliance with the limits of a Class A digital device, it is required to use properly
shielded interface cables (such as Belden #9539 or equivalent) when using the serial data ports, and
double-shielded cables (such as Belden #9945 or equivalent) when using the I/O strobe port.
CAUTION !
Handle with Care
Use Anti-Static Precautions
This warning is especially true for the MiLLennium GPSCard on its own. Please see Appendix A, Page 31 for handling
electrostatic discharge-sensitive (ESD) devices.
Important:ProPak II and PowerPak II incorporate circuitry to absorb most static discharges. However, severe static
shock may cause inaccurate operation of the unit.
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Foreword
FOREWORD
Congratulations!
Congratulations on purchasing your MiLLennium GPSCard. The MiLLennium, NovAtel’s third-generation GPSCard, is
a dual-frequency capable GPS receiver designed for original equipment manufacturer (OEM) applications. This Guide is
written for the OEM system integrator.
Scope
This Guide contains sufficient information on the installation and operation of the MiLLennium to allow you to
effectively integrate and fully operate it. As such, it is beyond the scope of this Guide to provide details on service or
repair. Please contact your local NovAtel dealer for any customer-service related inquiries.
The MiLLennium utilizes a comprehensive user-interface command structure, which requires communications through its
serial communications ports. Accompanying this Guide is a MiLLennium Command Descriptions Manual, which lists
and describes the GPSCard commands and logs. Please remember that since each MiLLennium is shipped from the
distributor with a customer-specific list of features, some commands or logs may not be applicable to your model. Other
supplementary manuals may be included to accommodate special models and software features with unique functionality.
It is recommended that these documents be kept together for easy reference.
Prerequisites
The MiLLennium is an OEM product requiring the addition of an enclosure and peripheral equipment before it can
become a fully functional GPS receiver. The Installation section of this document provides information concerning
installation requirements and considerations for the MiLLennium GPSCard, the PowerPak II and the ProPak II.
What’s New in This Edition
This is the third edition of the MiLLennium GPSCard Guide to Installation and Operation. This document will be
updated periodically to reflect product improvements and enhancements. The changes made since the last edition are:
1.
2.
Passive antennas are no longer supported – only active antennas are supported.
The MiLLennium GPSCard no longer automatically detects and locks onto an external oscillator signal. This
function is now controlled by the EXTERNALCLOCK command, see Optional User-Supplied External
Oscillator, Page 17.
3.
4.
The MiLLennium GPSCard itself is now reverse-polarity protected, i.e. it will not blow up if plugged into the
wrong power source but will not function. The GPSCard in a PowerPak II or ProPak II enclosure has always had
this feature.
The PowerPak II and ProPak II enclosures for the MiLLennium GPSCard are now described in this manual as
opposed to having three separate manuals.
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1 Introduction
1
INTRODUCTION
1 INTRODUCTION
MILLENNIUM GPSCARD
The MiLLennium GPSCard (see Figure 1) consists of a single stand-alone printed circuit board with integrated radio-
frequency (RF) and digital sections. It is a high-performance GPS receiver capable of receiving and tracking the L1 C/A-
code, L1 and L2 carrier phase, and L2 P-code (or encrypted Y-code) of up to 12 GPS satellites. An active GPSAntenna
is required to function. A dual-frequency antenna is needed for dual-frequency operation, which is possible with some
MiLLennium models. The MiLLennium can be used for both single-point and differential applications.
Figure 1
MiLLennium GPSCard
MiLLennium models with dual-frequency capabilities make the following possible:
•
•
•
longer baselines in differential positioning mode, due to the reduction of atmospheric errors
faster resolution of carrier-phase ambiguities when performing RTK positioning
enhanced positioning precision due to the additional measurements
Patented Narrow Correlator tracking technology circuits combined with a high-performance 32-bit CPU make possible
multipath-resistant processing at high data update rates. Excellent acquisition and re-acquisition times allow this receiver
to operate in environments where very high dynamics and frequent interruption of signals can be expected.
The MiLLennium is fabricated in a "Eurocard" printed circuit board format, utilizing surface-mount manufacturing
technology. After integration with a user-supplied 5V DC power source, a mounting structure, an external antenna, and
I/O data communications equipment, the MiLLennium is ready for the most demanding surveying, positioning, or
navigation applications. It is engineered to provide years of reliable operation.
The MiLLennium offers the OEM developer unparalleled flexibility in areas such as configuration and in the
specification of output data and control signals. The available selection of OEM models is based on a common building
block, allowing you to fit the receivers more exactly to the application while maintaining the option for a compatible
upgrade path.
The following accessories are available from NovAtel Inc. They are designed to make system integration a faster, less
expensive and more reliable task:
•
Single or dual-frequency GPSAntenna models (survey, aviation, or DGPS reference station with choke-ring ground
plane)
•
•
Coaxial and power cables
PowerPak II (enclosure, power supply and I/O connectors)
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1 Introduction
•
ProPak II (enclosure, power supply and I/O connectors)
The MiLLennium hardware platform supports several different firmware models and configurations. Some possible
configurations are:
•
•
•
•
•
•
L1-only
L1/L2
L1 plus WAAS
L1/L2 plus WAAS
L1 plus RT-20
L1/L2 plus RT-2
The features common to all MiLLenniums are summarized in Table 1. The functionality of the software is described in
the MiLLennium Command Description Manual. There you will also find listings of all data formats and positioning
modes supported by the MiLLenium receiver.
Table 1
Common Feature Summary - MiLLennium Models
General
2.5-bit sampling
Narrow Correlator tracking technology
Dual serial ports
“EuroCard” printed circuit board format
Fast re-acquisition
Field-programmable for software upgrades
Port for an optional external clock
Five I/O and timing strobes
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1 Introduction
For some applications, the MiLLennium PowerPak II and ProPak II are ideal. These are enclosure kits that come
complete with mounting and wiring interfaces, and allow immediate operation of the MiLLennium. The ProPak II is
designed for rugged operating environments, while the PowerPak II is designed for use under normal conditions.
POWERPAK II
The NovAtel PowerPak II provides a hardware interface between your equipment and the NovAtel MiLLennium
GPSCard. When connected to an antenna and a power source, the PowerPak II and MiLLennium together form a fully
functioning GPS receiver. This is only one possible application of the PowerPak II; it can also be used by a system
integrator to test and evaluate MiLLennium GPSCards.
The PowerPak II is intended for stationary operation in benign surroundings such as those found in a laboratory or on a
test bench; it is not designed for environments which feature vibration, dust, moisture or extremes of temperature.
The PowerPak II has these features:
•
•
•
•
•
•
•
•
•
•
a mounting enclosure complete with a power converter and PCB interconnect back plane
GPSolution, NovAtel’s graphical user-interface program, and on-line help
an external automotive cigarette-lighter power adapter
two serial-data communication ports
an input/output port for strobe signals
an input port to which an external power source (+10 to +36 V DC) can be connected
an input port to which an external, GPSAntenna can be connected
an input port to which an external oscillator (5 MHz or 10 MHz) can be connected
a RS232C Y-type null-modem cable to facilitate communications with a PC
an electrostatic discharge (ESD) wrist grounding strap
Card guides located inside the mounting enclosure hold the MiLLennium in place; it fits into the second slot from the top
of the enclosure. It couples to the back plane by means of a 64-pin connector.
The PowerPak II is intended to be used with the following NovAtel accessories and options:
•
•
•
Model 502, 503, or 512 GPSAntenna - dual-frequency, active antennas designed for high-accuracy applications
Model C005, C015, or C030 (5, 15 or 30 m length) coaxial cable - to connect the GPSAntenna to the PowerPak II
GPS-APWR - an AC to DC power converter
For those who have purchased a MiLLennium and PowerPak II enclosure separately, a minor procedure is required to
install the MiLLennium and connect a ground wire and two coaxial interconnect cables. This is described in Appendix C,
Page 47.
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1 Introduction
PROPAK II
The NovAtel ProPak II is a rugged, reliable enclosure for adverse environments.
The ProPak II has these features:
•
•
•
•
•
•
•
rugged shock, water, and dust-resistant enclosure constructed of extruded aluminum sealed by two end-caps.
two serial communication ports and a strobe port
optional mounting plate
one straight and one null-modem serial data cable
one I/O strobe cable
one 4-pin LEMO plug connector to cigarette-lighter plug with built-in 3-amp fuse
NovAtel’s GPSolution graphical user interface software
The ProPak II is intended to be used with the following NovAtel accessories and options:
•
•
•
Model 502, 503, or 512 GPSAntenna - dual-frequency, active antennas designed for high-accuracy applications
Model C005, C015, or C030 (5, 15 or 30 m length) coaxial cable - to connect the GPSAntenna to the ProPak II
4-pin LEMO plug connector to 4-pin LEMO plug connector (NovAtel part number: 01016724 [33.5 cm] or
01016725 [0.75 cm])
•
Model GPS-APRO Auto-ranging AC/DC converter and power cables
Note:
The unit is sealed to provide protection against adverse environmental conditions; therefore, any attempt to
open the case will impair the water-resistant qualities of the enclosure, and void the warranty.
12
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2 Hardware Configuration
2
HARDWARE CONFIGURATION
2 HARDWARE CONFIGURATION
MILLENNIUM GPSCARD
The MiLLennium consists of a radio-frequency (RF) and a digital electronics section. Prior to operation, an antenna,
power supply, and data and signal interfaces must be connected. The overall system is represented in Figure 2. A brief
description of each section follows.
Figure 2
MiLLennium System Functional Diagram
1
4
3
2
18
21
8
23
9
16
17
14
15
22
10
11
12
20
19
13
19
6
5
7
Reference Description
Reference Description
1
MiLLennium L1/L2 GPSCard
13
14
15
16
17
18
19
20
21
22
23
VCTCXO
2
RF section
RF-IF sections
Signal processor
32-bit CPU
System I/O
LNA
3
Digital section
4
NovAtel GPSAntenna or user-supplied
Optional user-supplied LNA power (0-30 VDC)
User-supplied power (5 VDC)
5
6
7
Optional external oscillator (5 or 10 MHz)
Clock signals
AGC signals
Control signals
8
User-supplied data & signal processing equipment
9
COM1
10
11
12
COM2
RF and power connectors
Antenna feed
Input timing strobe
Output timing strobe
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2 Hardware Configuration
ANTENNA
The purpose of the antenna is to convert the electromagnetic waves transmitted by the GPS satellites into RF signals. An
active GPS antenna is required; a hardware provision is provided to select an internal or external DC power supply for the
active GPS antenna.
An active antenna is required because its low-noise amplifier (LNA) boosts the power of the incoming signals to
compensate for the line loss between the antenna and MiLLennium. The allowable cable loss for an active antenna
system is 13.0 dB. Excessive signal degradation will occur if this limit is exceeded and the MiLLennium may not be able
to meet its performance specifications.
NovAtel offers a variety of GPSAntenna models. All use low-profile microstrip technology and include band-pass
filtering and an LNA. The GPSAntenna you choose will depend on your particular application and hardware
configuration:
L1-Only Antenna Models
•
•
•
•
501 - for surveying applications providing enhanced multipath rejection
511 - compact, light and environmentally sealed against rain, ice and lightning strikes
521 - delivers optimal performance for airborne, marine and mobile applications
531 - for surveying and other kinematic positioning applications
L1/L2 Antenna Models
•
•
•
502 - for use in surveying and other kinematic positioning applications (an optional choke-ring ground plane,
NovAtel part number A032, is also available for use with this model)
503 - for use with high-performance position-reference stations (features a built-in choke-ring ground plane to
minimize the effects of multipath interference)
512 - for installation on aircraft (features aerodynamic styling)
Each of these models offers exceptional phase-center stability as well as a significant measure of immunity against
multipath interference. Each one has an environmentally sealed radome.
NovAtel also offers high-quality coaxial cable in standard 5, 15 and 30 m lengths. High quality coaxial cable should be
used because a mismatch in impedance, possible with lower quality cable, produces reflections in the cable that increases
signal loss.
While there may be other coaxial cables and antennas on the market that may also serve the purpose, please note that the
performance specifications of the MiLLennium are guaranteed only when it is used with NovAtel-supplied accessories.
ANTENNA CONSIDERATIONS
Selecting and installing an appropriate antenna system are important steps to make before operating your GPS receiver.
The antenna you choose for your GPS system will depend on the specific positioning application.
The choke-ring ground plane on the GPSAntenna Model 503 will further reduce multipath errors while maintaining a
stable phase center (e.g. during geodetic survey-quality positioning). An optional choke-ring (Model A032) is also
available for GPSAntenna Model 502.
The MiLLennium has been designed to operate with any of the NovAtel GPSAntenna models. Though it is possible to
operate with other GPS antennas, no guarantee is made that the MiLLennium will meet its performance specifications if a
non-NovAtel antenna is used.
When installing the antenna system,
•
choose an antenna location that has a clear view of the sky to the horizon so that each satellite above the horizon can
be tracked without obstruction
•
the location should also be one that minimizes the effect of multipath. For a discussion on multipath, please refer to
the chapter on “Multipath Elimination Technology” in the MiLLennium Command Descriptions Manual
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2 Hardware Configuration
•
mount the antenna on a secure, stable structure capable of safe operation in the specific environment
ANTENNA CABLE CONSIDERATIONS
An appropriate coaxial cable is one that is matched to the impedance of antenna being used, and whose line loss does not
exceed the recommendation of 13 dB. High quality coaxial cable should be used because a mismatch in impedance,
possible with lower quality cable, produces reflections in the cable that increases signal loss. NovAtel offers a variety of
coaxial cables to meet your GPSAntenna interconnection requirements. Your local NovAtel dealer can advise you about
your specific configuration.
