Novatel Blood Glucose Meter OM AD 0020 User Manual

Software Versions 4.52s3 (GPS/GEO) and 6.48s16 (GPS/GLONASS)

OM-AD-0020 Rev 1

Test Bed Receiver

Addendum

to the

MiLLennium

Command Descriptions Manual

NovAtel Inc.

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Table of Contents

TABLE OF CONTENTS

Foreword........................................................................................................................... vii

Scope........................................................................................................................................................................vii

Prerequisites .............................................................................................................................................................vii

Introduction ................................................................................................................ 8

The NovAtel Test Bed Receiver.................................................................................................................................8

Operational Overview .........................................................................................................................................9

GEO Processing...............................................................................................................................................9

Single Frequency GPS GLONASS................................................................................................................10

Dual Frequency GPS GEO ............................................................................................................................10

Other Outputs & Inputs .................................................................................................................................10

Installation of Test Bed Receiver............................................................................ 11

Minimum Configuration...........................................................................................................................................11

Internal and External Oscillators..............................................................................................................................12

Connecting the External Frequency Reference.........................................................................................................13

Connecting Data Communications Equipment.........................................................................................................14

Connecting the GPS Antenna...................................................................................................................................14

Connecting the External Power Input.......................................................................................................................15

Using the 10 MHz Output Signal .............................................................................................................................15

Accessing the Strobe Signals....................................................................................................................................16

Operation .................................................................................................................. 17

Pre-Start Check List .................................................................................................................................................17

Serial Ports - Default Settings ...........................................................................................................................17

Start-Up.............................................................................................................................................................17

Initial Communications with the Test Bed Receiver ................................................................................................18

Update or Upgrade Your GPSCard ......................................................................... 19

Upgrading Using the $AUTH Command.................................................................................................................19

Updating Using the LOADER Utility ......................................................................................................................20

Transferring Firmware Files..............................................................................................................................20

Using the LOADER Utility...............................................................................................................................21

APPENDICES

WAAS Overview ....................................................................................................... 22

GLONASS Overview................................................................................................. 23

GLONASS System Design.......................................................................................................................................24

The Space Segment...........................................................................................................................................24

The Control Segment ........................................................................................................................................25

The User Segment.............................................................................................................................................25

Time..................................................................................................................................................................26

GLONASS Time vs. Local Receiver Time ...................................................................................................26

Test Bed Receiver Subsystem Addendum – Rev 1

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Table of Contents

Datum ............................................................................................................................................................26

MiLLennium-GLONASS GPSCard System .....................................................................................................27

GPS/GLONASS Antenna..................................................................................................................................28

Radio Frequency (RF) Section ..........................................................................................................................28

Digital Electronics Section................................................................................................................................28

WAAS Commands and Logs ...................................................................................30

Commands................................................................................................................................................................30

CONFIG............................................................................................................................................................30

IONOMODEL...................................................................................................................................................31

WAASCORRECTION......................................................................................................................................32

Logs..........................................................................................................................................................................33

RCCA Receiver Configuration......................................................................................................................33

GLONASS Commands and Logs.............................................................................34

GLONASS-Specific Commands ..............................................................................................................................34

DGLOTIMEOUT..............................................................................................................................................34

PZ90TOWGS84................................................................................................................................................35

GLONASS-Specific Logs ........................................................................................................................................36

CALA/B CALIBRATION INFORMATION....................................................................................................36

GALA/B ALMANAC INFORMATION..........................................................................................................39

GCLA/B CLOCK INFORMATION.................................................................................................................41

GEPA/B EPHEMERIS INFORMATION.........................................................................................................43

Other NovAtel Logs .................................................................................................................................................47

RCCA Receiver Configuration......................................................................................................................47

Test Bed Receiver - Technical Specifications........................................................48

INDEX.................................................................................................................................51

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Table of Contents

FIGURES

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Figure 12

Figure 13

Figure 14

The NovAtel Test Bed Receiver......................................................................................................................8

Test Bed Receiver Functional Block Diagram.................................................................................................9

Test Bed Minimum System Configuration ....................................................................................................11

Rear Panel of Test Bed Receiver...................................................................................................................12

10 MHz In (External Frequency Reference) - Test Bed ................................................................................13

Lights on Front Panel of Test Bed Receiver..................................................................................................13

Pinout for GPS GLONASS and GPS GEO Ports - Test Bed.........................................................................14

Antenna Inputs - Test Bed .............................................................................................................................14

External Power Connections - Test Bed ........................................................................................................15

10 MHz Output – Test Bed............................................................................................................................15

Strobe 9-pin D-Connector Pinout - Test Bed.................................................................................................16

Main Screen of LOADER Program...............................................................................................................21

The WAAS Concept......................................................................................................................................22

View of GLONASS Satellite Orbit Arrangement..........................................................................................25

TABLES

Table 1Positioning Modes of Operation .............................................................................................................................23

Table 2Time Status .............................................................................................................................................................42

Table 3GLONASS Ephemeris Flags Coding......................................................................................................................46

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Foreword

FOREWORD

SCOPE

The Test Bed Receiver Subsystem Addendum is written for users of the Test Bed Receiver Subsystem and contains

information specific to the TESTBEDW and TESTBEDGLO software models.

This manual describes the NovAtel Test Bed Receiver Subsystem in sufficient detail to allow effective integration and

operation. The manual is organized into sections, which allow easy access to appropriate information.

It is beyond the scope of this manual to provide service or repair details. Please contact your NovAtel Service Center for

any customer service inquiries.

PREREQUISITES

The Test Bed Receiver is a stand-alone fully functional GPS and Test Bed Receiver. Refer to Chapter 2, Installation of

Test Bed Receiver for more information on installation requirements and considerations.

The NovAtel Test Bed Receiver module utilizes a comprehensive user interface command structure, which requires

communications through its serial (COM) ports. To utilize the built-in command structure to its fullest potential, it is

recommended that some time be taken to review and become familiar with commands and logs in the MiLLennium

Command Descriptions Manual before operating the Test Bed Receiver.

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1 - Introduction

INTRODUCTION

The Test Bed Receiver is based on a Wide Area Augmentation System receiver (NovAtel WAAS). See Appendix A,

Page 22 for an overview of the WAAS system.

THE NOVATEL TEST BED RECEIVER

Figure 1

The NovAtel Test Bed Receiver

The Test Bed Receiver consists of two NovAtel Millennium receivers packaged along with associated support circuitry in

a NovAtel WAAS Receiver style enclosure (a 4U high 19” sub rack). The first Millennium receiver (GPS GEO) tracks

12 GPS L1/L2 satellites with narrow correlator spacing, or 10 GPS L1/L2 satellites with narrow correlator spacing and 1

WAAS satellite with wide correlator spacing or 8 GPS L1/L2 satellites with narrow correlator spacing and 2 WAAS

satellites with wide correlator spacing. The second Millennium receiver (GPS GLONASS) tracks 12 GPS L1 satellites

with narrow correlator spacing and 6 GLONASS L1 satellites with narrow correlator spacing. Refer to Default Channel

Assignments in Appendix E, Page 50 for more details on the channel configurations. Data output rates will be nominally

at one hertz.

It is possible to upgrade this configuration in the future to become a full EGNOS RIMS-C, WAAS or MSAS receiver, by

the addition of several MEDLL receiver cards and replacement of the GPS GLONASS card with a second GPS GEO

card.

The GPS GLONASS card uses Narrow Correlator tracking technology to track the L1 GPS satellite signals. This

enhances the accuracy of the pseudorange measurements as well as mitigating the effects of multipath.

The GPS GEO card will track GEO satellites that transmit using the RTCA/DO-229A WAAS signal structure. The GEO

satellites are tracked using standard correlator spacing. This configuration is chosen based on the signal bandwidth of the

IMMARSAT GEO satellites, which is constrained to 2.2 MHz. The GPS GEO card can track two C/A code GEOs on L1.

The Test Bed Receiver incorporates a L1/L2 GPSCards, which uses NovAtel’s P-Code Delayed Correlation Technology,

providing superior performance even in the presence of P-code encryption. Each GPSCard is an independent GPS

receiver.