NovAtel provides optional coaxial cables in the following lengths:
•
•
22 cm interconnect adapter cable (SMB female/TNC bulkhead - female)
5 m (Model C005), 15 m (Model C015), or 30 m (Model C030) antenna cable (TNC male/TNC male)
Should your application require the use of cable longer than 30 m, contact the NovAtel Customer Service department and
request Application Note APN-003, “Extended-Length Antenna Cable Runs” before you proceed. Application notes may
Any of the GPSAntennas can compensate for up to 13 dB of cable loss; if this limit is exceeded, excessive signal
degradation will occur and the MiLLennium may not be able to meet its performance specifications.
Though it is possible to use other high-quality antenna cables, no guarantee is made that the MiLLennium will meet its
performance specifications if non-NovAtel-supplied coaxial cable is used.
Note:
The coaxial cable should be connected to the antenna and MiLLennium before system power is turned on. If
for any reason the cable is disconnected from the antenna or MiLLennium, you must turn off power before
reconnecting the cable. This is to prevent the MiLLennium’s antenna current-limiting circuit from
unnecessarily activating and shutting off power to the GPSAntenna. If this occurs, remove power from the
MiLLennium, wait a few moments, and then apply it again.
PRINCIPAL POWER SUPPLY
A single external 5 V DC power supply is all that is necessary to meet the MiLLennium’s 7.5 W (typical) power
consumption. The power input is reverse-polarity protected.
Note: The MiLLennium will suspend operation if the voltage supplied to it falls outside the input range of 4.875 to 5.25 V DC.
OPTIONAL LNA POWER SUPPLY
The MiLLennium provides power to its GPSAntenna out of the primary 5 V DC input. However, if a different type of
antenna is required that is incompatible with this supply, then you could connect an additional power source (≤ 30 V DC)
to the MiLLennium. In either case, the power is fed to the antenna through the same coaxial cable used for the RF
signals. See jumper P301 in Chapter 3, I, Figure 3 (Page 18) and Figure 4 (Page 21).
RF SECTION
The MiLLennium receives the partially filtered and amplified GPS signals from the antenna via the coaxial cable. The
RF section does the following:
•
•
filters the RF signals to reduce noise and interference
down-converts (with further band-limiting) the RF signals to intermediate frequencies (IFs) that are suitable for the
analog-to-digital (A/D) converter in the digital electronics section
•
•
amplifies the signals to a level suitable for the A/D converter in the digital electronics section
receives an automatic gain control (AGC) input from the digital signal processor (DSP) to maintain the IF signals at
a constant level
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2 Hardware Configuration
•
supplies power to an active antenna through the coaxial cable while maintaining isolation between the DC and RF
paths. A hardware jumper configuration is provided to select an internal or external DC power supply for an active
GPS antenna. See jumper P301 in the Chapter 3, I, Figure 3 (on page 18) and Figure 4 (on page 21).
The RF section can reject a high level of potential interference (e.g., MSAT, Inmarsat, cellular phone, and TV sub-
harmonic signals).
DIGITAL ELECTRONICS SECTION
The digital section of the MiLLennium receives down-converted, amplified GPS signals that it digitizes and processes to
obtain a GPS solution (position, speed, direction and time). The digital section consists of an analog-to-digital converter,
a 32-bit 25 MHz system processor, memory, control and configuration logic, signal processing circuitry, serial peripheral
devices, and supporting circuitry. I/O data and timing strobe signals are routed to and from the board via a 64-pin DIN
41612 Type B male connector. Two EIA RS-232C serial communications ports support user-selectable bit rates of 300 -
115,200 bps, with a default of 9600 bps. The digital section does the following:
•
•
converts the IF analog signals to a digital format
tracks the codes (C/A & P) and carrier phases of the L1 signals (and L2 signals with the appropriate MiLLennium
model) of the satellites in use
•
•
•
•
•
•
performs channel and loop control
performs position computation
executes navigation software
performs database management
monitors self-test system status
controls diagnostic LEDs: a red one which only lights up to indicate an error condition, and a green one (the
“heartbeat”) which blinks on and off at approximately 1 Hz to indicate normal operation.
controls I/O functions
•
The strobe signals are described as follows:
•
Mark input: this signal provides a time tag to the signal processors, which respond to a falling edge of the signal
provided from an external device. It can be enabled by you to provide a precise time and data output event.
Measure output: an output measurement rate which generates an active-periodic signal. This output is also routed to
the signal processors, where it provides a trigger for the measurement collection.
•
•
•
•
Variable-frequency (VARF) output: a user-programmable, variable-frequency pulse train
PPS output: a 1 ms pulse repeating at a 1 Hz rate that is used to synchronize the board with external devices.
Status output: an output that changes logic states when a valid GPS position is obtained
You configure the MiLLennium using special commands. In turn, the MiLLennium presents information to you in the
form of pre-defined logs in a number of formats. In addition, when two MiLLenniums are linked for differential
positioning, the reference and the remote stations can communicate directly through their serial ports.
COMMUNICATION PORTS
The default communications protocol for each port is as follows:
•
•
•
•
•
•
•
RS232C
9600 bits per second
no parity
8 bits
1 stop bit
no hand shaking
echo off
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2 Hardware Configuration
Note:
The GPSCard COMn command can be used to change any of these default settings.
Pin-outs are the same for both serial ports. Both ports utilize standard DE9P connectors. Table 6 Serial Port Pin-Out
Description, Page 50 lists the pin-outs for each serial port configuration.
OPTIONAL USER-SUPPLIED EXTERNAL OSCILLATOR
For certain applications requiring greater precision than what is possible using the on-board 20 MHz, voltage-controlled,
temperature-compensated crystal oscillator (VCTCXO), you may wish to connect the MiLLennium to an external, high-
stability oscillator. This is only possible with a MiLLennium GPSCard on its own or in a PowerPak II enclosure, not if
the MiLLennium GPSCard is in a ProPak II enclosure. The external oscillator can be either 5 MHz or 10 MHz.
MiLLennium has built in clock models for OCXO, rubidium and cesium oscillators. You can also set custom clock model
parameters for other types of oscillators.
The two commands EXTERNALCLOCK and EXTERNALCLOCK FREQUENCY relate to external oscillator
operation, see the Using the EXTERNALCLOCK Commands section below. When a MiLLennium is powered on, the
external oscillator input is disabled. Therefore, if an external oscillator is never used, these commands are not needed.
Installation consists of simply connecting the cable from the external oscillator to connector P301, see Figure 3 (Page 18)
and Figure 4 (Page 21), on the MiLLennium. The MiLLennium does not have to be powered down during this
procedure. If handling the MiLLennium directly, anti-static practices must be observed; please see Appendix A (Page 31)
for details.
On the PowerPak II, connect the coaxial cable from the external oscillator output port to the Ext. Osc. input port (SMB
male jack) on the front panel of the PowerPak II.
Using the EXTERNALCLOCK Commands
The EXTERNALCLOCK command determines whether the MiLLennium uses its own internal temperature-
compensated crystal oscillator, or that of an external oscillator, as a frequency reference. It also sets which clock model is
used for an external oscillator:
Command
Reference Oscillator
Internal
Clock Model
EXTERNALCLOCK DISABLE
EXTERNALCLOCK OCXO
EXTERNALCLOCK CESIUM
EXTERNALCLOCK RUBIDIUM
EXTERNALCLOCK CUSTOM
External
OCXO
External
Cesium
External
Rubidium
External
User-defined parameters
The EXTERNALCLOCK DISABLE command forces the MiLLennium to use the internal oscillator, whether or not
there is an external oscillator connected to it. Do not use the EXTERNALCLOCK OCXO, CESIUM, RUBIDIUM or
CUSTOM if there is no external oscillator connected to the MiLLennium.
The EXTERNALCLOCK FREQUENCY command sets the MiLLennium to accept either a 5 MHz or 10 MHz external
oscillator frequency.
Example:
externalclock frequency 5
externalclock frequency 10
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3 Installation
3
INSTALLATION
3 INSTALLATION
Note:
This chapter deals specifically with a bare MiLLennium receiver card. For MiLLenium cards in PowerPak II
and ProPak II enclosures, see Appendices C and D respectively.
The MiLLennium receiver is an OEM product designed for flexibility of integration and configuration. You are free to
select an appropriate data and signal interface, power supply system, and mounting structure. This concept allows OEM
purchasers to custom-design their own GPS-based positioning system around the MiLLennium.
This section provides the necessary information for you to install and begin to use the MiLLennium. A typical system
configuration is shown in Figure 3.
Figure 3
Typical System Configuration
4
1
3
16
17
7
8
6
9
10
2
11
18
19
5
12
13
14
15
Reference Description
Reference Description
1
User-supplied enclosure
9
COM1 (8 pins)
2
RF signal and LNA power; SMB
10
COM2 (8 pins)
connector P201 (male, right-angle)*
External reference clock input; SMB
connector P301 (male, straight)
11
12
13
14
15
16
17
18
19
Input and output timing strobes (12 pins)x
User-supplied interface; matches item #4
Model 502 GPSAntenna (L1/L2)
Model 503 GPSAntenna (L1/L2)
Model 512 GPSAntenna (L1/L2)
Model 501 GPSAntenna (L1 Only)
Model 511 GPSAntenna (L1 Only)
Model 521 GPSAntenna (L1 Only)
Model 531 GPSAntenna (L1 Only)
3
4
Power, data & signals connector P1 (male,
64-pin, 0.1”, DIN 41612, Type B, right-angle)
Status LEDs (green and red)
5
6
7
8
LNA power jumper P301 (see Figure 4, Page 21)
+5 V DC primary power (2 pins)
Optional LNA; DC power (1 pin)
* To antenna via interconnecting coaxial cable. High quality coaxial cable should be used because a mismatch in
impedance, possible with lower quality cable, produces reflections in the cable that increases signal loss.
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3 Installation
MINIMUM CONFIGURATION
In order for the MiLLennium to perform optimally, the following additional equipment is required:
•
•
NovAtel GPSAntenna (model will depend on application)
NovAtel coaxial cable (note that a conversion is required between the male SMB connector on the MiLLennium and
the female TNC connector on a GPSAntenna)
•
•
•
A regulated power supply providing +5 V DC (see Appendix B, Page 33) for power regulation specifications)
A 64-pin 0.1" DIN 41612 Type B female connector as an interface for power, communications and signals
Data communications equipment capable of RS-232C serial communications
ANTI-STATIC PRECAUTIONS
Electrostatic discharge (ESD) is a leading cause of failure of electronic equipment components and printed circuit boards
containing ESD-sensitive devices and components. It is imperative that ESD precautions be followed when handling or
installing the MiLLennium printed circuit board. See Appendix A, Page 31 for more information on ESD precautions.
Leave the MiLLennium in its anti-static packaging when not connected in its normal operating environment. When
removing the MiLLennium from the ESD-protective plastic clamshell, follow accepted standard anti-static practices.
Failure to do so may cause damage to the MiLLennium.
When you remove the MiLLennium from the original packing box, it is recommended that you save the box and ESD
protective plastic clamshell for future storage or shipment purposes.
REMEMBER !
•
•
Always wear a properly grounded anti-static wrist strap when handling the MiLLennium.
Always hold the MiLLennium by its corners or the RF backplane, and avoid direct contact with any of the
components.
•
Do not let the MiLLennium come in contact with clothing at any time because the grounding strap cannot dissipate
static charges from fabrics.
•
•
Failure to follow accepted ESD handling practices could cause damage to the MiLLennium.
Warranty may be voided if equipment is damaged by ESD.
INSTALLATION PROCEDURE
Installing the MiLLennium typically consists of the following:
1. mounting the MiLLennium in a secure enclosure to reduce environmental exposure, RF interference, and vibration
effects
2. pre-wiring the I/O harness and the 64-pin DIN female connector for power and communications, then connecting
them to the MiLLennium
3. installing the GPSAntenna, then connecting it to the MiLLennium (see Page 14)
4. installing an optional external oscillator (see Page 17)
MOUNTING THE PRINTED CIRCUIT BOARD
Because the MiLLennium is an OEM product, the printed circuit board is not enclosed in a housing structure. This
allows flexibility in creating a mounting environment to suit particular product and marketing requirements. The
mounting and enclosure must provide the following:
•
mounting of external connectors
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3 Installation
•
•
•
•
•
protection from hostile physical environments (e.g. rain, snow, sand, salt, water, extreme temperatures)
protection from vibration conditions
electromagnetic shielding to protect from hostile RF environments (e.g. nearby transmitters)
electromagnetic shielding so that the final product itself conforms to RF emissions guidelines
protection from ESD
The MiLLennium card can be held in place by screws, card rails, or both. Please see Appendix B, Page 33 for
mechanical drawings.
PREPARING THE DATA, SIGNAL & POWER HARNESS
The wiring harness provides the following interconnect functions:
•
•
•
•
access to COM1 and COM2 serial communications ports
access to input and output timing strobes
power input(s)
access to control signals
A 64-pin / 0.1" / DIN 41612 / Type B / female connector (e.g. Harting #0902 164 6825, #0902 264 6828, or equivalent)
is required to interface with connector P1 on the MiLLennium (see Figure 3 Typical System Configuration, Page 18).
The connectors you choose for interfacing to the power source(s), COM ports, and strobes will depend on your external
equipment requirements. Appendix E, EDGE-VIEW OF CONNECTOR P1, Page 65 shows the pin names and locations
on connector P1.
Note:
See Appendix B, MILLENNIUM TECHNICAL , Page 33 for descriptions of the function of each connector
pin.
A MiLLennium GPSCard can function with the same 64-pin connector built for an OEM2 GPSCard (NovAtel’s second
generation receiver), which makes the upgrade simple. However, an OEM2 GPSCard will not function with a connector
built for a MiLLennium; this is because several pins on the OEM2 GPSCard are no longer used on the MiLLennium, as
shown in Table 2:
Table 2
Disabled OEM2 Connector Pins
OEM2 Signal Name
Connector Pin
-12 VDC
+12 VDC
3 A
3 B
SELA1
5 B
SELB1
6 B
NMEA Opto 1
TXD1(-)/NULL
SELA2
SELB2
NMEA Opto 2
TXD2(-)/NULL
7 B
8 B
13 B
14 B
15 B
16 B
External Power
See Appendix B, Page 33 for external power input connections:
•
•
•
Digital ground pins 1A/B (internally connected)
Vcc, main power (+5 V DC) pins 2A/B (internally connected)
Optional external LNA power pin 4B (≤ 30 V DC) and 4A (GND)
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3 Installation
Note:
See Appendix B, Page 33 for specifications concerning external power inputs.
The MiLLennium requires only one regulated power input of Vcc = +5 V DC
It is possible to supply power to the LNA on an active antenna either from the MiLLennium or from an external source.
The MiLLennium is factory-configured for operation with any of the GPSAntenna models, in which case no special
wiring or configuration is required: the P301 jumper (see Figure 4) is normally set for internal operation (pins 1 and 2).
The MiLLennium’s internal antenna power supply can produce 4.25 - 5.25 V DC at up to 90 mA. If the antenna draws
more than 90 mA of current, power to the antenna will be disabled and the antenna self-test status flag set to zero; refer to
the RVSA/B log in the MiLLennium Command Descriptions Manual for self-test status codes.
Figure 4
4
LNA Power Jumper P301 – 3 Cases
5
6
1
1
1
2
3
2
3
2
3
Reference Description
1
2
3
4
5
6
Pin 1
Pin 2
Pin 3
Case 1: No power to LNA
Case 2: Internal power source (default)
Case 3: External power source
If a different antenna is used whose LNA requires voltage and/or current capacity beyond what the MiLLennium can
produce, then the external LNA power option must be utilized - this requires that P301 must be jumpered between pins 2
and 3. The input cannot exceed +30 V DC at 100 mA. When the LNA jumper plug is in the external position, the
antenna sensing circuit will cause the self-test status code to always report antenna status as 1 (good). Refer to the
RVSA/B log in the MiLLennium Command Descriptions Manual for self-test status codes.
If no LNA power required, remove the jumper at P301 completely.
Table 3
P301: plug
Antenna LNA Power Configuration
P301: plug connects
pins 2&3
P301: no plug
connects pins 1&2
ANTENNAPOWER = ON
ANTENNAPOWER = OFF
internal power
connected to LNA
no external effect
no external effect
no external effect
internal power cut
off from LNA
no external effect
The setting of this command will also affect the way the MiLLennium’s self-test diagnostics report the antenna’s status;
please refer to the description of the ANTENNAPOWER command in the MiLLennium Command Descriptions Manual.
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3 Installation
CAUTION !
•
•
•
The P301 jumper plug must be jumpered to the external position (pins 2 and 3) before external LNA power is
connected to pin 4B of the 64-pin wire harness connector to prevent power from feeding back into the receiver.
Should it be necessary, due to an extended-length antenna cable, to supply external power to a GPSAntenna or to use
an optional in-line LNA amplifier, be careful not to exceed the voltage ratings of either the antenna or LNA.
No guarantee is made that the MiLLennium will meet its performance specifications if a non-NovAtel antenna is
used.
It is recommended that appropriate fuses or current limiting be incorporated as a safety precaution on all power lines
used. Use a sufficient gauge of wire to ensure that the voltage at the 64-pin connector is within the MiLLennium’s
requirements.
RS232C Communications
The MiLLennium is capable of communications in EIA RS232C serial data format via two ports, COM1 and COM2.
See Appendix B, Page 33 for data connections:
•
•
COM1 pins 7 - 11, A & B
COM2 pins 15 - 19, A & B
Each port has a ground connection, and supports the following signals:
•
•
•
•
•
•
•
Data Terminal Ready (DTR)
Clear To Send (CTS)
Transmitted Data (TXD)
Request To Send (RTS)
Received Data (RXD)
Data Set Ready (DSR)
Data Carrier Detect (DCD)
The port settings (bit rate, parity, etc.) are software-configurable. These are further described in Chapter 4.
Note: See Appendix B, Page 33 for further information on data communications characteristics.
Strobe Signals
The MiLLennium has 5 TTL-compatible I/O strobe lines. See Appendix B, Page 33 for strobe signal connections:
•
•
•
•
•
Variable-Frequency (VARF) Output Pin 21B
One Pulse per Second (PPS) Output Pin 22B
Measure Output Pin 23B
Mark Input Pin 24B
Status Output Pin 25B
Note:
See Appendix B for further information on I/O strobe characteristics.
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4 Operation
4
OPERATION
4 OPERATION
Before operating the receiver for the first time, ensure that you have followed the installation instructions in Chapter 3.
The following instructions are based on a configuration such as that shown in Figure 5.
Figure 5
Typical Operational Configuration
Reference Description
Reference Description
1
2
3
4
5
6
MiLLennium GPSCard
7
Optional external oscillator
Enclosure
8
GPS signal
Clock signal
COM1
GPSAntenna
9
Command source or reference station
Data logger or remote station
External power source
10
11
12
COM2
Power
COMMUNICATIONS WITH THE RECEIVER
Communication with the receiver is straightforward, and consists of issuing commands through the COM1 or COM2 port
from an external serial communications device. This could be either a terminal or an IBM-compatible PC that is directly
connected to a receiver serial port using a null modem cable. For specific information about any of the GPSCard
commands and logs, please consult the MiLLennium Command Descriptions Manual.
It is assumed that a personal computer is used during the initial operation and testing for greater ease and versatility.
Furthermore, it should be understood that communication between the MiLLennium and a computer is achieved by virtue
of the GPS firmware that resides within the MiLLennium.
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4 Operation
SERIAL PORT DEFAULT SETTINGS
The receiver communicates with your PC or terminal via the COM1 or COM2 serial port. For communication to occur,
both the receiver and the operator interface have to be configured properly. The receiver’s default port settings are as
follows:
•
RS232C, 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off
Changing the default settings requires using the COMn command, which is described in the MiLLennium Command
Descriptions Manual. It is recommended that you become thoroughly familiar with these commands and logs to ensure
maximum utilization of the receiver’s capabilities.
Note:
Although the receiver can operate at bit rates as low as 300 bps, this may not always be desirable. For
example, if several data logs are active (i.e. 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 and cause an error condition in
the receiver status.
COMMUNICATING USING A REMOTE TERMINAL
One method of communicating with the receiver is through a remote terminal. The receiver has been pre-wired to allow
proper RS232C interface with your data terminal. To communicate with the terminal the receiver only requires the RX,
TX, and GND lines to be used; handshaking is not required, although it can optionally be used. Ensure that the terminal’s
communications set-up matches the receiver RS232C protocol.
COMMUNICATING USING A PERSONAL COMPUTER
An IBM-compatible PC 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 bi-directional communications with the receiver.
One can create command batch files using any text editor; these can then be directed to the serial port that is connected to
the receiver using a communications software package. This is discussed in greater detail later in this chapter.
GETTING STARTED
Included with your receiver are NovAtel’s GPSolution and Convert programs, together with their user documentation.
GPSolution is a Microsoft Windows-based graphical user interface that allows you to access the receiver's many features
without struggling with communications protocol or writing special software. GPSolution automatically recognizes the
model of receiver that you are using and adjusts the displays accordingly. Figure 6 shows a sample GPSolution screen.
The Convert utility is a Windows-based utility that allows you to convert between file formats, and strips unwanted
records for data file compilation.
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4 Operation
Figure 6
Sample GPSolution Screen
GPSolution is provided to facilitate your interaction with the receiver. However, it certainly is possible to communicate
with it through DOS or a Windows-based communications program; this is discussed in greater detail later in this section.
POWER ON
The receiver’s software resides in read-only memory. As such, the unit “self-boots” upon power-up and undergoes a
complete self-test. If an error condition is detected during a self-test, the self-test status word would change; this self-test
status word can be viewed in the RGEA/B/D and RVSA/B data output logs (please refer to the MiLLennium Command
Descriptions Manual). If a persistent error develops, please contact NovAtel Customer Service.
When the receiver is first powered up, no activity information is transmitted from the COM ports except for the port
prompt; the external data communications equipment screen will display one of these two messages:
Com1> if connected to COM1 port,
or
Com2> if connected to COM2 port
Either prompt indicates that the receiver is ready and waiting for command input.
Commands are typed at the interfacing terminal’s keyboard, and sent after pressing the terminal’s Return or Enter key.
Note:
Most valid commands do not echo a response to a command input; the indication that they have been accepted
is a return of the port prompt from the receiver. VERSION, HELP and ? are the only commands that do
provide a data response other than the port prompt.
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4 Operation
Example:
An example of no echo response to an input command is the FIX HEIGHT command. It can be entered as follows:
COM2>fix height 550 [Return]
COM2>
The above example illustrates command input to the receiver COM1 port which sets the receiver antenna height as fixed
to 550 m above sea level and causes position solutions to be constrained as 2D with height fixed. However, your only
confirmation that the command was actually accepted is the return of the COM2> prompt.
If a command is incorrectly entered, the receiver will respond with “Invalid Command Name” (or a more detailed error
message) followed by the port prompt.
After initial boot up, you may find the following logs useful for observing the receiver activities. While GPSolution is
the easiest way to do this, you can also use DOS or a Windows-based communications program; examples of both are
provided below.
•
Use the RCCA log to list the default command settings. After the receiver has been operational for a while, the
RCCA log will be useful for indicating status of all current command settings. Displaying the RCCA log after a
RESET will show the saved configuration (refer to the SAVECONFIG command in the MiLLennium Command
Descriptions Manual for more information).
•
•
•
•
•
•
•
Use the ETSA log to monitor the channel tracking status.
Use the SATA log to observe the satellite specific data.
Use the POSA log to observe the current computed position solutions.
Use the DOPA log to monitor the dilution of precision of the current satellite constellation.
Use the RVSA log to monitor the receiver status.
Use the HELP command to list all available commands.
Use the HELP LOG command to list all available logs.
Refer to the MiLLennium Command Descriptions Manual for procedures and explanations related to data logging.
DOS
One way to initiate multiple commands and logging from the receiver is to create DOS boot-up command files relating to
specific functions. This will save time when you want to duplicate test situations and minimize set-up time. Any
convenient text editor can be used to create command text files.
Example:
For this example, consider a situation where a PC’s appropriately-configured COM1 port is connected to the receiver’s
COM1 port, and where a remote terminal is connected to the receiver’s COM2 port. The PC user wishes to monitor the
receiver’s activity; the following command file could be used to do this.
1.
Open a text editor on the PC and type in the following command sequences:
log com2 sata ontime 15
log com2 etsa ontime 15
log com2 rvsa ontime 60 5
log com2 posa ontime 15
log com2 dopa ontime 15
2.
3.
Save this with a convenient file name (e.g. C:\GPS\BOOT1.TXT) and exit the text editor.
Use the DOS copy command to direct the contents of the BOOT1.TXT file to the PC’s COM1 port:
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4 Operation
C:\GPS>copy boot1.txt com1
1 files(s) copied
C:\GPS>
4.
The receiver is now initialized with the contents of the BOOT1.TXT command file, and logging is directed from
the receiver’s COM2 port to the remote terminal.
MICROSOFT WINDOWS 3.1 OR HIGHER
As any text editor or communications program can be used for these purposes, the use of Windows 95 is described only
as an illustration. The following example shows how Windows 95 accessory programs Notepad and HyperTerminal can
be used to create a hypothetical waypoint navigation boot-file on a PC, and send it to the receiver. It is assumed that the
PC’s serial port COM1 is connected to the receiver’s COM1 port, and that a remote terminal is connected to the
receiver’s COM2 port.
Example:
1.
Open Notepad and type in the following command text:
setnav 51.111 -114.039 51.555 -114.666 0 start stop
magvar -21
log com1 posa ontime 15
log com1 spha ontime 15
log com1 nava ontime 15
log com2 gprmb ontime 15 5
log com2 gpvtg ontime 15 5
log com2 rcca ontime 60
2.
3.
Save this with a convenient file name (e.g. C:\GPS\BOOTNAV1.TXT) and exit Notepad.
Ensure that the HyperTerminal settings are correctly set up to agree with the receiver communications
protocol; these settings can be saved (e.g. C:\GPS\OEMSETUP.HT) for use in future sessions. You may wish to
use XON / XOFF handshaking to prevent loss of data.
4.
From the Transfer menu, use the Send text file selection to locate this file to be sent to the receiver. Once you
double-click on the file or select Open, HyperTerminal will send the file to the receiver.
The above example initializes the receiver with origin and destination waypoint coordinates and sets the magnetic
variation correction to -21 degrees. The POSA, SPHA, and NAVA logs have been set to output from the receiver COM1
port at intervals of once every 15 seconds, whereas the GPRMB and GPVTG NMEA logs have been set to be logged out
of the receiver COM2 port at intervals of 15 seconds and offset by five seconds. The RCCA log has been set to output
every 60 seconds from the receiver COM2 port.
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5 Firmware Upgrades & Updates
5
FIRMWARE UPGRADES
&
UPDATES
5 FIRMWARE UPGRADES & UPDATES
The MiLLennium stores its program firmware in non-volatile memory, which allows you to perform firmware upgrades
and updates without having to return the MiLLennium to the distributor. New firmware can be transferred to the
MiLLennium through a serial port, and the unit will immediately be ready for operation at a higher level of performance.
The first step in upgrading your receiver is to contact your local NovAtel dealer. Your dealer will assist you in selecting
the best upgrade option that suits your specific GPS needs. If your needs are still unresolved after seeing your dealer then
you can contact NovAtel directly through any of the methods described in the Customer Service section, Page 6, at the
beginning of this manual.