The Test Bed Receiver is packaged in a standard 4U x 19” sub-rack. The rear panel’s 9-pin D connectors as well as the

antenna and external oscillator connectors provide easy I/O access.

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1 - Introduction

OPERATIONAL OVERVIEW

The NovAtel Test Bed Receiver has two functional blocks (see Figure 2):

•

Single Frequency GPS GLONASS

Dual Frequency GPS GEO

Figure 2

Test Bed Receiver Functional Block Diagram

Serial Ports

Strobe Port

BACKPLANE: Communication and Time Synchronization

5 VDC

L1/L2 GPS

GLONASS

L1/L2 GPS

L1 GEO

+/- 12 VDC

CLK/STATUS

CARD

L1/L2-I

L1/L2-II

RF/IF

Digitizing

RF/IF

Digitizing

10 MHz

OCXO

POWER

SUPPLY

RF/IF

Digitizing

10 MHz

Int. Osc.

Output

10 MHz

Ext. Osc.

Input

Antenna

Input

22-30 VDC

Power

External

Jumper

GEO Processing

Specific channels on the GPS GEO card have the capability to receive and process the GEO WAAS signal. The signal is

in-band at L1 and is identified with WAAS-specific PRN numbers. The WAAS message is decoded and separated into

its various components. The WAAS message and associated pseudorange is provided as an output.

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1 - Introduction

Single Frequency GPS GLONASS

The GPS GLONASS is configured to track 12 L1 C/A-code signals (Narrow Correlator tracking technology), and 6 L1

GLONASS C/A-code signals. The output is used to compute ionospheric corrections.

Dual Frequency GPS GEO

Within the GPS GEO group, up to 2 channels can be configured to track L1 C/A code GEOs

The L1 C/A code and L2 C/A code measurements are used to derive ionospheric corrections.

Other Outputs & Inputs

•

A 10 MHz output is available for use with an internal clock.

Two serial ports provide: - raw satellite measurements (pseudorange, carrier & time)

- receiver status data (communications & tracking)

- raw satellite data (ephemeris & almanac)

- fast code corrections for signal stability monitoring

•

The receiver accepts an external input from a 10MHz atomic clock or its internal OCXO for synchronization.

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2 - Installation

INSTALLATION OF TEST BED RECEIVER

This chapter provides sufficient information to allow you to set up and prepare the Test Bed Receiver for initial operation.

MINIMUM CONFIGURATION

In order for the Test Bed Receiver to function as a complete system, a minimum equipment configuration is required.

This is illustrated in Figure 3.

Figure 3

Test Bed Minimum System Configuration

GPS & GEO

Antenna (L1 & L2)

GPS & GLONASS

Antenna (L1)

Power Supply

22 - 30 V DC

Data processing

equipment

The recommended minimum configuration and required accessories are listed below:

•

NovAtel Test Bed Receiver

User-supplied L1/L2 GPS and L1 GLONASS antennas and LNA

User-supplied power supply (+22 to +30 V DC, 5 A maximum)

Optional (could use internal 10 MHz OCXO) user-supplied external frequency reference (10 MHz).

User-supplied interface, such as a PC or other data communications equipment, capable of standard serial

communications (RS-232C).

•

User-supplied data and RF cables

Of course, your intended set-up may differ significantly from this minimum configuration. The Test Bed Receiver has

many features that would not be used in the minimum configuration shown above. This section merely describes the

basic system configuration, which you can modify to meet your specific situation.

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2 - Installation

For the minimum configuration, setting up the Test Bed Receiver involves the following steps:

1. Connect the user interface to the Test Bed Receiver (“GPS GLONASS” and/or “GPS GEO” connectors)

2. Install the GPS and GLONASS antennas and low-noise amplifier, and make the appropriate connections to the

Test Bed Receiver (“GPS GLONASS ANT” or “GPS GEO ANT” connector)

3. Supply power to the Test Bed Receiver (“22-30 VDC” connector)

The connections on the rear panel are shown in Figure 4 below:

Figure 4

Rear Panel of Test Bed Receiver

The information from each receiver subsection is accessed through individual RS–232 serial communication ports. The

two ports using DE9P connectors are located on the back panel of the receiver. Serial baud rates up to 115,200 bps are

usable selectable with 9600 bps set as the default configuration. The second serial port of each receiver subsection is used

internally and is therefore not available for user access.

The receivers communicate with each other across the backplane within the enclosure. The GPS GEO receiver is

considered the master as far as the time goes. The 1PPS output of the GPS GEO receiver is connected to the Mark In

input of the GPS GLONASS receiver. The time information associated with the 1PPS pulse is sent from the GPS GEO to

the GPS GLONASS across a high-speed (TLink) serial communication line on the backplane. The GPS GLONASS then

synchronizes its time to that of the GPS GEO.

INTERNAL AND EXTERNAL OSCILLATORS

A 10 MHz OCXO is provided within the enclosure. The internal OCXO is connected to a BNC connector on the back

panel of the receiver. Another BNC connector on the back panel routes the 10 MHz external oscillator signal through a

splitter to the two receiver subsections. If the receiver is to be operated from the internal 10 MHz OCXO then a jumper

cable is connected from the 10 MHz output BNC connector to the 10 MHz input BNC connector. If the receiver is to be

operated from an external 10 MHz frequency source such as a Cesium or Rubidium oscillator then that frequency

reference will be connected to the 10 MHz IN port on the rear panel of the receiver. In that case the 10 MHz OUT port

should be terminated with a 50 Ω terminator.

Without an external oscillator the GPS GLONASS and GPS GEO will operate independently using their own on-board

TCXO after they are given the appropriate software command. If an external oscillator input is not supplied, the GPS

GLONASS card must be sent the command “SETTIMESYNC DISABLE”. The CLOCKADJUST command should also

be enabled so that both receivers will independently try to align their time to GPS time. If the CLOCKADJUST

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2 - Installation

command is disabled, or if the EXTERNAL clock command is disabled, then the two receivers will drift away from each

other in time. The normal mode of operation is to use either the internal OCXO or a highly stable external oscillator.

The 10 MHz OCXO is mounted within the enclosure on the Clock/Status card. This card has bi-colored LEDs that

visually indicate when the receiver is powered and also reflect whether the receiver has passed its power on self-test. The

lower LED will monitor the signal power of the internal 10 MHz OCXO. If it turns from green to off a failure of the

OCXO or its power supply would be indicated. Only the first, second and third LED from the bottom are used. The

others are only active when the enclosure is populated as a WAAS, MSAS, or EGNOS RIMS-C receiver.

CONNECTING THE EXTERNAL FREQUENCY REFERENCE

The Test Bed Receiver can be used with an external, user-supplied frequency reference; this would typically take the

form of a high-accuracy oscillator. Please refer to Appendix B for the recommended specifications of this device.

The frequency reference is connected to the 10 MHz BNC female connector on the rear panel of the Test Bed Receiver.

Refer to Figure 5 below.

Figure 5

10 MHz In (External Frequency Reference) - Test Bed

The 11^th(bottom) LED on the front panel indicates the status of the internal clock reference. A clear LED indicates that

no internal reference is present. Green indicates that the clock is present. Refer to Figure 6 below.

Figure 6

Lights on Front Panel of Test Bed Receiver

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2 - Installation

CONNECTING DATA COMMUNICATIONS EQUIPMENT

There are two serial ports on the back panel of the Test Bed Receiver; both are configured for RS-232 protocol. These

ports make it possible for external data communications equipment - such as a personal computer - to communicate with

the Test Bed Receiver. Each of these ports has a DE9P connector.

The GPS GLONASS and GPS GEO ports (see Figure 7) allow two-way communications. Each is configured as COM1

if you attempt to communicate directly with it. They are each connected to a GPSCard within the Test Bed Receiver unit.

Each of these ports can be addressed independently of the other.

Figure 7

Pinout for GPS GLONASS and GPS GEO Ports - Test Bed

DCD RXD TXD DTR GND

DSR RTS

CTS NC

CONNECTING THE GPS ANTENNA

Selecting and installing an appropriate antenna system is crucial to the proper operation of the Test Bed Receiver.

The antenna connectors for both GPS and GLONASS are located on the back panel of the enclosure and are type TNC.