When you call, be sure to have available your MiLLennium model number, serial number, and program revision level.
This information is printed on the original shipping box as well as on the back side of the MiLLennium itself. You can
also verify the information by issuing the VERSION command at the port prompt.
After establishing which new model/revision level would best suit your needs, and having described the terms and
conditions, you will be issued with an authorization code (auth-code). The auth-code is required to unlock the new
features according to your authorized upgrade/update model type.
There are two procedures to choose from, depending on the type of upgrade/update you require:
1. If you are upgrading to a higher performance model at the same firmware revision level (e.g. upgrading from a
MiLLennium Standard rev. 4.50, to a MiLLennium RT-2 rev. 4.50), you can use the $AUTH special command.
2. If you are updating to a higher firmware revision level of the same model (e.g. updating a MiLLennium Standard
rev. 4.45 to a higher revision level of the same model, such as MiLLennium Standard rev. 4.50), you will need to
transfer new program firmware to the MiLLennium using the Loader utility program. As the Loader and update
programs are generally provided in a compressed file format, you will also be given a file decompression password.
floppy disk or by e-mail.
Your local NovAtel dealer will provide you with all the information that you require to update or upgrade your receiver.
UPGRADING USING THE $AUTH COMMAND
The $AUTH command is a special input command which authorizes the enabling or unlocking of the various model
features. Use this command when upgrading to a higher performance MiLLennium model available within the same
revision level as your current model (e.g., upgrading from a MiLLennium Standard rev. 4.50, to a MiLLennium RT-2
rev. 4.50). This command will only function in conjunction with a valid auth-code assigned by GPS Customer Service.
The upgrade can be performed directly from Loader’s built-in terminal emulator, GPSolution’s Command Line Screen,
or from any other communications program. The procedure is as follows:
1) Power-up the MiLLennium and establish communications over a serial port (see Chapter 4, O, Page 23)
2) Issue the VERSION command to verify the current firmware model number, revision level, and serial number.
3) Issue the $AUTH command, followed by the auth-code and model type. The syntax is as follows:
Syntax:
$auth auth-code
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5 Firmware Upgrades & Updates
where
$auth
is a special command which allows program model upgrades
auth-code is the upgrade authorization code, expressed as hhhh,hhhh,hhhh,hhhh,hhhh,model# where the
h characters are an ASCII hexadecimal code, and the model# would be ASCII text
Example:
$auth 17cb,29af,3d74,01ec,fd34,millenrt2
Once the $AUTH command has been executed, the MiLLennium will reboot itself. Issuing the VERSION command
will confirm the new upgrade model type and version number.
UPDATING USING THE LOADER UTILITY
Loader is required (instead of the $AUTH command) when updating previously released firmware with a newer version
of program and model firmware (e.g., updating a MiLLennium Standard rev. 4.45 to a higher revision level of the same
model, such as MiLLennium Standard rev. 4.50). Loader is a DOS utility program designed to facilitate program and
model updates. Once Loader is installed and running, it will allow you to select a host PC serial port, bit rate, directory
path, and file name of the new program firmware to be transferred to the MiLLennium.
TRANSFERRING FIRMWARE FILES
To proceed with your program update, you must first acquire the latest firmware revision. You will need a file with a
name such as OEMXYZ.EXE (where XYZ is the firmware revision level). This file is available from NovAtel’s FTP
site (http:\\www.novatel.ca), or via e-mail ([email protected]). If transferring is not possible, the file can be mailed to
you on floppy disk. For more information on how to contact NovAtel Customer Service please see Page 6 at the
beginning of this manual.
You will need at least 1 MB of available space on your hard drive. For convenience, you may wish to copy this file to a
GPS sub-directory (e.g., C:\GPS\LOADER).
The file is available in a compressed format with password protection; Customer Service will provide you with the
required password. After copying the file to your computer, it must be decompressed. The syntax for decompression is
as follows:
Syntax:
[filename] -s[password]
where
filename
-s
is the name of the compressed file (but not including the .EXE extension)
is the password command switch
password
is the password required to allow decompression
Example:
oem442 -s12345678
The self-extracting archive will then generate the following files:
•
•
•
LOADER.EXE
LOADER.TXT
XYZ.BIN
Loader utility program
Instructions on how to use the Loader utility
Firmware version update file, where XYZ = program version level (e.g. 442.BIN)
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5 Firmware Upgrades & Updates
USING THE LOADER UTILITY
The Loader utility can operate from any DOS directory or drive on your PC. The program is comprised of three parts:
Program Card (authorization procedure), Setup (communications configuration) and Terminal (terminal emulator). The
main screen is shown in Figure 7.
Figure 7
Main screen of LOADER program
If you are running Loader for the first time, be sure to access the Setup menu (step 3 below) before proceeding to
Program Card (step 4 below); otherwise, you can skip step 3. The procedure is as follows:
1. Turn off power to the MiLLennium.
2. Start the Loader program.
3. From the main menu screen, select Setup to configure the serial port over which communication will occur
(default: COM1) , and the data transfer rates for both programming (default: 115 200 bits per second) and terminal
emulation (default: 9600 bps). To minimize the time required, select the highest serial bit rate your PC can reliably
support. Loader will verify and save your selections in a file named LOADER.SET, and return to the main menu
screen.
4. From the main screen, select Program Card.
5. Select the disk drive (e.g., A, B, C, D) in which the update file (e.g. 442.BIN) is located. Select the path where the
update program file is located (e.g., C:\GPS\LOADER); the directory from which you started Loader is the default
path. Select the required update file (e.g. 442.BIN).
6. At the prompt, enter your update auth-code (e.g. 17b2,32df,6ba0,92b5,e5b9,millenrt2).
7. When prompted by the program, turn on power to the MiLLennium. Loader will automatically establish
communications with the MiLLennium. The time required to transfer the new program data will depend on the bit
rate, which was selected earlier.
8. When the transfer is complete, use a terminal emulator such as that in Loader (select Terminal) to issue the
VERSION command; this will verify your new program version number. When using the terminal emulator in
Loader, a prompt does not initially appear; you need to enter the command first, which then produces a response,
after which a prompt will appear.
9. Exit Loader (select Quit).
This completes the procedure required for field-updating a MiLLennium.
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A Anti-Static Practices
A
ANTI-STATIC PRACTICES
A ANTI-STATIC PRACTICES
OVERVIEW
Static electricity is electrical charge stored in an electromagnetic field or on an insulating body. This charge can flow as
soon as a low-impedance path to ground is established. Static-sensitive units can be permanently damaged by static
discharge potentials of as little as 40 volts. Charges carried by the human body, which can be thousands of times higher
than this 40 V threshold, can accumulate through as simple a mechanism as walking across non-conducting floor
coverings such as carpet or tile. These charges may be stored on clothing, especially when the ambient air is dry, through
friction between the body and/or various clothing layers. Synthetic materials accumulate higher charges than natural
fibers. Electrostatic voltage levels on insulators may be very high, in the order of thousands of volts.
Various electrical and electronic components are vulnerable to electrostatic discharge (ESD). These include discrete
components, hybrid devices, integrated circuits (ICs), and printed circuit boards (PCBs) assembled with these devices.
RECOMMENDATIONS FOR HANDLING ESD-SENSITIVE DEVICES
ESD-sensitive devices must only be handled in static-controlled locations. Some recommendations for such handling
practices follow:
•
•
•
Handling areas must be equipped with a grounded table, floor mats, and wrist or ankle straps.
A relative humidity level must be maintained between 20% and 80% non-condensing.
No ESD-sensitive board or component should be removed from its protective package, except in a static-controlled
location.
•
•
•
•
•
•
A static-controlled environment and correct static-control procedures are required at both repair stations and
maintenance areas.
ESD-sensitive devices must be handled only after personnel have grounded themselves via wrist or ankle straps and
mats.
Boards or components should never come in contact with clothing, because normal grounding cannot dissipate static
charges on fabrics.
A circuit board must be placed into an anti-static plastic clamshell before being removed from the work location and
must remain in the clamshell until it arrives at a static-controlled repair/test center.
Circuit boards must not be changed or moved needlessly. Handles or finger holes may be provided on circuit boards
for use in their removal and replacement; care should be taken to avoid contact with the connectors and components.
On-site repair of ESD-sensitive equipment should not be undertaken except to restore service in an emergency where
spare boards are not available. Under these circumstances repair station techniques must be observed. Under normal
circumstances a faulty or suspect circuit board must be sent to a repair center having complete facilities, or to the
manufacturer for exchange or repair.
•
•
Where protective measures have not been installed, a suitable alternative would be the use of a Portable Field Service
Grounding Kit. This consists of a portable mat and wrist strap which must be attached to a suitable ground.
A circuit board in a static-shielding bag or clamshell may be shipped or stored in a cardboard carton, but the carton
must not enter a static-controlled area such as a grounded or dissipative bench top or repair zone. Do not place
anything else inside the bag (e.g. repair tags).
•
•
Treat all PCBs and components as ESD sensitive. Assume that you will damage the PCB or component if you are
not ESD conscious.
Do not use torn or punctured static-shielding bags. A wire tag protruding through the bag could act as a “lightning
rod”, funneling the entire charge into the components inside the bag.
•
•
Do not allow chargeable plastics , such as binders, within 0.6 m of unshielded PCBs.
Do not allow a PCB to come within 0.3 m of a computer monitor.
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A Anti-Static Practices
PRIME STATIC ACCUMULATORS
Table 4 provides some background information on static-accumulating materials.
Table 4
Prime Static Accumulators
Work Surfaces
• formica (waxed or highly resistive)
• finished wood
• synthetic mats
• writing materials, note pads, etc.
• wax-finished
Floors
• vinyl
Clothes
• common cleanroom smocks
• personal garments (all textiles except virgin wool)
• non-conductive shoes
Chairs
• finished wood
• vinyl
• fiberglass
Packing and handling
• common polyethylene bags, wraps, envelopes, and bubble pack
• pack foam
• common plastic trays and tote boxes
• spray cleaners
• common solder sucker
• common solder irons
Assembly, cleaning, test and
repair areas
• common solvent brushes (synthetic bristles)
• cleaning, drying and temperature chambers
HANDLING PRINTED CIRCUIT BOARDS
ESD damage to unprotected sensitive devices may occur at any time. ESD events can occur far below the threshold of
human sensitivity. Follow this sequence when it becomes necessary to install or remove a circuit board:
1. After you are connected to the grounded wrist strap, remove the circuit board from the frame and place it on a static-
controlled surface (grounded floor or table mat).
2. Remove the replacement circuit board from the static-shielding bag or clamshell and insert it into the equipment.
3. Place the original board into the shielding bag or clamshell and seal it with a label.
4. Do not put repair tags inside the shielding bag or clamshell.
5. Disconnect the wrist strap.
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B MiLLennium Technical Specifications
B
MILLENNIUM TECHNICAL SPECIFICATIONS
B MILLENNIUM TECHNICAL SPECIFICATIONS
PHYSICAL
Size
100.00 x 179.9 x 14.7 mm with connector; Eurocard format
175 grams
Weight
MECHANICAL DRAWINGS
Figure 8
MiLLennium Board Dimensions
Units: millimeters [inches]
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B MiLLennium Technical Specifications
MECHANICAL DRAWINGS (CONTINUED)
Figure 9 L1/L2 Series Side & End Views
Units: millimeters [inches]
ENVIRONMENTAL
-40° C to +85° C
Operating Temperature
Storage Temperature
Humidity
-45°C to +95°C
95% non-condensing (max.)
Altitude
Sea level to 5000 m [ may operate above 5000 m in a controlled environment,
however is not certified as such ]
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B MiLLennium Technical Specifications
VIBRATION (Random Profile)
The MiLLennium will acquire and track satellites while undergoing vibration levels as shown below. This assumes that
it is mounted using full-length clamped rail mounts and that no vibrating object is touching it. It also assumes that
C/N > 45 dB-Hz and that the MiLLennium is in high-dynamics mode. Although not all MiLLennium GPSCards
o
conform to random vibration templates for RTCA/DO-160C, Section 8.6.2 (Curve C template), MIL-STD-202F, Test
Condition I (Letter A nominal template), and ASAE EP455, Section 5.15.1 nominal template, many do. It is possible to
purchase a pre-screened MiLLennium GPSCard to meet these vibration requests if required. Please consult NovAtel
Customer Service for further information. Note that a MiLLennium GPSCard in a PowerPak II or ProPak II enclosure
does conform.
Frequency
Magnitude (g /Hz)
< 10 Hz
10 Hz
40 Hz
0.02
1000 Hz
0.02
2000 Hz
0.005
> 2000 Hz
2
+ 80 dB/decade
0.00125
- 80 dB/decade
Typical Mounting Configuration - Mount the GPSCard securely using screws driven through the card’s four corner
mounting holes.
Superior Mounting Configuration - Mount the card using full length clamped rail mounts.
Note: The card is sensitive to any external vibration against it.
ACCELERATION
Acceleration
6g maximum (sustained tracking)
POWER REQUIREMENTS
4.875 - 5.250 V DC
Voltage
Allowable voltage ripple
Power
75 mV p-p (max.)
6.75 W (typ.), 7.5 W (max.)
POWER & DATA CONNECTOR ON THE MILLENNIUM
Connector on MiLLennium
64 pin 0.1" DIN 41612 Type B male right-angle
EXTERNAL CLOCK INPUT ON THE MILLENNIUM
Connector on MiLLennium
External Clock Input
SMB male jack
Frequency: 5 MHz or 10 MHz CW
Input Impedance: 50 Ω nominal
Input VSWR: 2.0:1
Signal Level: 4.0 dBm minimum to 10.0 dBm maximum
Freq. stability: ±0.5 ppm maximum
RF Input / LNA Power Output
Connector on MiLLennium
RF Input
SMB right-angle male jack
1575.42 MHz, 1227.60 MHz
LNA Power Output
LNA power output is determined by the LNA jumper plug P301 position
(internal/external)
Internal
4.25 - 5.25 V DC @ 0 - 90 mA (current limit 120 ± 30 mA)
External ≤ 30 V DC, 100 mA max. (user-supplied)
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B MiLLennium Technical Specifications
MiLLen-3151R Performance (Subject To GPS System Characteristics)
Position Accuracy
Standalone
SA off
15 m CEP
SA on
40 m CEP
Code differential
0.75 m CEP
±5 mm + 1 ppm
70 s (typical)
1 s (typical)
20 Hz
Post Processed
Time To First Fix
Reacquisition
Data Rates
Cold start
Warm start
Raw measurement
Computed position
SA off
SA on
Standalone
Differential
C/A code phase
Carrier phase
10 Hz
Time Accuracy
50 ns RMS
250 ns RMS
0.20 m/s RMS
0.03 m/s RMS
10 cm RMS
Velocity Accuracy
Measurement Precision
Single channel
3 mm RMS
Differential channel 0.75 mm RMS
Dynamics
Acceleration
Velocity
6 g
515 m/s max.
MiLLen-3151W Performance (Subject To GPS System Characteristics)
GPS Only GPS + WAAS
Position Accuracy
Standalone: SA on
Differential: Code (RTCA/RTCM)
Cold start
42 m CEP
0.75 m CEP
70 s (typical)
1 s (typical)
20 Hz
3.2 m CEP
0.75 m CEP
70 s
3 s
2 Hz
Time To First Fix
Reacquisition
Data Rates
Warm start
Raw measurement
Computed position
SA off (RMS)
10 Hz
50 ns
2 Hz
50 ns
Time Accuracy
SA on (RMS)
250 ns
50 ns
Velocity Accuracy
Measurement Precision
Standalone (RMS)
Differential (RMS)
C/A code phase (RMS)
Carrier phase
0.20 m/s
0.03 m/s
10 cm
0.20 m/s
0.03 m/s
10 cm
Single channel (RMS)
Differential channel (RMS)
Acceleration
3 mm
0.75 mm
6 g
3 mm
0.75 mm
6 g
Dynamics
Velocity
515 m/s max. 515 m/s max.
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B MiLLennium Technical Specifications
MiLLen-RT20 Performance (Subject To GPS System Characteristics)
Position Accuracy
Standalone
SA off
15 m CEP
SA on
40 m CEP
Code differential
RT-20 differential
0.75 m CEP
0.20 m CEP
±5 mm + 1 ppm
70 s (typical)
1 s (typical)
20 Hz
Post Processed
Time To First Fix
Reacquisition
Data Rates
Cold start
Warm start
Raw measurement
Computed position
SA off
SA on
Standalone
Differential
C/A code phase
Carrier phase:Single channel
10 Hz
Time Accuracy
50 ns RMS
250 ns RMS
0.20 m/s RMS
0.03 m/s RMS
10 cm RMS
3 mm RMS
Velocity Accuracy
Measurement Precision
Differential channel 0.75 mm RMS
Dynamics
Acceleration
Velocity
6 g
515 m/s max.
MiLLen-RT2 Performance (Subject To GPS System Characteristics)
Position Accuracy
Standalone
SA off
SA on
15 m CEP
40 m CEP
Differential
Code (L1, C/A)
RT-2
0.75 m CEP
0.02 m CEP
±5 mm + 1 ppm
70 s (typical)
1 s L1, 10 s L2 (typical)
10 Hz
Post Processed
Time To First Fix
Reacquisition
Data Rates
Cold start
Warm start
Raw measurement
Computed position
SA off
10 Hz
50 ns RMS
Time Accuracy
SA on
Standalone
Differential
C/A code phase
L2 P code
250 ns RMS
0.20 m/s RMS
0.03 m/s RMS
10 cm RMS
40 cm RMS
Velocity Accuracy
Measurement Precision
L1 carrier phase: Single channel 3 mm RMS
Differential channel 0.75 mm RMS
L2 carrier phase: Single channel 5 mm RMS
Differential channel 4mm RMS
Dynamics
Acceleration
Velocity
6 g
515 m/s
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B MiLLennium Technical Specifications
MiLLen-STD Performance (Subject To GPS System Characteristics)
Position Accuracy
Standalone:
SA off
SA on
15 m CEP
40 m CEP
Differential: Code (L1, C/A)
0.75 m CEP
±5 mm + 1 ppm
70 s (typical)
1 s L1, 10 s L2 (typical)
10 Hz
Post Processed
Time To First Fix
Reacquisition
Data Rates
Cold start
Warm start
Raw measurement
Computed position
SA off
SA on
Standalone
Differential
C/A code phase
L2 P code
10 Hz
Time Accuracy
50 ns RMS
250 ns RMS
0.20 m/s RMS
0.03 m/s RMS
10 cm RMS
40 cm RMS
3 mm RMS
Velocity Accuracy
Measurement Precision
L1 carrier phase: Single channel
Differential channel 0.75 mm RMS
L2 carrier phase: Single channel
5 mm RMS
Differential channel 4mm RMS
Dynamics
Acceleration
Velocity
6 g
515 m/s
MiLLen-WAAS Performance (Subject To GPS System Characteristics)
GPS Only
C/A & P
GPS + WAAS
C/A & P
Codes Tracked
12 L1/L2
42 m CEP
0.75 m CEP
70 s
10 L1/L2 & 1 WAAS
3.2 m CEP
0.75 m CEP
70 s
3 s L1, 40 s L2
2 Hz
2 Hz
50 ns
50 ns
Position Accuracy
Standalone: SA on
Differential: Code (RTCA/RTCM)
Cold start (typical)
Warm start (typical)
Raw measurement
Computed position
SA off or differential (RMS)
SA on (RMS)
Time To First Fix
Reacquisition
Data Rates
3 s L1, 40 s L2
10 Hz
10 Hz
50 ns
250 ns
Time Accuracy
Velocity Accuracy
Standalone (RMS)
Differential (RMS)
C/A code phase
0.20 m/s
0.03 m/s
10 cm RMS
40 cm RMS
3 mm RMS
0.75 mm RMS
5 mm RMS
4mm RMS
6 g
0.20 m/s
0.03 m/s
10 cm RMS
40 cm RMS
3 mm RMS
0.75 mm RMS
5 mm RMS
4mm RMS
6 g
Measurement
Precision
L2 P code
L1 carrier phase: Single channel
Differential channel
L2 carrier phase: Single channel
Differential channel
Acceleration
Dynamics
Velocity
515 m/s
515 m/s
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B MiLLennium Technical Specifications
INPUT/OUTPUT DATA INTERFACE
Dual RS-232C Serial
Signals supported
Electrical format
Bit rates: 300, 1200, 4800, 9600, 19200, 57600, 115200 bps (9600 bps default)
TX, RX, RTS, CTS, DTR, DSR, DCD
EIA RS232C Standard
INPUT/OUTPUT STROBES
VARF Output
A programmable variable-frequency output ranging from 0.15 Hz - 5 MHz (refer
to the FREQUENCY_OUT command in the MiLLennium Command Descriptions
Manual), with pulse width from 100 ns to 6.55 ms. This is a normally high, active
low pulse. There may be as much as 50 ns jitter on this signal.
PPS Output
Measure Output
Mark Input
A one-pulse-per-second time synchronization output. This is a normally high,
active low pulse (1 ms ± 50 ns) where the falling edge is the reference.
Periodic output at the measurement rate, normally high, active low where the
pulse width is 1 ms. The falling edge is the receiver measurement strobe.
An input mark (negative pulse > 55 ns), time tags output log data to the time of
the falling edge of the mark input pulse (refer to LOG command syntax –
ONMARK in the MiLLennium Command Descriptions Manual).
Status Output
Indicates a valid GPS position solution is available. A high level indicates a valid
solution or that the FIX POSITION command has been set.
RESETOUT
\RESETIN
Polarity- positive pulse ; 140 ms ≤ pulse duration ≤ 280 ms
A high to low transition causes a system reset.
The electrical specifications of the strobe signals are as follows:
Output
Voltage:
Standard TTL levels
64 mA
Sink Current:
Source Current:
Voltage:
15 mA
Input
Standard TTL levels
≤ 5 mA
Current:
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B MiLLennium Technical Specifications
Table 5
64 Pin I/O Connector Description
Row B
Descriptions
Pin
Row A
Descriptions
GND
+5V
Digital Ground
1
2
3
4
GND
+5V
N/C
Digital Ground
Input, power supply
Input, power supply
*
Reserved for future use
LNA_PWR
Optional external power to antenna other
than a standard NovAtel GPSAntenna
(jumper plug P301 must be correctly set)
GND
Digital Ground
N/C
N/C
5
*
For factory use only
6
*
For factory use only
N/C
7
GND
DTR1
TXD1
RXD1
DCD1
N/C
Digital Ground
N/C
8
Data Terminal Ready for COM 1
Transmitted Data for COM 1
Received Data for COM 1
Data Carrier Detected for COM 1
CTS1
RTS1
DSR1
N/C
Clear to Send for COM 1
Request to Send for COM 1
Data Set Ready for COM 1
9
10
11
12
13
14
15
16
17
18
19
20
N/C
*
For factory use only
N/C
*
For factory use only
N/C
GND
DTR2
TXD2
RXD2
DCD2
N/C
Digital Ground
N/C
Data Terminal Ready for COM 2
Transmitted Data for COM 2
Received Data for COM 2
Data Carrier Detected for COM 2
CTS2
RTS2
DSR2
N/C
Clear to Send for COM 2
Request to Send for COM 2
Data Set Ready for COM 2
VARF Output Variable-frequency pulse train; normally
high, active low. The pulse width is from
100 ns to 6.55 ms. Frequency range:
0.15 Hz - 5 MHz.
21
22
23
GND
GND
GND
Digital Ground
Digital Ground
Digital Ground
PPS Output
Normally high, active low, 1 ms ± 50 ns
pulse is output at 1 Hz (± 50 ns when
clock steering on). Falling edge is used
as the reference.
Measure
Output
Normally high, active low pulse is 1 ms ±
50 ns wide. Falling edge is used as the
reference.
40
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B MiLLennium Technical Specifications
Table 5 (continued)
Row B
Descriptions
Pin
Row A
Descriptions
Mark Input
Normally high, active low input pulse
must exceed 55 ns in duration. The
falling edge is the reference. TTL or
contact closure compatible.
24
GND
Digital Ground
STATUS
High level output indicates 'good solution'
or valid GPS position. Low level output
indicates 'no solution'.
25
GND
Digital Ground
*
For factory use only
For factory use only
26
27
28
GND
GND
GND
Digital Ground
Digital Ground
Digital Ground
*
\ RESET_IN
Reset TTL signal input from external
system; active low.
RESET_OUT Reset TTL signal output to external
system; active high; 140 - 280 ms
duration.
29
GND
Digital Ground
*
*
*
For factory use only
30
31
32
GND
GND
GND
Digital Ground
Digital Ground
Digital Ground
For factory use only
Kept high; for factory use only
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C PowerPak II
C
POWERPAK II
C POWERPAK II
ENCLOSURE, CONNECTORS AND INDICATORS
The PowerPak II mounting enclosure provides a protective environment for the MiLLennium. The mounting enclosure
houses the internal power card, interconnect back plane, and front panel connections for COM1, COM2, strobes,
GPSAntenna, external oscillator, and power input. There are two LEDs on the front panel: a red one to indicate the
supply of power, and a green one to indicate when a valid position has been computed.
Note:
The PowerPak II enclosure is not designed to protect the MiLLennium from environments that feature
vibration, dust, moisture or extremes of temperature.
The enclosure is constructed of extruded aluminum. Each end of the enclosure is sealed with an end plate by four
mounting screws. The front panel is shown in Figure 10.
Figure 10
PowerPak II Front Panel
PCB INTERCONNECT BACK PLANE
The interconnect back plane is a printed circuit board vertically mounted directly behind the PowerPak II front panel. Its
purpose is to provide direct interconnection between the MiLLennium, power card, and the front panel input and output
connections.
Except for a ground wire and two coaxial interconnect cables, all other input, output, and interconnect connectors are
directly soldered to the back plane. The MiLLennium and power card connect directly to the back plane.
INTERNAL POWER CARD
The internal power card is a DC-to-DC power converter providing filtering, fuse protection, and voltage regulation for the
MiLLennium. It accepts a single input voltage between the range of +10 to +36 V DC and converts it to the +5 V DC
which the MiLLennium requires. The power input is reverse-polarity protected and is protected by a replaceable 2.5-amp
fuse.
Note:
The MiLLennium will suspend operation if the voltage supplied to the PowerPak II falls outside the input
range of 10 to 36 V DC.
42
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C PowerPak II
The power card is held in place by card guides located inside the mounting enclosure. It fits into the second slot from the
bottom of the enclosure. It couples to the back plane by means of a special power connector.
CIGARETTE-LIGHTER POWER ADAPTER
The cigarette-lighter power adapter included with the PowerPak II supplies +12 V DC while operating from an
automotive source. On the end of the cord which is inserted into the PowerPak II there is a retaining nut; it threads onto
the socket to keep the plug from accidentally being pulled out. A replaceable 2.5-amp fuse is built into the assembly
which is inserted into the cigarette lighter. The entire unit is shown in Figure 11.
Figure 11
Cigarette-Lighter Power Adapter
2
1
Reference Description
1
2
Cigarette lighter adapter
Retaining nut
AC TO DC POWER CONVERTER (OPTIONAL)
An optional AC to DC power converter is available for the PowerPak II, which allows you to operate the unit from an AC
outlet. The converter is autoranging to accommodate standard line voltages (110 to 220 V AC) and frequencies (50 to 60
Hz). It features a retaining nut on the connector that is inserted into the PowerPak II; when threaded onto the socket, it
prevents the plug from accidentally being pulled out. Its output voltage is compatible with PowerPak II requirements.