Antenna power is provided to the center pin of these connectors. The power is 5 V DC with a current up to 100 mA. The

power supply for the antenna originates from each receiver card in this enclosure and its status is reflected in the Antenna

Status bit of either receiver subsystem.

Keep these points in mind when installing the antenna system:

•

Ideally, select an antenna location with a clear view of the sky to the horizon so that each satellite above the horizon

can be tracked without obstruction.

•

Ensure that the antenna is mounted on a secure, stable structure capable of withstanding relevant environmental

loading forces (e.g. due to wind or ice).

Use high-quality coaxial cables to minimize signal attenuation. The gain of the LNA must be sufficient to compensate for

the cabling loss.

The antenna ports on the Test Bed Receiver have TNC female connectors, as shown in Figure 8.

Figure 8

Antenna Inputs - Test Bed

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2 - Installation

CONNECTING THE EXTERNAL POWER INPUT

The Test Bed Receiver requires one source of external regulated power. The input can be in the +22 to +30 V DC range.

The receiver draws up to 3 A at start-up, but the steady-state requirement is approximately 1.5 A.

Five and twelve volt power supplies are installed internally within the enclosure. The 5-volt supply is used to power the

two receivers and the antenna. The 12-volt supply is used for OCXO power. Both of these supplies receive their power

from a connector on the enclosure back panel and accept DC power within a voltage range of +22 to +30 volts.

The power-input connector on the Test Bed Receiver is a 3-position chassis jack. It mates to a 3-position inline plug

supplied with the Test Bed Receiver. Pin 1 (+22 to +30 V DC), and Pin 2 (GND) connect to the Test Bed Receiver’s

internal power supply, which performs filtering and voltage regulation functions. Pin 3 serves as ground connection

protection. Refer to Figure 9.

Figure 9

External Power Connections - Test Bed

Notch

Pin 3

Pin 1

Pin 2

USING THE 10 MHz OUTPUT SIGNAL

The 10 MHz output provides a high-stability reference clock to the Test Bed Receiver. It permits the synchronization of

the two receiver subsystems in the Test Bed Receiver. See Internal and External Oscillators on Page 12 for more

information.

If the receiver is to be operated from the internal 10 MHz OCXO then a jumper cable is connected from the 10 MHz

output BNC connector to the 10 MHz input BNC connector (see Figure 10). If the receiver is to be operated from an

external 10 MHz frequency source such as a Cesium or Rubidium oscillator then that frequency reference will be

connected to the 10 MHz IN port on the rear panel of the receiver. In that case the 10 MHz OUT port should be

terminated with a 50 Ω terminator.

Figure 10

10 MHz Output – Test Bed

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2 - Installation

ACCESSING THE STROBE SIGNALS

A strobe port is located on the enclosure back panel. This is a diagnostic connector and is in the form of a DE9S

connector (see Figure 11). The 1PPS and Measurement pulse from both receiver subsystems are available on this

connector for verifying synchronization using an oscilloscope. These are the only strobe signals made available from the

two receiver subsystems. The specifications and electrical characteristics of these signals are described in Appendix B.

The GPS GLONASS and GPS GEO ports are each connected to a GPS receiver within the Test Bed Receiver unit.

Figure 11

Strobe 9-pin D-Connector Pinout - Test Bed

MSR GPS/GLONASS

MSR GPS/GEO

1 PPS GPS/GLONASS

1 PPS GPS/GEO

GND

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3 - Operation

OPERATION

Before operating the Test Bed Receiver for the first time, ensure that you have followed the installation instructions in

Chapter 2.

From here on, it will be assumed that testing and operation of the Test Bed Receiver will be performed while using a

personal computer (PC); this will allow the greatest ease and versatility.

PRE-START CHECK LIST

Before turning on power to the Test Bed Receiver, ensure that all of the following conditions have been met:

•

The antenna(s) is (are) properly installed and connected.

The PC is properly connected using a null-modem cable, and its communications protocol has been set up to match

that of the Test Bed Receiver.

•

The optional external frequency reference is properly installed, connected, powered-up, and stabilized.

Supply power to the Test Bed Receiver only after all of the above checks have been made. Note that the warm-up

process may take several minutes, depending on ambient temperature.

SERIAL PORTS - DEFAULT SETTINGS

Because the Test Bed Receiver communicates with the user’s PC via serial ports, both units require the same port

settings. The communications settings of the PC should match these on the receiver:

•

RS-232 protocol

9600 bits per second (bps)

No parity

8 data bits

1 stop bit

No handshaking

Echo off

Once initial communications are established, the port settings for the Test Bed Receiver can be changed using the COMn

command, which is described in the MiLLennium Command Descriptions Manual.

START-UP

The Test Bed Receiver’s firmware resides in non-volatile memory. Supply power to the unit, wait a few moments for

self-boot, and the Test Bed Receiver will be ready for command input.

There are two initial start-up indicators to let you know that the Test Bed Receiver’s serial ports are ready to

communicate:

1. Status lights on the Test Bed Receiver’s front panel (lower three LEDs) should turn from red to green to indicate that

all cards are healthy. If any one of the LEDs does not turn green, then the system should be considered unreliable. If

this situation occurs, contact NovAtel Customer Service for assistance.

2. Your external terminal screen will display one of the following prompts:

Com1> if you are connected to the GPS GLONASS or GPS GEO serial port.

The Test Bed Receiver is now ready for command input from either of the two COM1 ports.

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3 - Operation

INITIAL COMMUNICATIONS WITH THE TEST BED RECEIVER

Communicating with the Test Bed Receiver is a straightforward process and is accomplished by issuing desired

commands to the COM1 ports from an external serial communications device. For your initial testing and

communications, you will probably be using either a remote terminal or a personal computer that is directly connected to

a Test Bed Receiver’s serial port by means of a null modem cable.

To change the default communication settings, such as bit rate, use the COMn command, see the MiLLennium Command

Descriptions Manual.

When the Test Bed Receiver is first powered up, no activity information is transmitted from the COMn ports except for

the COM1> prompt described in the Start-Up section above.

Commands are directly input to Test Bed Receiver using the external terminal. It should be noted that most commands

do not echo a response to a command input. Return of the COM1> prompt indicates that the command has actually been

accepted from the Test Bed Receiver. Note that VERSION is the only command that does provide an echo response other

than the port prompt.

Examples:

1. If you type VERSION <Enter> from a terminal, this will cause the Test Bed Receiver to echo the firmware version

information.

2. An example of a no-echo response to an input command is the FIX POSITION command. It can be input as follows:

COM1>fix position 51.113 -114.043 1060 <Enter>

This example illustrates command input to the COM1 port that sets the Test Bed Receiver’s position. However, your

only confirmation that the command was actually accepted is the return of the COM1> prompt.

If a command is erroneously input, the Test Bed Receiver will respond with the “Invalid Command Option” response

followed by the COM1> prompt.

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4 - Update or Upgrade

UPDATE OR UPGRADE YOUR GPSCARD

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 Software Support section, at the beginning

of the MiLLennium Command Descriptions 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.

The Loader and update files can be found on NovAtel’s FTP site at http:\\www.novatel.ca, or can be sent to you on

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 3, Operation on Page 17).

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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4 - Update or Upgrade

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 the Software Support

section at the beginning of the MiLLennium Command Descriptions 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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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 12.

Figure 12

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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WAAS OVERVIEW

The Wide Area Augmentation System (WAAS) is a safety-critical system which is designed to enable the GPS to meet

the US Federal Aviation Administration (FAA) navigation performance requirements for domestic en route, terminal,

non-precision approach and precision approach phases of flight. The primary functions of WAAS include:

•

data collection

determining ionospheric corrections, satellite orbits, satellite clock corrections and satellite integrity

independent data verification

WAAS message broadcast and ranging

system operations & maintenance

Figure 13

The WAAS Concept

As shown in Figure , the WAAS is made up of a series of Wide Area Reference Stations, Wide Area Master Stations,

Ground Uplink Stations and Geostationary Satellites (GEOs). The Wide Area Reference Stations, which are

geographically distributed, pick up GPS satellite data and route it to the Wide Area Master Stations where wide area

corrections are generated. These corrections are sent to the Ground Uplink Stations, which up-link them to the GEOs for

re-transmission on the GPS L1 frequency. These GEOs transmit signals which carry accuracy and integrity messages,

and which also provide additional ranging signals for added availability, continuity and accuracy. These GEO signals are

available over a wide area and can be received and processed by ordinary GPS receivers. GPS user receivers are thus

able to receive WAAS data in-band and use not only differential corrections, but also integrity, residual errors and

ionospheric information for each monitored satellite.