For replacement purposes, the NovAtel part number is GPS-APWR.
RS232C Y-TYPE NULL-MODEM CABLE
This serial data cable supplied with the PowerPak II provides a means of communications with a personal computer. As
shown in Figure 12, the cable is equipped with a 9-pin connector at the PowerPak II end which can be plugged into either
COM1 or COM2. At the computer end, both a 9-pin and a 25-pin connector are provided to accommodate most serial
(RS232C) communication ports.
Figure 12
Y-Type Null-Modem Cable
1
2
1
Reference Description
1
2
DE9S socket
DB25S socket
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C PowerPak II
COMMUNICATION PORTS
The PowerPak II provides communications from two serial ports, COM1 and COM2, see the Communication Ports
section on Page 16.
Pin-outs are the same for both serial ports. Both ports utilize standard DE9P connectors. Table 6 Serial Port Pin-Out
Description, Page 50 lists the pin-outs for each serial port configuration.
I/O PORT
The MiLLennium’s I/O strobe lines are also available on the PowerPak II front panel through a 9-pin DE9S connector.
See Appendix B, Page 33 for more details about the I/O strobes. The pin-out is in Table 7 I/O Port Pin-Out Description,
Page 50.
Note that the STATUS signal is what turns on or off the valid-position LED on the front panel.
ACCESSING THE POWER BOARD FUSE
The power board incorporates a 2-amp normal-blow fuse, located near the rear of the power board. Follow these
instructions to check or replace this fuse.
CAUTION !
•
•
•
Be sure that the power plug is disconnected from the PowerPak II before you attempt to remove the front panel.
Use the wrist strap to properly discharge static build-up before handling the printed circuit boards.
Use anti-static precautions whenever the PowerPak II is opened.
To access the power fuse, first remove the four corner screws from each of the front and back panels of the PowerPak II
enclosure. Remove the rear panel; then, through this opening, push both the MiLLennium and power card forward as far
as you can. This will expose the back plane, MiLLennium, and the power board. Now, from the other end, grasp the
exposed edges of the MiLLennium and the power card and gently pull until approximately 3/4 of both cards are extended
beyond the front panel opening. The fuse will now be fully exposed for checking or replacement. When finished, push
on the front panel until it is seated against the main enclosure; then replace the screws on the front and rear panels. See
Figure 13 Opening the PowerPak II Enclosure, Page 45 for more details.
CAUTION !
Do not pull on the front panel in order to remove the MiLLennium and power card from the PowerPak II enclosure; cable
damage will result.
44
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C PowerPak II
Figure 13
Opening the PowerPak II Enclosure
2
1
3
3
5
4
6
1
2
10
7
8
9
9
8
5
4
14
13
15
16
19
20
22
24
17
18
21
23
11
12
Reference Description
Reference Description
1
13
14
15
16
17
18
19
20
21
22
23
24
Back panel
Front panel
Remove screws
GPSCard
Back plane PCB
Ground wire with connector
Rear bumper
External oscillator cable
Panel screw (4 places)
PowerPak II (top view)
Back panel removed (rear view)
Front panel (back plane view)
GPSCard 64 pin connector P1
Second slot from top
Spacer bumper
Second slot from bottom
Antenna cable
2
3
4
5
6
Power fuse
Power card
7
8
Internal antenna cable (right-angled SMB connector)
To GPSCard
Internal oscillator cable (right-angled SMB connector)
Spade connector socket on end of ground wire
Power card connector P2
9
10
11
12
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C PowerPak II
POWERPAK II INSTALLATION
Using the PowerPak II is straightforward. A minimum configuration (Figure 14 Typical PowerPak II Installation
Configuration) is established with the following set-up:
1. Set up the GPSAntenna.
2. Route and connect the RF coaxial cable between the GPSAntenna and PowerPak II. High quality coaxial cable
should be used because a mismatch in impedance, possible with lower quality cable, produces reflections in
the cable that increases signal loss.
3. Connect a RS232C communication interface to one of the serial ports of the PowerPak II.
4. Supply power to the input power jack of the PowerPak II.
See Antenna, Page 14 for further information on installation of the GPSAntenna and coaxial cable.
Figure 14
Typical PowerPak II Installation Configuration
1
4
5
3
2
7
8
6
9
10
11
12
13
15
14
Reference Description
Reference Description
1
2
3
4
5
6
7
8
PowerPak II
9
RF antenna cable
GPSAntenna model 501
GPSAntenna model 511
GPSAntenna model 521
GPSAntenna model 531
GPSAntenna model 502
GPSAntenna model 503
GPSAntenna model 512
10
11
12
13
14
15
Cigarette lighter adapter
External oscillator cable
External oscillator
Optional AC/DC power converter
Y-type null-modem data cable
User interface
46
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C PowerPak II
CONNECTION TO AN EXTERNAL OSCILLATOR
Connect the coaxial cable from the external oscillator output port to the Ext. Osc. input port (SMB male jack) on the front
panel of the PowerPak II. See the Optional External Oscillator section on Page 17.
INSTALLING THE MILLENNIUM
If you Purchased a MiLLennium and PowerPak II separately, installing the MiLLennium is described in the steps listed
below.
CAUTION !
•
•
•
Be sure that the power plug is disconnected from the PowerPak II before you attempt to remove the front panel.
Use the wrist strap to properly discharge static build-up before handling the printed circuit boards.
Use anti-static precautions whenever the PowerPak II is opened.
To open the PowerPak II:
1. Remove the four corner screws from each of the front and back panels of the PowerPak II enclosure (refer back to
Figure 13Opening the PowerPak II Enclosure, Page 45 for more details).
2. Remove the rear panel; then, through this opening, push the power card forward as far as you can. This will expose
the back plane and the power board.
3. From the other end, grasp the exposed edges of the power board and gently pull until it comes out completely. The
front panel and back plane will be attached to it.
To attach the ground connector to the MiLLennium:
4. Find the ground wire which comes out of the backplane (refer back to Figure 13Opening the PowerPak II Enclosure,
Page 45 for more details). This wire will be connected to the MiLLennium by the end of this procedure.
5. Remove the screw from the Pin 1 end of the 64-pin connector on the MiLLennium GPSCard (see Figure 16
Installing the Ground Connector on the MiLLennium, Page 48).
6. Insert this screw through the loop in the tongue of the spade connector plug which should be plugged into the socket
on the end of the ground wire. Reinsert the screw into the 64-pin connector, so that the spade connector plug is
attached to the solder side of the MiLLennium, points towards the 64-pin connector and angles away from the card
(see Figure 16, Page 48).
7. Slide the spade connector socket of the loose end of the ground wire, onto the spade connector plug on the
MiLLennium.
8. Insert the MiLLennium into the 64-pin connector on the backplane. It should be above the power card, and have the
ground wire attached to it.
To attach the two coaxial interconnect cables:
9. The antenna RF interconnect cable is the shorter of the two coaxial cables. One end of this cable is attached to the
front panel of the PowerPak II enclosure; attach the right-angled SMB connector on the other end to the SMB male
jack (P201) on the edge of the MiLLennium (see Figure 15 Connections on the MiLLennium, Page 48 and Figure 16
Installing the Ground Connector on the MiLLennium, Page 48).
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C PowerPak II
Figure 15
Connections on the MiLLennium
2
3
Reference Description
1
2
3
SMB connector for antenna RF cable (P201)
Screw for ground connection (on back of card)
SMB connector for external oscillator (P301)
Figure 16
Installing the Ground Connector on the MiLLennium
6
5
4
1
3
2
Reference Description
Reference Description
1
2
3
4
5
6
Back of MiLLennium
SMB connector (P201)
64-pin connector
Ground wire from back plane
Spade connector socket
Screw through loop in tongue of spade connector plug
10. The external oscillator interconnect cable is the longer of the two coaxial cables. One end of this cable is attached to
the front panel of the PowerPak II enclosure; attach the right-angled SMB connector on the other end to the SMB
male jack (P301) on the component side of the MiLLennium (see Figure 15, Page 48).
To insert the MiLLennium and the power card into the enclosure:
11. Align the edges of the cards so that the MiLLennium begins to go into the second slot from the top of the enclosure,
and the power card begins to go into the second slot from the bottom of the enclosure. This will compress the rubber
spacers between the two cards.
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C PowerPak II
12. Slowly but firmly, push on the front panel until it is seated against the body of the enclosure. Replace the back panel,
and the four screws in each of the panels. Ensure that the coaxial cables are not caught between the edges of the
printed circuit boards and the rubber bumpers on the back panel.
This procedure is now complete.
POWERPAK II TECHNICAL SPECIFICATIONS
INPUT/OUTPUT CONNECTORS
Antenna input
TNC connector
4.25 - 5.25 V DC, 90 mA max
50 Ω nominal impedance
Power
2.1 mm plug, centre positive (+10 to + 36 V DC), with screw-on retaining nut
External oscillator input
SMB male jack
Frequency: 5 MHz or 10 MHz CW
Input Impedance: 50 Ω nominal
Input VSWR: 2.0:1
Signal Level: 0.0 dBm minimum, 13.0 dBm maximum
Freq. stability: ±0.5 ppm maximum
COM1, COM2
Strobes
DE9P connector
DE9S connector
PHYSICAL
210 x 111 x 47 mm
Size
Weight
980 g (including MiLLennium card)
ENVIRONMENTAL
Operating Temperature
Storage Temperature
Humidity
-40° C to +60° C
-40°C to +85°C
Not to exceed 90% non-condensing
Not to exceed 5000 meters above sea level
Altitude
DIMENSIONS
111 mm
210 mm
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C PowerPak II
PORT PIN-OUTS
Table 6
Serial Port Pin-Out Description
Connector Pin No.
RS232C Signal
DCD
Signal Description
1
2
3
4
5
6
7
8
9
Data Carrier Detected
Received Data
RXD
TXD
Transmitted Data
Data Terminal Ready
Digital Ground
DTR
GND
DSR
Data Set Ready
Request to Send
Clear to Send
RTS
CTS
Not connected
Table 7
I/O Port Pin-Out Description
Connector Pin No.
Signal Name
Signal Description
User-selectable frequency
One pulse per second
Measure output
1
2
3
4
5
6
7
8
9
VARF
PPS
MSR
MKI
Mark input
STATUS
GND
Valid GPS solution available
Digital ground
GND
Digital ground
GND
Digital ground
GND
Digital ground
CABLES
CIGARETTE LIGHTER ADAPTER CABLE
2
3
6
7
4
5
1
8 9
Reference Description
1
2
3
4
5
6
7
8
9
Universal tip
2.5-amp slow blow fuse
Spring
Positive line
Negative line (has text printed on it)
Shrinkable tubing
Positive
Negative
Retaining nut
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C PowerPak II
Y-TYPE NULL-MODEM CABLE
S5
S1
S13
S1
S25
28
S14
S9
S6
26
S5
S1
S9
S6
27
Wiring Table:
CONNECTOR
PIN NUMBER
From DB25S (28)
To DE9S (26)
To DE9S (27)
2
3
3
2
4
8
7
5
7
8
6 & 8
7
5
5
20
2
3
4
1 & 6
4
1 & 6
Reference Description
26
27
28
DE9S (Female)
DE9S (Female)
DB25S (Female)
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D ProPak II
D
PROPAK II
D PROPAK II
ENCLOSURE, CONNECTORS AND INDICATORS
The ProPak II mounting enclosure provides a more protective environment for the MiLLennium than the PowerPak II.
The mounting enclosure houses the internal power card, interconnect back plane, and front panel connections for COM1,
COM2, strobes, GPSAntenna, external oscillator, and power input. With shock resistant design and environmentally
sealed end-caps and connectors, the ProPak II is designed with harsh environments in mind. This makes it suitable for
avionics, naval, and other applications where the PowerPak II does not provide sufficient protection.
The ProPak II features front and rear end-caps (Figures 17 & 18), each with appropriate indicator lights and connectors.
The front end-cap indicator glows red when power is on, and changes to green when a valid position is computed.
Figure 17
ProPak II Front End-Cap
1
ProPa k II
Reference Description
Power/position validity indicator
1
On the rear end-cap there are connections for the I/O strobe signals, COM1 & COM2 serial ports, power input, and RF
input from the GPSAntenna. There is an LED above each serial port connector. If an LED glows red, data is being
received by the ProPak II on that port, while if an LED glows green, data is being transmitted by the ProPak II on that
port.
Figure 18
ProPak II Rear End-Cap
1
COM Port Indicator1
Status
Receiving
Red
Green
Yellow
Transmitting
Both of the above
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D ProPak II
INPUT POWER CABLES
As shown in Figure 19 Power Cables, Page 53 there may be up to three power cables supplied with the ProPak II:
4-pin LEMO plug connector to cigarette-lighter plug with built-in 3-amp fuse (NovAtel part number 01016446)
•
Optional Accessories
•
•
4-pin LEMO plug connector to autoranging AC/DC converter, and AC power cord (NovAtel part number GPS-
APRO)
4-pin LEMO plug connector to 4-pin LEMO plug connector (NovAtel part number 01016724 [33.5 cm] or
01016725 [75 cm])
These cables allow you to power the ProPak II from either an automotive DC source, an AC source or an optional battery
(NovAtel part number 01016698).