The signal broadcast via the WAAS GEOs to the WAAS users is designed to minimize modifications to standard GPS

receivers. As such, the GPS L1 frequency (1575.42 MHz) is used, together with GPS-type modulation - e.g. a

Coarse/Acquisition (C/A) pseudorandom (PRN) code. In addition, the code phase timing is maintained close to GPS time

to provide a ranging capability.

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Appendices

GLONASS OVERVIEW

MILLENNIUM-GLONASS GPSCARD

The MiLLennium-GLONASS GPSCard can receive L1 signals from combined GPS/GLONASS satellites. This hybrid

receiver offers combined GPS/GLONASS position solutions.

An RTK version of the MiLLennium-GLONASS GPSCard performs significantly better when tracking GPS and

GLONASS satellites, than when tracking GPS satellites only. Faster floating-ambiguity solutions mean shorter

observations times.

The use of GLONASS in addition to GPS provides very significant advantages:

ꢀ

increased satellite signal observations

markedly increased spatial distribution of visible satellites

reduction in the Horizontal and Vertical Dilution of Precision factor

no special precision degrading mode in GLONASS (unlike GPS Selective Availability mode)

single frequency (L1) positioning accuracy is about 4 times better for GLONASS as compared to GPS single

frequency signals

ꢀ

improved RTK performance

decreased occupation times result in faster surveying

The MiLLennium-GLONASS GPSCard is capable of combined GPS/GLONASS operation. In order to track GLONASS

satellites the MiLLennium must track at least one GPS satellite to determine the GPS/GLONASS time offset. In order to

determine a position in GPS-Only mode the receiver must track a minimum of four satellites, representing the four

unknowns of 3-D position and time. In combined GPS/GLONASS mode the receiver must track five satellites,

representing the same four previous unknowns as well as the GPS/GLONASS time offset.

With the availability of combined GPS/GLONASS receivers, users have access to a potential 48-satellite combined

system. With 48 satellites, performance in urban canyons and other locations with restricted visibility, such as forested

areas, is improved, as more satellites are visible in the non-blocked portions of the sky. A larger satellite constellation

also improves real-time carrier-phase differential positioning performance. In addition, stand-alone position accuracies

improve with the combined system, and in the absence of deliberate accuracy degradation, differential GLONASS

requires a much lower correction update rate.

Table 1 lists the two types of NovAtel MiLLennium-GLONASS GPSCards available, each capable of multiple

positioning modes of operation:

Table 1

Positioning Modes of Operation

MiLLennium-GLONASS GPSCard

MiLLen-G

MiLLen-G-RT10

TESTBEDGLO

Single Point

√

Waypoint Navigation

√

Pseudorange differential corrections (TX & RX)

RTK pseudorange & carrier-phase double differencing:

< 10 cm RMS accuracies (floating)

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The NovAtel MiLLennium-GLONASS GPSCards can be applied in mining and machine control, robotics, flight

inspection, marine navigation, agriculture, military, direction finding and other custom OEM applications.

Some of the information used to create the Introduction was obtained from two sources.

1. Langley, Richard B. “GLONASS: Review and Update”. GPS World, July 1997. 46-51

2. Kleusberg, Alfred. “Comparing GPS and GLONASS”. GPS World, December 1990. 52-54

GLONASS SYSTEM DESIGN

As with GPS, the GLONASS system uses a satellite constellation to ideally provide a GLONASS receiver with six to

twelve satellites at most times. A minimum of four satellites in view allows a GLONASS receiver to compute its

position in three dimensions, as well as become synchronized to the system time.

The GLONASS system design consists of three parts:

•

The Space segment

The Control segment

The User segment

All these parts operate together to provide accurate three-dimensional positioning, timing and velocity data to users

worldwide.

The Space Segment

The Space Segment is the portion of the GLONASS system that is located in space, that is, the GLONASS satellites and

any ancillary spacecraft that provide GLONASS augmentation information (i.e., differential corrections, integrity

messages, etc.). This segment is composed of the GLONASS satellites which, when complete, will consist of 24

satellites in three orbital planes, with eight satellites per plane, see Figure 14, Page 25. Following are points about the

GLONASS space segment.

•

The orbit period of each satellite is approximately 8/17 of a sidereal day such that, after eight

sidereal days, the GLONASS satellites have completed exactly 17 orbital revolutions. A sidereal

day is the rotation period of the earth and is equal to one calendar day minus four minutes.

•

Because each orbital plane contains eight equally spaced satellites, one of the satellites will be at the

same spot in the sky at the same sidereal time each day.

The satellites are placed into nominally circular orbits with target inclinations of 64.8 degrees and

an orbital height of about 19,123 km, which is about 1,060 km lower than GPS satellites.

The GLONASS satellite signal identifies the satellite and provides:

the positioning, velocity and acceleration vectors at a reference epoch for computing satellite locations

synchronization bits

data age

satellite health

offset of GLONASS time

almanacs of all other GLONASS satellites.

•

The GLONASS satellites each transmit on different L1 and L2 frequencies, with the P code on both

L1 and L2, and with the C/A code, at present, only on L1. L1 is currently centered at 1602 - 1615.5

MHz.

Some of the GLONASS transmissions initially caused interference to radio astronomers and mobile

communication service providers. The Russians consequently agreed to reduce the number of

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Appendices

frequencies used by the satellites and to gradually change the L1 frequencies to 1598.0625 -

1609.3125 MHz. Eventually the system will only use 12 primary frequency channels (plus two

additional channels for testing purposes).

•

System operation (24 satellites and only 12 channels) can be accomplished by having antipodal

satellites, satellites in the same orbit plane separated by 180 degrees in argument of latitude,

transmit on the same frequency. This is possible because the paired satellites will never appear at the

same time in your view. Already, eight pairs of satellites share frequencies.

Unlike GPS satellites, all GLONASS satellites transmit the same codes. They derive signal timing and frequencies from

one of three onboard cesium atomic clocks operating at 5 MHz. The signals are right-hand circularly polarized, like GPS

signals, and have comparable signal strength.

Figure 14

View of GLONASS Satellite Orbit Arrangement

The Control Segment

The Control Segment consists of the system control center and a network of command tracking stations across Russia.

The GLONASS control segment, similar to GPS, must monitor the status of satellites, determine the ephemerides and

satellite clock offsets with respect to GLONASS time and UTC (SU) time, and twice a day upload the navigation data to

the satellites.

The User Segment

The User Segment consists of equipment (such as a NovAtel MiLLennium-GLONASS GPSCard receiver) which tracks

and receives the satellite signals. This equipment must be capable of simultaneously processing the signals from a

minimum of four satellites to obtain accurate position, velocity and timing measurements. Like GPS, GLONASS is a dual

military/civilian-use system. Selective availability, however, will not be implemented on GLONASS C/A code. The

system’s potential civil applications are many and mirror that of GPS.

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TIME

The GLONASS satellites broadcast their time within their satellite messages. NovAtel’s MiLLennium GLONASS

GPSCard is able to receive and record both time references as well as report the offset information between GPS and

GLONASS time (see the GCLA/B log on Page 41). Although similar, GPS and GLONASS have several differences in

the way they report time. Please see the following sections for information of GLONASS time.

GLONASS TIME VS. LOCAL RECEIVER TIME

GLONASS time is based on an atomic time scale similar to GPS. This time scale is Universal Time Coordinated as

maintained by the former Soviet Union (UTC (SU)).

Unlike GPS, the GLONASS time scale is not continuous and must be adjusted for periodic leap seconds. Leap seconds

are applied to all UTC time references about every other year as specified by the International Earth Rotation Service

(IERS). Leap seconds are necessary because the orbit of the earth is not uniform and not as accurate as the atomic time

references.

GLONASS time is maintained within 1 ms of UTC (SU) by the control segment with the remaining portion of the offset

broadcast in the navigation message. As well, the GLONASS time is offset from UTC (SU) by plus three hours due to

control segment specific issues. The GCLA/B log (see Page 41) contains the offset information between GPS and

GLONASS time.

DATUM

Because a consistent transformation between WGS84 and the Parametry Zemli 1990 (PZ90) or, in English translation,

Parameters of the Earth 1990 geodetic datum has not been defined, we have allowed for a new command,

PZ90TOWGS84, and a new parameter, PZ90, for the DATUM command.

The PZ90TOWGS84 command (see Page 35) is intended to define the PZ90 transform for transferring GLONASS

satellite coordinates to WGS84. However, it can also be used, in conjunction with the DATUM PZ90 command (see the

DATUM command in the MiLLennium Command Descriptions Manual), to allow for position output in a user-defined

PZ90 frame. The PZ90TOWGS84 command will override the default values for the DATUM PZ90 command and set

them to the user-defined values. If the PZ90TOWGS84 command is not issued, the DATUM PZ90 command will use the

default PZ90 values (see the PZ90TOWGS84 command on Page 35) for the output position parameters. The PZ90

transform parameters can be saved in user-configurable memory for immediate use on power up.

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FUNCTIONAL OVERVIEW

MILLENNIUM-GLONASS GPSCARD SYSTEM

The MiLLennium-GLONASS GPSCard consists of a radio frequency (RF) and a digital electronics section. Prior to

operation, a GPS/GLONASS antenna, power supply, and data and signal interfaces must be connected. The overall

system is represented in Figure 15. A brief description of each section follows.

Figure 15

MiLLennium-GLONASS GPSCard System Functional Diagram

Reference Description

MiLLennium-GLONASS GPSCard

Input timing strobe

Output timing strobe

VCTCXO

RF section

Digital section

Antenna capable of receiving L1 signal

RF - IF sections, NovAtel

Signal Processor

32-bit CPU

GPS/GLONASS antenna or user-supplied

Optional user-supplied LNA power

(0 - 30 VDC)

System I/O

User-supplied power (5 VDC)

Optional external oscillator (5 or 10 MHz)

User-supplied data and signal processing

equipment

LNA

Clock signals

AGC signals

Control signals

RF and power connectors

Primary antenna feed

COM1

COM2

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GPS/GLONASS ANTENNA

The purpose of the GPS/GLONASS antenna is to convert the electromagnetic waves transmitted by the combined

GPS/GLONASS satellites at the L1 frequency (1575.42 MHz for GPS and 1602 - 1615.5 MHz for GLONASS) into RF

signals. The MiLLennium-GLONASS GPSCard will function best with an active GPS/GLONASS antenna; there is a

hardware provision to select an internal or external DC power supply for an active GPS/GLONASS antenna. Note that

the antenna self-test will return a “fail” condition if a passive antenna is used (for further information on self-test status

codes, please see the RVSA/B log in the MiLLennium Command Descriptions Manual. NovAtel active antennas are

recommended.

NovAtel offers the 504 and 514 model antennas to work with your MiLLennium-GLONASS GPSCard system. Both

antennas use low-profile microstrip technology and include band-pass filtering and an LNA. The GPS/GLONASS

antenna you choose will depend on your particular application. The NovAtel antennas available to work with your

MiLLennium-GLONASS GPSCard system are single-frequency models, and each of these models offers exceptional

phase-center stability as well as a significant measure of immunity against multipath interference. Both models have an

environmentally-sealed radome.

NovAtel also offers high-quality coaxial cable in standard 5 (Model C005), 15 (Model C015) and 30 m (Model C030)

lengths. These come with a TNC male connector at each end. Should your application require the use of cable longer than

30 m you will find the application note Extended Length Antenna Cable Runs at our website, http://www.novatel.ca, or

you may obtain it from NovAtel Customer Service directly, see the Software Support section at the beginning of the

MiLLennium Command Descriptions Manual for contact information.

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-GLONASS GPSCard are warranted only when it is used with NovAtel-

supplied accessories.

RADIO FREQUENCY (RF) SECTION

The MiLLennium-GLONASS GPSCard receives partially filtered and amplified GPS and GLONASS 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

•

supplies power to the 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 the active GPS/GLONASS antenna.

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-GLONASS GPSCard receives down-converted, amplified combined GPS/

GLONASS signals which 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

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Appendices

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 C/A codes and carrier phases 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

You configure the MiLLennium-GLONASS GPSCard using special commands (see Appendix D GLONASS Commands

and Logs on Page 34). In turn, the MiLLennium-GLONASS GPSCard presents information to you in the form of pre-

defined logs in a number of formats. In addition, when a MiLLennium-GLONASS GPSCard is linked to a NovAtel

GPSCard receiver or second MiLLennium-GLONASS GPSCard for differential positioning, they can communicate

directly through their serial ports.

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WAAS COMMANDS AND LOGS

These commands and logs differ from the versions described in the MiLLennium Command Descriptions Manual for the

Test Bed Receiver at the time of this publication.

COMMANDS

CONFIG

This command switches the channel configuration of the GPSCard between pre-defined configurations. When invoked,

this command loads a new satellite channel-configuration and forces the GPSCard to reset. The types of configurations

possible are listed by entering this command:

HELP CONFIG

In some applications, only the standard (default) configuration will be listed in response. The standard configuration of a

MiLLennium GPSCard consists of 12 L1/L2 channel pairs.

Syntax:

cfgtype

CONFIG

Command

CONFIG

cfgtype

Option

Description

Default

Command

(none)

Displays present channel configuration

WF2L1L2 for TESTBEDW

configuration

name

STANDARD for MiLLen-STD

Loads new configuration, resets GPSCard:

TESTBEDW

WF2L1L2

WF1L1L2

L1L2

8 L1/L2 + 2 WAAS FEC

10 L1/L2 + 1 WAAS FEC

12 L1/L2

MiLLen-STD

STANDARD

WAASCORR

WAASCORR2

12 GPS

10 GPS + 1 WAAS

8 GPS + 2 WAAS

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IONOMODEL

This command allows the user to influence what ionospheric corrections the card uses. This command currently does not

effect the ionospheric model that is used when the card is operating in RTK mode. Additional range values are reserved

for future use.

The MiLLennium by default computes ionospheric corrections by attempting to use L1 & L2 signals first. To use the

ionospheric corrections issued by the WAAS GEO satellite as a first choice, you need to issue the IONOMODEL WAAS

command.

Syntax:

[keyword]

Range Value

IONOMODEL

Syntax

Description

IONOMODEL

keyword

Command

WAAS

Card will use ionospheric corrections from WAAS broadcast

messages as a first choice

You must verify that the CONFIG command is set to either

WF1L1L2 or WF2L1L2 for this command to work, see Page 30.

Card will use ionospheric corrections derived from L1 and L2 GPS

measurements as a first choice. Card must have L2 observations

in order for this setting to be effective.

L1L2

KLOBUCHAR ¹

Card will use ionospheric corrections as calculated by the

broadcast klobuchar model parameters as a first choice.

Card will decide which ionospheric corrections to use based on

availability. (default)

AUTO

Note: You cannot change GPSCard modes on the fly because once a CONFIG command is issued, the card resets itself

and starts the new mode requested.

Please refer to ICD-GPS-200 for a description of the Klobuchar model and its parameters. To obtain copies of ICD-GPS-200

from the ARINC Research Corporation, contact them at the address given in Appendix F of the MiLLennium Command

Descriptions Manual.

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WAASCORRECTION

This command allows you to have an affect on how the card handles WAAS corrections. The card will switch

automatically to Pseudorange Differential (RTCM or RTCA) or RTK if the appropriate corrections are being received,

regardless of the current setting.

The ability to incorporate the WAAS corrections into the position solution is not the default mode. First enter the

following command to put the card in WAAS mode:

config waascorr

Note: You cannot change GPSCard modes on the fly because once a CONFIG command is issued the card resets itself

and starts the newly requested mode.

To enable the position solution corrections, you must issue the WAASCORRECTION ENABLE command.

Syntax:

keyword

WAASCORRECTION

[PRN]

[mode]

Syntax

WAASCORRECTION

keyword

Range Value

Description

Command

ENABLE

DISABLE

- Card will use the WAAS corrections it receives.