Figure 19
Power Cables
7
7
7
10
4 (-)
6
11
1 (-)
2 (+)
3 (+)
1
2
3
4
9
-
12
+
+
-
13
5
7
8
14
Reference Description
Reference Description
1
2
3
4
5
6
7
8
9
Brown (GND)
Optional battery power cable
Automotive cigarette-lighter adapter
with 3-amp slow-blow fuse
Auto-ranging AC/DC converter
AC socket
10
Orange (+10.7 to +32 V DC)
Red (+10.7 to +32 V DC)
Black (GND)
4 conductor cable
Red marker at top of connector
Female LEMO plug
11
12
13
14
AC plug
Optional Battery
Male LEMO socket
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D ProPak II
SERIAL DATA CABLES
Two serial data cables are supplied to connect the ProPak II to a PC or modem. They are described as follows:
•
•
straight cable: 10-pin LEMO plug to 9-pin D-connector (DE9P plug); Appendix B contains wiring and pin-out
information on this cable. This is used to connect the ProPak II to a modem or radio transmitter to propagate
differential corrections. Its NovAtel part number is 01016383.
null-modem cable: 10-pin LEMO plug to 9-pin D-connector (DE9S socket); Appendix B contains wiring and pin-out
information on this cable. This is used to connect the ProPak II to a serial (RS232C) communication port on a
terminal or computer. Its NovAtel part number is 01016329.
The 10-pin plug on each cable can be plugged into either the COM1 or COM2 port on the ProPak II.
For field replacement of the LEMO connector, please consult Appendix G, REPLACEMENT PA, for a list of the
manufacturers’ part numbers.
I/O STROBE PORT CABLE
The I/O strobe lines can be accessed by inserting the 8 pin LEMO connector of the I/O strobe port cable (NovAtel part
number 01016330) into the I/O port. Appendix B contains wiring and pin-out information on this cable. The other end of
the cable is provided without a connector so that you can provide an application-specific one; the jacket insulation is cut
away slightly from the end but the insulation on each wire is intact. The Input/Output Strobes section of Appendix B,
MILLENNIUM TECHNICAL ,
ProPak II, Page 57 contains descriptions of each of the I/O strobes, along with their electrical specifications.
For field replacement of the LEMO connector, please consult Appendix E, REPLACEMENT PA, for a list of the
manufacturers’ part numbers.
Note that the STATUS line is used to toggle the valid-position LED on the front end-cap between red (power on) and
green (valid position).
PROPAK II INSTALLATION
Installing the ProPak II is a straightforward process. As shown in Figure 20, Page 55 a minimum configuration is
established with the following set-up:
•
•
•
Set up the GPSAntenna.
Route and connect coaxial cable between the GPSAntenna and ProPak II.
Connect an RS232C communication interface to one of the serial ports of the ProPak II. The supplied null
modem cables are intended for RS232C communications only.
•
Connect the output of the optional power converter to the input power jack of the ProPak II.
54
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D ProPak II
Figure 20
ProPak II Installation Configuration Possibilities
Note:
The autoranging AC/DC converter and AC power cord do not come with the ProPak II but are optional
accessories.
1
5
4
7
6
10
9
8
3
2
12
13
18
14
15
16
17
11
19
Reference Description
Reference Description
1
Back of ProPak II
13
Female LEMO plug
2
3
RF antenna cable
14
Null-modem serial data cable (female connector
attaches to user-supplied operator interface)
Straight serial data cable (male connector attaches
to user-supplied modem or radio transmitter)
I/O strobe cable
RF antenna connector
GPSAntenna model 501, 511,
521, 531 (L1-only)
GPSAntenna model 502, 503,
512(L1/L2)
4, 5, 6, 7
15
8, 9, 10
16
17
18
19
Automotive cigarette-lighter adapter
Auto ranging AC/DC converter
11
12
13
DB9 connector
Male LEMO socket
Female LEMO plug
Operator interface
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D ProPak II
Figure 21
Typical Operational Configuration
5
4
8
1
11
9
2
6
10
3
7
Reference Description
Reference Description
1
2
3
4
5
6
7
ProPak II enclosure
MiLLennium GPSCard
Power converter
NovAtel GPSAntenna
Command source or reference station
Data logger or remote station
External power source
COM1
COM2
+10 to +36 V DC
GPS signal
8
9
10
11
CABLE CONNECTION CONSIDERATIONS
The connectors that are used to mate the cables to the ProPak II have a locking mechanism that requires careful insertion
and removal. Observe the following when handling the cables.
•
To insert a cable, make certain you are using the appropriate cable for the port – the COM1/COM2 serial port
cable has a different connector (10 pin) than the I/O cable (8 pin).
•
•
•
Line up the red dot on the connector shell with the red index mark on the receptacle on the ProPak II.
Insert the connector until it seats with a click; it is now locked in place.
To remove a cable, grasp the connector by the knurled ring and pull (see Figure 22). DO NOT PULL
DIRECTLY ON THE CABLE.
Figure 22
Removal of Connectors
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D ProPak II
ANTENNA AND ANTENNA CABLE
Please see the Antenna section on Page 14.
POWER SUPPLY CONSIDERATIONS
The ProPak II incorporates a DC-to-DC power converter providing filtering, automatic reset circuit protection, and
voltage regulation. It accepts a single input voltage between the range of +10 to +36 V DC, which can be supplied either
from an automotive DC source or by the optional autoranging AC/DC converter which operates over a range of 110 - 220
V AC and 50 - 60 Hz. The power input is reverse-polarity protected.
Note: The ProPak II will suspend operation if the voltage supplied to it falls outside the input range of 10 to 36 V DC.
MOUNTING CONSIDERATIONS
A mounting kit has been provided to facilitate mounting the ProPak II to a surface, please see Optional Mounting
Bracket, Page 58.
PROPAK II TECHNICAL SPECIFICATIONS
PHYSICAL
Size:
251 mm x 130 mm x 62 mm
1.3 kg
Weight:
ENVIRONMENTAL
Operating Temperature
Storage Temperature
Resistance Characteristics
Humidity
-40° C to +55° C
-40°C to +85°C
Dust tight, water tight
5% to 95% RH (non-condensing) at +40°C
Altitude
Sea level to 5,000 m [may operate above 5,000 m in a controlled environment,
however is not certified as such.]
POWER REQUIREMENTS
+10 to +36 V DC
Voltage
Power
12 W (typical)
RF INPUT / LNA POWER OUTPUT
Connector on ProPak II
TNC female
RF Input
1575.42 MHz, 1227.60 MHz
Power Output to LNA
4.25 - 5.25 V DC @ 0 - 90 mA. Note: if the antenna draws current above this
limit, power to the antenna will be disabled and the antenna self-test status flag
will be set to zero. Refer to the RVSA log in the MiLLennium Command
Descriptions Manual for more information.
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D ProPak II
OPTIONAL MOUNTING BRACKET
The mounting kit includes the following materials:
•
•
•
•
four self-tapping screws (#10-16 x ½″ LG)
two wood screws (#10 x ¾″ LG)
four flat screws (M3 x 8, 90° countersink)
aluminum mounting plate (see Figure 24 for exact dimensions)
First, the mounting plate needs to be attached to the ProPak II enclosure. As shown in Figure 23, there are two channels
running the length of the bottom of the ProPak II enclosure. In each of these channels there are two rectangular nuts, held
in place by grub screws. These four nuts are factory-positioned so that the mounting plate can be attached to the ProPak
II enclosure using the four flat screws. Please ensure that the four flat screws are mounted from the countersunk side of
the mounting plate.
Once the plate has been attached to the ProPak II enclosure, the entire assembly can then be mounted onto a surface using
either the four self-tapping screws through the screw-mount holes, or the two wood screws through the quick-mount
holes.
Note:
This mounting kit is not designed for use in high-dynamics or high-vibration environments. Contact NovAtel
Customer Service if your application requires the ProPak II to be mounted in these types of environments.
Figure 23
Mounting Bracket
1
2
3
5
6
7
4
9
8
Reference Description
Reference Description
1
2
3
4
5
6
Thread for flat screw
Rectangular nut
Grub screw
Holes to mount plate to enclosure using
flat screw
Holes to mount assembly to a surface
using self-tapping screws
Back of receiver enclosure
Front of mounting plate
7
Channel
8
9
Quick-mount holes to mount assembly
to surface using wood screws
58
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D ProPak II
Figure 24
Mounting Bracket Drill Holes – Dimensions
4 x 5 DIA.
THROUGH
4 x 3.1 DIA.
RAD 6.0
6.0 x 90 DEG.C'SINK
2 PLACES
FARSIDE
148.2
155.2
158.2
176.4
7.5
9.0
28.2
18.2
12.2
21.4
80.0
138.6
152.5
160.0
NOTE:
All dimensions in millimeters
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D ProPak II
PROPAK II PORT AND CABLE PIN-OUTS
STRAIGHT SERIAL PORT CABLE
11
1
5
9
8
5
1
7
6
2
3
4
10
6
9
12
13
1
1
2
2
3
4
5
6
7
8
9
3
4
5
6
7
8
9
10
14
.
Table 8
Straight Cable Pin Configurations
LEMO Pin No.
Pin 1
RS232C Signal
Wire Color Code
Brown
DE9P Pin No.
Pin 1
DCD
RXD
TXD
DTR
GND
DSR
RTS
CTS
NULL
Pin 2
Black
Pin 2
Pin 3
Red
Pin 3
Pin 4
Orange
Yellow
Pin 4
Pin 5
Pin 5
Pin 6
Green
Pin 6
Pin 7
Blue
Pin 7
Pin 8
Violet
Pin 8
Pin 9
Gray
Pin 9
Pin 10
White (Not used)
Reference Description
11
12
13
14
Red marker at top of connector
LEMO 10-pin plug (male)
DE9P (male)
10-conductor wire
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D ProPak II
NULL MODEM SERIAL PORT CABLE
11
S5
S1
9
8
5
1
4
7
6
2
3
10
S9
S6
12
13
1
6
1
2
2
3
4
5
3
4
5
6
7
7
8
9
8
9
10
14
Table 9
Null Modem Cable Pin Configurations
LEMO Pin No.
Pin 1
RS232C Signal
Wire Color Code
Brown
DE9S Pin No.
Pin 4
DCD
RXD
TXD
DTR
GND
DSR
RTS
CTS
NULL
Pin 2
Black
Pin 3
Pin 3
Red
Pin 2
Pin 4
Orange
Yellow
Pin 6
Pin 5
Pin 5
Pin 6
Green
Pin 4
Pin 7
Blue
Pin 8
Pin 8
Violet
Pin 7
Pin 9
Gray
Pin 9
Pin 10
White (Not used)
Pin 1 jumpered to Pin 6
Reference Description
11
12
13
14
Red marker at top of connector
LEMO 10-pin plug (male)
DE9P (male)
10-conductor wire
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D ProPak II
I/O PORT CABLE
9
8
1
7
2
6
3
5
4
10
1
2
3
4
5
6
7
8
11
Table 10
I/O Port Pin-Out Description
LEMO Pin
Number
Pin Description
Wire Color Code
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
VARF, variable-frequency
1PPS, one pulse per second
MSR, measure output
MKI, mark input
Brown
Black
Red
Orange
Yellow
Green
Blue
STATUS , valid solutions available
GND
GND
GND
White
Reference Description
9
Red marker at top of connector
10
11
LEMO 8-pin plug (female)
8-conductor wire
62
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D ProPak II
STRAIGHT POWER CABLE
5
4 (-)
1 (-)
2 (+)
3 (+)
1
-
4
3
2
-
+
+
6
7
8
Reference Description
Reference Description
1
2
3
4
5
6
7
8
Brown - GND
Red marker at top of connector
Spring
Universal tip
Orange + +10 to +36 V DC
Red + +10 to +36 V DC
Black - GND
3-amp slow-blow fuse
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D ProPak II
OPTIONAL AUTO-RANGING AC/DC CONVERTER AND POWER CORD
4 (-)
2 (+)
1 (-)
9
3 (+)
5
6
7
8
Signal
LEMO Pin Number
Color Code
Black
1
2
3
4
Negative
Positive
Positive
Negative
White
Red
Green
Reference Description
5
6
7
8
9
Female LEMO plug
Auto-ranging AC/DC converter
AC socket
AC plug
Red marker at top of connector
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E Edge-View Of Connector P1
E
EDGE-VIEW OF CONNECTOR P1
E EDGE-VIEW OF CONNECTOR P1
33
B
A
■
1
2
3
4
5
6
7
8
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
■
34
35
36
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
37
38
39
40
41
42
43
Pin Number
1A, 1B, 4A, 7A,15A, 21A-32A
Description
Pin Number
19A
19B
Description
DCD2
DSR2
GND
Vcc
2A, 2B
3A, 5B-8B, 12A, 12B-16B, 20A, 20B
N/C
21B
VARF
3B
4B
Reserved for future use
External LNA Power
22B
23B
24B
PPS
Measure Out
Mark In
5A, 6A, 13A, 14A, 26B, 27B, 30B-32B Factory Use
8A
9A
9B
DTR 1
TXD1
CTS1
RXD1
RTS1
DCD1
DSR1
DTR2
TXD2
CTS2
RXD2
RTS2
25B
28B
29B
33
Status
Reset In
Reset Out
Component Side of GPSCard
Power
Factory Use
COM1 (RS-232C)
COM2 (RS-232C)
Strobes
10A
10B
11A
11B
16A
17A
17B
18A
18B
34
35, 37, 40, 42
36
38
39
41
43
Control
Keying Tab
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F Some Common Unit Conversions
F
SOME COMMON UNIT CONVERSIONS
F SOME COMMON UNIT CONVERSIONS
Listed below are several commonly used equivalents between the SI (Système Internationale) units of weights and
measures used in the metric system, and those used in the imperial system.