- Card will not use the WAAS corrections that it receives.

- Card will use WAAS corrections from this PRN.

[PRN]

120-138

- If no PRN is specified, the receiver will automatically select the

best PRN (with the highest elevation and with a lock time greater

than 134 seconds) to use when multiple GEOs are being tracked.

If no GEO has a lock time of more than 134 seconds, the GEO

with the highest amount of lock time is selected.

[mode]

NONE

- Default. Card will interpret Type 0 messages as they are

intended (as do not use).

WAASTESTMODE

- Card will interperet Type 0 messages as Type 2.

EGNOSTESTMODE - Card will ignore the usual interpretation of Type 0 messages

(as do not use) and continue.

Example:

waascorrection enable 122 waastestmode

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LOGS

RCCA RECEIVER CONFIGURATION

This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the

GPSCard configuration settings. See RCCA in the MiLLennium Command Descriptions Manual for the RCCA default

list.

The following are the default parameters, for the TESTBEDW receiver, that are different than the standard Millenium

WAAS receiver configuration:

CLOCKADJUST DISABLE

EXTERNALCLOCK OCXO

LOG CONSOLE TM1A ONTIME 10 HOLD*

The logging of the TM1A log is done in order to time synchronize the TESTBEDGLO receiver to the

TESTBEDW receiver.

The following are the default parameters, for the TESTBEDGLO receiver, that are different than the standard Millenium

Glonass receiver configuration:

CLOCKADJUST DISABLE

EXTERNALCLOCK OCXO

SETTIMESYNC ENABLE*

The SETTIMESYNC ENABLE allows the TESTBEDGLO receiver to accept the TM1A logs from the

TESTBEDW receiver for time synchronization.

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GLONASS COMMANDS AND LOGS

GLONASS-SPECIFIC COMMANDS

This chapter describes MiLLennium-GLONASS GPSCard commands important to GLONASS.

GLONASS-specific commands are generated by using information obtained from the GLONASS satellite system. Please

see the following sections for definitions of these commands.

DGLOTIMEOUT

The differential GLONASS time out (DGLOTIMEOUT) command’s function is to set the maximum age of differential

data that will be accepted when operating as a remote station. Differential data received that is older than the specified

time will be ignored.

The ephemeris delay of the reference station is the same as for GPS and can be set using the DGPSTIMEOUT command

(refer to the MiLLennium Command Descriptions Manual for information on this command).

Since there is no Selective Availability (SA) on the GLONASS correction the degradation over time is considerably less.

It could be useful to allow a longer timeout for GLONASS than GPS.

Syntax:

DGLOTIMEOUT delay

Options:

delay: 2 - 1000 (seconds) (default 60)

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PZ90TOWGS84

This command allows the user to input the Helmert transformation relating the GLONASS PZ90 reference frame to the

GPS WGS-84 reference frame. In this case, (x,y,z) is the desired WGS-84 coordinate set and (u,v,w) is the given

coordinate set in PZ90. The transformation is defined by an origin offset (∆x,∆y,∆z), a linear scale factor (δs) and a series

of small angle rotations (ε,φ,ω), given in radians, around the u,v and w axes respectively. By default, the values are set to

those published by Misra et al. (ION GPS 96, pg 307).

There are a number of different transformations that have been published but the majority of them are optimized for the

particular region of the planet that the data was collected in. One of the objectives of the current International Glonass

Experiment (IGE) is to accurately determine a PZ90 to WGS-84 transformation that is consistent on a global scale.

The PZ90TOWGS84 command can be used in conjunction with the DATUM PZ90 command (see Datum on Page 26) to

allow for position output in a user-defined PZ90 frame.

The relevant parameters for the PZ90 ellipsoid are from the GLONASS Interface Control Document (ICD) version 4.0,

1998 Coordination Scientific Information Center (CSIC). Please see the following table for the reference ellipsoid

constants.

ELLIPSOID

a (metres)

1/f

Parameters of Earth 1990

6378136.0

298.257839303

0.00335280374302

Syntax:

PZ90TOWGS84 option [∆x] [∆y] [∆z] [δs] [ε] [φ] [ω]

Options:

ARGUMENT

DESCRIPTION

Set to default Helmert transformation parameters

DEFAULT

SET

Set to user specified values (all must be specified, see the following section of this table)

DESCRIPTION

PARAMETER

∆x

∆y

∆z

δs

Origin offset in x direction [m]

Origin offset in y direction [m]

Origin offset in z direction [m]

Scale factor given in parts per million (ppm), final linear scale factor given as (1 + δs*10-6)

Small angle rotation around u axis [arcsec]. A positive sign for counter clockwise direction and a negative sign for

clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.

Small angle rotation around v axis [arcsec]. A positive sign for counter clockwise direction and a negative sign for

clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.

Small angle rotation around w axis [arcsec]. A positive sign for counter clockwise direction and a negative sign

for clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.

Example:

PZ90TOWGS84 DEFAULT

PZ90TOWGS84 SET 0.1,0.4,-0.3,6,0,0,4

NOTE: The format and sign conventions in this command are set up to conform to the given reference and differ from

the NovAtel USERDATUM command.

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Appendices

UNIMPLEMENTED COMMANDS

Currently, the ability to set satellite health, and the ability to de-weight the range of a satellite in the solution

computations, is not enabled for GLONASS. Because of this, the following commands will not work with the

MiLLennium-GLONASS GPSCard for GLONASS satellites.

•

SETHEALTH

RESETHEALTH

RESETHEALTHALL

LOCKOUT

NOTE: The unimplemented commands are disabled for GLONASS satellites only. These commands can still be used

with GPS satellites.

If, by mistake, you issue an unimplemented command to the MiLLennium-GLONASS GPSCard for a GLONASS

satellite, the MiLLennium-GLONASS GPSCard will simply inform you that the PRN is invalid. The MiLLennium-

GLONASS GPSCard is unable to accept a GLONASS PRN as an argument.

For further information on these commands, please consult the MiLLennium Command Descriptions Manual.

GLONASS-SPECIFIC LOGS

GLONASS-specific logs provide data by using information obtained from the GLONASS satellite system. Following are

the descriptions of MiLLennium-GLONASS GPSCard’s CALA/B, GALA/B, GCLA/B and GEPA/B logs. The syntax

and fields are as described below.

CALA/B CALIBRATION INFORMATION

GPS satellites all broadcast on the same frequency but broadcast different codes. GLONASS satellites broadcast on

different frequencies but use the same code. The former technique is known as Code Division Multiple Access (CDMA)

while the latter is known as Frequency Division Multiple Access (FDMA).

Frequency dependent characteristics of the hardware result in small biases in the GLONASS pseudoranges. You can enter

calibration numbers for the various frequencies which will be subtracted from each pseudorange with the CALA/ B input.

The numbers can also be output as a log, CALA/B.

CALA

Structure:

$CALA

week

sec

reserved

bias 1

...

std. dev. bias 1

std. dev. bias 32

bias 32

[CR][LF]

*xx

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Field

Field #

Description

Example

$CALA

Week

Sec

Log Header

GPS week number

992

GPS time into week, in seconds

453075

Reserved for future use

Bias 1, Std. Dev. Bias 1

Bias 2, Std Dev Bias 2

6,7

8, 9,

Pseudorange bias for frequency, Std Dev of bias in meters

-0.491, 0.050

1.070,0.041

1.029,0.041

...

10, 11, Bias 3, Std Dev Bias 3

...,

50, 51,

Bias 23, Std Dev Bias 23

-1.999,0.500,

-2.813,0.500,

0.000,5.000

...

52, 53,

Bias 24, Std Dev Bias 24

54, 55,

...,

Bias 25, Std Dev Bias 25

68, 69,

...,

Bias 32, Std Dev Bias 32

0.000,5.000

*03

* xx

Checksum

[CR][LF]

Sentence terminator

[CR][LF]

Example:

$CALA,4,480377,2,FFFFFF00,1.070,0.041,1.029,0.041,1.054,0.043,0.646,0.041,0.

735,0.041,0.526,0.040,0.456,0.039,

0.520,0.040,0.148,0.040,0.469,0.039,0.156,0.040,0.000,0.000,0.115,0.039,

-0.281,0.040,-0.269,0.039,-0.246,0.039,

-0.685,0.039,-0.391,0.039,-0.661,0.039,-0.967,0.040,-1.121,0.500,

-1.471,0.500,-1.999,0.500,

2.813,0.500,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.00

0,5.000,0.000,5.000,

0.000,5.000*2A[CR][LF]

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Appendices

CALB

Format:

Field #

Message ID = 87

Message byte count = 32 + (16 * 32)

Data

Bytes

Format

char

Units

Offset

Sync

Checksum

Message Id

char

integer

double

Message byte count

Week number

bytes

weeks

Seconds of week

seconds

Reserved for future use

GloBias (*32)

dBias

double

meters

dStdev

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GALA/B ALMANAC INFORMATION

The GLONASS almanac reference time and week are in GPS time coordinates. GLONASS ephemeris information is

available through the GEPA/B log.

GALA

Structure:

$GALA

week

deltal

seconds

ecc

week

time

deltaT

SVID

freq

tau

health TlambdaN

LambadN

argperig

deltaTD

*xx

[CR][LF]

Field

$GALA

Week

Field #

Description

Example

Log Header

$GALA

GPS Week, in weeks

GPS Time, in seconds

991

Seconds

Week

496470.59

GPS Week for almanac reference time (GLONASS time in GPS 991

format), in weeks

Time

GPS Time for almanac reference time (GLONASS time in GPS 374232.88

format), in seconds

SVID

Freq

Slot number for satellite, ordinal

Frequency for satellite, ordinal

Health

Ephemeris Health (1 = GOOD, 0 = BAD)

TlambdaN GLONASS Time of ascending node equator crossing, in seconds

LambdaN Longitude of ascending node equator crossing (PZ90), in radians

3.94199E+004

-9.2257260E-001

3.02841363E-002

1.49440765E-003

1.04694189E-001

-2.6561113E+003

3.66210937E-004

-2.0217896E-004*38

Deltal

Ecc

Correction to nominal inclination, in radians

Eccentricity

ArgPerig

DeltaT

DeltaTD

Tau

Argument of perigee (PZ90), in radians

Offset to nominal orbital period, in seconds

Rate of orbital period, in seconds per orbital period

Clock offset, in seconds

Example:

$GALA,991,496470.59,991,374232.88,16,22,1,3.94199E+004,-9.2257260E-001

3.02841363E-002,1.49440765E-003,1.04694189E-001,-2.6561113E+003,

3.66210937E-004,-2.0217896E-004*38

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GALB

Format:

Field #

Message ID = 78

Message byte count = 112

Data

Bytes

Format

Units

Offset

Sync

char

Checksum

char

Message Id

integer

double

integer

double

integer

double

Message byte count

Week number

Seconds of week

bytes

weeks

seconds

weeks

seconds

ordinal

104

Reference week (GLONASS time in GPS format)

Reference time (GLONASS time in GPS format)

Slot number

Frequency

Health

Ascending node time

Ascending node longitude

Inclination correction

Eccentricity

seconds

rad

Argument of perigree

Orbital period correction

Orbital period rate

rad

seconds

s/orbit

seconds

Clock offset to UTC

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GCLA/B CLOCK INFORMATION

This log contains the time difference information between GPS and GLONASS time as well as status flags. The status

flags are used to indicate the type of time processing used in the least squares adjustment. GPS and GLONASS time are

both based on the Universal Time Coordinated (UTC) time scale with some adjustments. GPS time is continuous and

does not include any of the leap second adjustments to UTC applied since 1980. The result is that GPS time currently

leads UTC time by 13 seconds.

GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time. The nominal offset

between GPS and GLONASS time is therefore due to the three hour offset minus the leap second offset. Currently this

value is at 10787 seconds with GLONASS leading. As well as the nominal offset, there is a residual offset on the order of

nanoseconds which must be estimated in the least squares adjustment. The GLONASS-M satellites will broadcast this

difference in the navigation message.

This log will also contain information from the GLONASS navigation data relating GLONASS time to UTC.

GCLA

Structure:

$GCLA

week

residual offset variance

sec

nominal offset

residual offset

time status

*xx

[CR][LF]

Example

τc

# GPS sv

# GLONASS sv

Field #

Field

Description

$GCLA

Week

Sec

Log Header

$GCLA

994

GPS week number

GPS time into week

149871.00

Nominal Offset

Nominal offset between GPS and GLONASS time 10787

references, in seconds

Residual Offset

Residual offset estimated in filter, in meters

10.62179349

Residual Offset Variance Variance of residual offset, in meters

167.82950123

Calendar day number within four year period beginning 1121

since the leap year, in days

τc

From GLONASS almanac - GLONASS time scale

correction to UTC(SU) given at beginning of day NA,

in seconds

-3.0544738044739E-007

# GPS sv

Number of good GPS sv tracked

Number of good GLONASS sv tracked

Time status (see below)

Checksum

# GLONASS sv

Time Status

* xx

00000000

*7B

[CR][LF]

Sentence terminator

[CR][LF]

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Appendices

Table 2

Time Status

Description

Value

GLONASS time floating

GLONASS time fixed

Example:

$GCLA,994,149871.00,10787,10.62179349,167.82950123,1121,

-3.0544738044739E-007,9,4,00000000*7B,[CR][LF]GCLB

GCLB

Format:

Field #

Message ID =

Message byte count = 68

Data

Bytes Format

Units

Offset

Sync

char

Checksum

char

Message Id

integer

double

integer

double

integer

Message byte count

Week number

Seconds of week

bytes

weeks

seconds

meters

metres²

day

Leap seconds plus three hour Moscow time offset

Fractional offset calculated by filter

Variance of fractional offset

Calendar day number within four year period beginning since the leap

year

From GLONASS almanac - GLONASS time scale correction to UTC

(SU) given at beginning of day NA

double

seconds

Number of GPS satellites

Number of GLONASS satellites

Status flags

integer

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GEPA/B EPHEMERIS INFORMATION

GLONASS ephemerides are referenced to the Parametry Zemli 1990 (PZ-90) geodetic datum, and GLONASS ephemeris

information is available through the GEPA/B log. GLONASS coordinates are reconciled internally through a position

filter and output to WGS84. Refer to the SVDA/B log in the MiLLennium Command Descriptions Manual for information

on WGS84.

GEPA

Structure:

$GEPA

svid

week

freq

velY

seconds

issue

velZ

ephweek

health

ephtime

posX

time offset

posY

posZ

tau

velX

LSAccX

flags

LSAccY

*xx

LSAccZ

[CR][LF]

gamma

age

Field

$GEPA

Week

Field #

Description

Example

Log Header

$GEPA

991

GPS Week of log output

GPS Time of log output

Seconds

496487

991

EphWeek Reference week of ephemeris (in GPS time)

EphTime Reference time of ephemeris (in GPS time)

495913

Time

offset

Integer seconds between GPS and GLONASS Time + implies GLONASS 107871

ahead of GPS

SVID

Freq

Slot number for satellite

Frequency number for satellite

Issue

Health

PosX

PosY

PosZ

VelX

VelY

15-minute interval number corresponding to ephemeris reference time

Ephemeris Health (0 = GOOD, 1 = BAD)

X coordinate for satellite at reference time (PZ90), in meters

Y coordinate for satellite at reference time (PZ90), in meters

Z coordinate for satellite at reference time (PZ90), in meters

X coordinate for satellite velocity at reference time (PZ90), in meters/s

Y coordinate for satellite velocity at reference time (PZ90), in meters/s

-2.102581933593754E+007

-1.216645166015627E+007

7.7982763671875110E+006

-9.655075073242192E+002

-5.014476776123048E+002

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VelZ

Z coordinate for satellite velocity at reference time (PZ90), in meters/s

-3.387468338012698E+003

LSAccX

LSAccY

LSAccZ

Tau

X coordinate for lunisolar acceleration at reference time (PZ90), in meters/s/s -1.862645149230957E-006

Y coordinate for lunisolar acceleration at reference time (PZ90), in meters/s/s 9.3132257461547851E-007

Z coordinate for lunisolar acceleration at reference time (PZ90), in meters/s/s -9.313225746154785E-007

Clock offset from GLONASS time, in seconds

Frequency Correction, in seconds/second

Time of frame start (since start of GLONASS day), in seconds

Age of data, in days

-3.913920372724533E-004

Gamma

7.2759576141834267E-012

73800

Age

Flags

*xx

Information flags (see Table 3, Page 46)

Checksum

*49

[CR][LF] Sentence Terminator

[CR][LF]

NOTE: ¹Time offset = 3 hours + GPS UTC offset. See Page 26 for more information on GLONASS time.