Distance
1 metre (m) = 100 centimetres (cm) = 1000 millimetres (mm)
1 kilometre (km) = 1000 metres (m)
1 international foot = 0.3048 metre
1 US survey foot = 0.3048006096 metre
1 statute mile = 1609.3 metres
1 nautical mile = 1852 metres
Temperature
degrees Celsius = (5/9) x [(degrees Fahrenheit) – 32]
degrees Fahrenheit = [(9/5) x (degrees Celsius)] + 32
Volume
1 litre (l) = 1000 cubic centimetres (cc)
1 gallon (Imperial) = 4.546 litres
1 gallon (US) = 3.785 litres
Weight
1 kilogram (kg) = 1000 grams
1 pound = 0.4536 kilogram (kg)
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G Replacement Parts
G
REPLACEMENT PARTS
G REPLACEMENT PARTS
The following is a list of the replacement parts and accessories available for the MiLLennium and its enclosures. Should
you require assistance or need to order additional components, please contact your local NovAtel dealer.
Part Description
NovAtel Part Number
01016330
ProPak II :
I/O strobes cable (Figure 20, Page 55)
Straight serial data cable (Figure 20, Page 55)
Null-modem serial data cable (Figure 20, Page 55)
01016383
01016329
Power cable assembly (Figure 20, Page 55) : LEMO 4-
pin plug to cigarette-lighter plug
01016331
Optional power cable assembly (Figure 19, Page 53):
LEMO 4-pin plug to LEMO 4-pin plug
33.5 cm
01016724
01016725
75.0 cm
Optional power cable assembly (Figure 19, Page 53):
AC/DC converter to LEMO 4-pin plug, c/w AC power
cord
GPS-APRO
Optional Battery Assembly (Figure 19, Page 53)
Optional Battery Charger
01016698
GPS-ACDL
70015024
60715062
01014989
GPS-APWR
OM-20000048
GPS-501
Optional Mounting Bracket (ProPak II, see Page 58)
PowerPak II (Figure 14, Page 46): Y-type null modem cable
Cigarette lighter power adapter
Optional AC/DC power converter
Other:
MiLLennium Command Descriptions Manual
Optional Model 501 L1-only antenna
Optional Model 511 L1-only antenna
Optional Model 521 L1-only antenna
Optional Model 531 L1-only antenna
Optional Model 502 L1/L2 antenna
Optional Model 503 L1/L2 antenna
Optional Model 512 L1/L2 antenna
Optional 22cm interconnect adapter cable (SMB
female/TNC bulkhead – female)
GPS-511
GPS-521
GPS-531
GPS-502
GPS-503
GPS-512
GPS-C001
Optional 5m coaxial antenna cable (Model C005)(TNC
male/TNC male)
GPS-C005
GPS-C015
GPS-C030
Optional 15m coaxial antenna cable (Model C015)(TNC
male/TNC male)
Optional 30m coaxial antenna cable (Model C030)(TNC
male/TNC male)
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H Index
H
INDEX
H INDEX
channels · 58
choke-ring ground plane · 9, 14
circuit board · 9, 10, 19, 20, 31, 32, 42, 44, 47, 49
clock · 10, 13, 17, 18, 23, 35, 40
1
coaxial cable · 11, 12, 14, 15, 16, 17, 18, 19, 42, 46, 47, 48,
49, 54
cold start · 36, 37, 38
1PPS · 39, 62
1PPS Output · 40
COM port · 20, 25
COM1 · 18, 22, 26, 27, 30, 42, 43, 44, 49, 52, 65
COM2 · 18, 22, 26, 42, 43, 44, 49, 52, 54, 65
commands · 8, 16, 17, 22, 23, 24, 25, 26, 27, 28, 29, 30, 39
communication · 7, 8, 9, 11, 12, 16, 19, 20, 22, 23, 24, 25, 26,
27, 28, 30, 43, 44, 46, 54
2
2 DRMS · 36, 38
communications protocol · 22
COMn · 17
A
configuration · 9, 13, 14, 15, 16, 17, 18, 19, 20, 21, 23, 26,
30, 35, 44, 46, 54, 55, 56, 60, 61
configure · 16, 24, 30
connector · 9, 10, 11, 12, 16, 17, 18, 19, 20, 22, 31, 33, 35,
42, 43, 44, 45, 47, 48, 49, 52, 53, 54, 55, 56, 57
converter · 11, 12, 15, 16, 42, 43, 53, 54, 55, 57, 67
CPU · 9
AC · 11, 12, 43, 46, 53, 55, 57, 64, 67
AC/DC · 12, 46, 53, 55, 57, 64, 67
accessories · 9, 11, 12, 14, 27, 55, 67
accuracy · 36, 37, 38
acquisition · 9
active antenna · 8, 11, 12, 14, 16, 21
adjusts · 24
current-limiting · 15
customer service · 5, 6, 8, 15, 25, 28, 29, 35, 58
AGC · 13, 15
ambiguity · 9
analog · 16
angle · 45, 47
D
antenna · 9, 11, 13, 14, 15, 16, 18, 21, 22, 26, 40, 45, 46, 47,
48, 49, 55, 57
data · 7, 9, 13, 16, 18, 22, 24, 25, 26, 27, 30, 35, 39, 46, 52
DC · 9, 11, 14, 15, 16, 18, 21, 42, 43, 49, 53, 57, 65
dce · 9, 25
default · 16, 17, 21, 24, 26, 30, 39
DGPS · 9
antenna cable · 15, 22, 45
anti-static · 17, 19, 31, 44, 47
area · 7, 9, 31, 32
ASCII · 29
atmospheric errors · 9
differential corrections · 54
differential positioning · 9, 16
digital · 7, 9, 13, 15, 16, 21, 40, 41, 50
direction · 16
B
distance · 66
distributor · 8, 28
DOS · 25, 26, 27, 29, 30
DSP · 15
dual-frequency · 8, 9, 11, 12
dynamics · 9, 36, 37, 38
back plane · 11, 42, 43, 44, 45, 47, 52
baselines · 9
battery · 53, 67
Baud · 24
Baud rates · 39
bits per second (bps) · 16, 24, 30, 39
buffers · 24
E
C
electromagnetic · 14, 20, 31
electrostatic discharge (ESD) · 7, 11, 31
enclosure · 7, 8, 9, 10, 11, 12, 17, 19, 20, 35, 42, 43, 44, 47,
48, 49, 52, 58
C/A code · 9, 16, 36, 37, 38
C/No · 35
cable loss · 14, 15
end-cap · 52, 54
card guides · 11, 43
equipment · 7, 8, 9, 11, 19, 20, 25, 31, 32
equipment configuration · 19
errors · 14, 16, 24, 25, 26
carrier phase · 9, 16, 22, 36, 37, 38, 40, 50
channel · 16, 26, 36, 37, 38
channel tracking · 26
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H Index
ESD · 5, 7, 11, 20, 31, 32
extended cable lengths · 15, 22
L
external oscillator · 8, 11, 13, 17, 19, 42, 47, 48, 52
L1 · 9, 10, 13, 14, 16, 34, 37, 38
L1/L2 · 10, 13, 14, 34, 38
L2 · 9, 16, 37, 38
F
LED · 44, 52, 54
license · 2
line loss · 14, 15
LNA · 14, 16, 65
logs · 8, 16, 21, 23, 24, 25, 26, 27, 39, 57
loop · 16, 47, 48
factory · 40, 41, 65
falling edge · 16, 39, 41
filter · 15, 16
filtering · 14, 42, 57
fixed · 26
loop control · 16
low noise amplifier (LNA) · 13, 14, 15, 18, 21, 35, 40, 57, 65
frequency · 17, 50
G
M
GPSAntenna · 2, 5, 9, 11, 12, 13, 14, 15, 19, 21, 22, 40, 42,
46, 52, 54, 55
GPSCard · 1, 2, 5, 7, 8, 9, 11, 13, 17, 20, 23, 35, 45, 47, 65
GPSolution · 2, 11, 12, 24, 25, 26, 28
ground plane · 9, 14
magnetic variation · 27
mark · 39
Mark Input · 39, 41
mark input (MKI) · 22, 39, 41, 50, 62
measure output (MSR) · 22, 39, 40, 50, 62
microstrip · 14
ground wire · 11, 42, 47
modem · 23, 54, 55, 67
mounting · 9, 11, 12, 18, 19, 20, 35, 42, 43, 52, 57, 58
multipath · 14
H
harness · 19, 20
height · 26
help · 11, 26
humidity · 31
N
Narrow Correlator tracking technology · 9, 10
navigation · 9, 16, 27
NMEA · 39
I
notice · 2, 7
null-modem · 12, 54
I/O · 7, 9, 10, 12, 16, 22, 40, 44, 50, 52, 54, 55, 56, 62, 67
impedance · 14, 15, 18, 46, 49
indicators · 42, 52
input · 11, 15, 16, 17, 18, 20, 21, 25, 26, 28, 35, 39, 41, 42,
46, 49, 50, 52, 54, 57, 62
install · 11, 18, 32
installation · 8, 14, 19, 23, 46
integrate · 8
O
obstructions · 14
OEM · 8, 9
offset · 27
operation · 1, 2, 7, 8, 9, 11, 13, 15, 16, 17, 21, 23, 28
oscillator · 17, 45, 46, 49
Out · 40
output · 9, 11, 13, 16, 17, 18, 20, 22, 25, 27, 35, 39, 40, 41,
42, 43, 47, 49, 50, 54, 57, 62
integration · 9, 18
interference · 7, 14, 15, 16, 19
intermediate frequency (IF) · 5, 15, 16
J
P
jumper · 15, 16, 18, 21, 22, 35, 40
P-code · 9, 37, 38
personal computer (PC) · 11, 23, 24, 26, 27, 29, 30, 43, 54
phase-center · 14
K
plug · 12, 21, 22, 35, 40, 43, 44, 47, 49, 53, 54, 60, 61, 62, 67
port · 7, 11, 12, 16, 17, 22, 23, 24, 25, 26, 27, 28, 44, 47, 52,
54, 56
kinematic · 14
ports · 7, 8, 11, 12, 16, 17, 20, 22, 43, 44
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H Index
position · 9, 14, 16, 18, 21, 22, 26, 35, 36, 37, 38, 39, 41, 42,
socket · 43, 45, 47, 54
52, 54
position solution · 39
power · 8, 9, 10, 11, 12, 13, 14, 15, 16, 18, 19, 20, 21, 22, 23,
solution · 16, 26, 39, 41, 50, 62
specifications · 14, 15, 19, 21, 22, 39, 54
speed · 16
30, 35, 40, 42, 43, 44, 46, 47, 48, 49, 52, 53, 54, 55, 56,
stability · 14, 35, 49
57, 67
static · 7, 19, 31, 44, 47
POWER · 35
power supply · 13, 18, 19, 20, 40
PowerPak II · 7, 8, 9, 11, 17, 35, 42, 43, 44, 45, 46, 47, 48,
status · 5, 16, 21, 22, 24, 25, 26, 57
strobe · 7, 11, 12, 16, 22, 39, 44, 52, 54, 55, 56
support · 6, 16, 29, 30, 72
49, 52, 67
precision · 9, 17, 26
ProPak II · 7, 8, 10, 11, 12, 17, 35, 52, 53, 54, 55, 56, 57, 58,
60, 67
T
temperature · 11, 32, 42
time · 2, 5, 16, 19, 23, 26, 30, 32, 36, 37, 38, 39
timing strobe · 16, 18, 20
timing strobes · 20
R
radio · 7, 54, 55
track · 35
radio frequency (RF) · 7, 9, 13, 14, 15, 16, 18, 20, 35, 46, 47,
48, 52, 55, 57
tracking · 9, 26, 35
transfer · 28, 30
re-acquisition · 9, 10
rear panel · 44, 47
receiver · 8, 9, 11, 14, 18, 22, 23, 24, 25, 26, 27, 28, 39, 58
receiving · 9
U
reference · 8, 9, 16, 17, 18, 23, 39, 40, 41, 56
reference station · 9
remote station · 16
updating · 28, 29
upgrading · 9, 20, 28, 29
remote terminal · 24, 26, 27
repair · 5, 8, 31, 32
replacement · 31, 32, 43, 44, 54, 67
reset · 26, 39, 41, 57
reverse-polarity · 8, 15, 42, 57
root-mean-square (RMS) · 36, 37, 38
routed · 16, 46, 54
RS232 · 22, 24, 39
RS232C connector · 11, 16, 22, 24, 39, 43, 46, 50, 54, 60, 61
RS422 · 39
RT-2 · 2, 10, 28, 37
RT-20 · 2, 10, 37
V
VARF · 39
VARF Output · 40
variable-frequency (VARF) · 16, 22, 39, 40, 50, 62, 65
velocity · 36, 37, 38
vibration · 11, 19, 20, 35, 42
voltage · 21, 22, 31, 35, 42, 43, 57
voltage-controlled temperature-compensated crystal oscillator
(VCTCXO) · 17
RTCA · 35, 36, 38
RTCM · 36, 38
W
waiting · 25
warning · 7
S
warranty · 5
water-resistant · 12
Windows · 27
satellite · 9, 14, 16, 26, 35
sealed · 12, 14, 42
self-test · 16, 21, 22, 25, 57
serial data cable · 12, 43, 54, 55, 67
wire harness · 19, 20, 21, 22
serial number · 28
serial port · 10, 16, 17, 23, 24, 27, 28, 29, 30, 44, 46, 52, 54,
56
Y
signal · 8, 9, 11, 13, 14, 15, 16, 18, 19, 20, 22, 39, 41, 44, 46,
52
signal loss · 14, 15, 18, 46
single-point · 9
Y-code · 9
Y-type null-modem cable · 11, 46
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NovAtel Inc.
1120 - 68 Avenue NE
Recyclable
Calgary, Alberta, Canada T2E 8S5
GPS Hotline: 1-800-NOVATEL (Canada & U.S. only)
Phone: 1 403 295 4900
Fax: 1 403 295 4901
Printed in Canada
on recycled paper
OM-20000016
Rev 3
07/27/99
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