Example:

$GEPA,991,496487.00,991,495913.00,10787,4,12,83,0,-2.102581933593754E+007

-1.216645166015627E+007,7.7982763671875110E+006,-9.655075073242192E+002

-5.014476776123048E+002,-3.387468338012698E+003,-1.862645149230957E-006

9.3132257461547851E-007,-9.313225746154785E-007,-3.913920372724533E-004

7.2759576141834267E-012,73800,0,13,*49,[CR][LF]

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Appendices

GEPB

Format:

Message ID = 77

Message byte count = 156

Field #

Data

Bytes Format

Units

Offset

Sync

char

Checksum

char

Message Id

integer

double

integer

double

integer

double

long

Message byte count

GPS week of log output

GPS time of log output

bytes

weeks

seconds

weeks

Reference week of ephemeris (in GPS time)

Reference time of ephemeris (in GPS time)

GLONASS time - GPS time

Slot number

seconds

ordinal

900s

Frequency

Issue 15 min. reference

Health

X position (PZ90)

meters

Y position (PZ90)

meters

Z position (PZ90)

meters

X velocity (PZ90)

meters/s

meters/s/s

seconds

seconds/second

seconds

days

Y velocity (PZ90)

Z velocity (PZ90)

X lunisolar acceleration (PZ90)

Y lunisolar acceleration (PZ90)

Z lunisolar acceleration (PZ90)

Tau

104

112

120

128

136

144

148

152

Gamma

Time of frame start

Age of data

integer

Flags (See Table 3 following)

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Table 3

GLONASS Ephemeris Flags Coding

N 7

N 6

N 5

N 4

N 3

N 2 N 1 N 0 <- <- Nibble Number

Bit

Description

Range Values Hex Value

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10

4 3

lsb =

0 P1 FLAG - TIME INTERVAL BETWEEN ADJACENT iISSUE (t_b) VALUES

See Table below

00000001

00000002

2 P2 FLAG - ODDNESS OR EVENNESS OF iISSUE (t_b) VALUE

0 = even, 1 = odd 00000004

P3 FLAG

NUMBER OF SATELLITES WITH ALMANAC INFORMATION WITHIN CURRENT

3 SUBFRAME

0 = five, 1 = four

00000008

: RESERVED

Table 3, Bits 0 - 1: P1 Flag Range Values

State

Description

0 minutes

30 minutes

45 minutes

60 minutes

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Appendices

OTHER NOVATEL LOGS

RCCA RECEIVER CONFIGURATION

This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the

GPSCard configuration settings. See RCCA in the MiLLennium Command Descriptions Manual for the RCCA default

list.

The following are the default parameters, for the TESTBEDW receiver, that are different than the standard Millenium

WAAS receiver configuration:

CLOCKADJUST DISABLE

EXTERNALCLOCK OCXO

LOG CONSOLE TM1A ONTIME 10 HOLD*

The logging of the TM1A log is done in order to time synchronize the TESTBEDGLO receiver to the

TESTBEDW receiver.

The following are the default parameters, for the TESTBEDGLO receiver, that are different than the standard Millenium

Glonass receiver configuration:

CLOCKADJUST DISABLE

EXTERNALCLOCK OCXO

SETTIMESYNC ENABLE*

The SETTIMESYNC ENABLE allows the TESTBEDGLO receiver to accept the TM1A logs from the

TESTBEDW receiver for time synchronization.

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TEST BED RECEIVER - TECHNICAL SPECIFICATIONS

PHYSICAL

Size

448.8 x 361 x 183.5 mm (without the 19” mounting brackets)

10.2 kg

Weight

ENVIRONMENTAL

Operating Temperature

Storage Temperature

Humidity

-25° C to +55° C with 1 m / minute air flow

-40° C to +85° C

10-80%

Altitude

3,000 metres

[May operate above 3,000 m in a controlled environment, however is not certified as such.]

POWER INPUT

Connector

Voltage

3-position chassis jack

22-30 V DC

Current

1.5 A continuous; 3.0 A peak

TEST BED RECEIVER SUBSYSTEM PERFORMANCE (Subject To GPS System Characteristics)

Frequency

GPS: L1(1575.42 MHz), L2 (1227.6 MHz) GLONASS: L1(1602 – 1615.5 MHz)

GPS L1-C/A Code, GPS L2 P Codeless, WAAS GEO C/A Code, GLONASS L1 C/A code, and

GEO SVN (PRN 120-138)

Code tracked

12 GPS L1-C/A (Narrow) / L2 (Codeless)

10 GPS L1/L2 and 1 GEO (Wide)

8 GPS L1/L2 and 2 GEO (Wide)

Satellite Tracking

GPS GEO

12 GPS L1-C/A (Narrow) and 6 GLONASS L1-C/A (Narrow)

Channels

GPS GLONASS

40 metres CEP (SA on), GDOP < 2

50 nanoseconds (SA off)

Position Accuracy Stand-alone

Time Accuracy (relative)

250 nanoseconds (SA on)

Pseudorange

Measurement

Accuracy

L1 GLONASS (C/A, Narrow) 20 cm RMS, C/N > 44 dBHz, BW = 0.05

L1 GPS (C/A, Narrow)

L1 GPS (C/A, Wide)

L2 GPS

10 cm RMS, C/N > 44 dBHz, BW = 0.05

1 m RMS, C/N > 44 dBHz, BW = 0.05

50 cm RMS, C/N > 30 dBHz, BW = 0.05

Single Channel

Phase Accuracy

L1 GLONASS

L1 GPS

6 mm RMS, C/No > 44 dBHz, Loop BW = 15Hz

3 mm RMS, C/No > 44 dBHz, Loop BW = 15Hz

5 mm RMS, C/No > 30 dBHz, Loop BW = 0.2Hz

1 phase and code measurements per second

< 15 minutes after reset

L2 GPS

GPS GLONASS

GPS GEO

Raw Data

Availability Rate

Almanac data

100 seconds (95%) with stabilized internal and external oscillators.

15 minutes maximum from start of cold receiver. No initial time, almanac or position required.

Time to First Fix

Re-acquisition

L1 GPS/GLONASS 5 seconds C/No = 44 dB-Hz, 10 seconds C/No = 38 dB-Hz

L2 GPS

GEO

45 seconds C/No = 41 dB-Hz, 60 seconds C/No = 35 dB-Hz

10 seconds C/No = 44 dB-Hz

Height Measurements

Up to 18,288 metres (60,000 feet) maximum

[In accordance with export licensing, the card is restricted to less than 60,000 feet.]

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INPUT/OUTPUT DATA INTERFACE

Serial

Bit rates: 300, 600,1200, 4800, 9600, 19200, 38400, 57600, 115200 bps, user selectable

Default: 9600 bps (GPS GLONASS, GPS GEO)

Connector

DE9P

Electrical format

RS-232C

OUTPUT STROBES

1PPS Output

Measure Out

Connector

A one-pulse-per-second Time Sync output. This is a normally high, active low pulse (1 ms )

where the falling edge is the reference.

1 - 10 pulses-per-second output, normally high, active low where the pulse width is 1 ms. The

falling edge is the receiver’s measurement strobe. (Rate is model-dependent.)

DE9S

The electrical specifications of the strobe signals are as follows:

Output

Voltage

(High)

(Low)

> 2.0 VDC

< 0.55 VDC

1 KΩ

Minimum load impedance

ANTENNA INPUT

Connector

TNC female

Frequency

GPS: L1(1575.42 MHz), L2 (1227.6 MHz)

GLONASS: L1(1602 – 1615.5 MHz)

LNA Power Output

Power to the LNA is supplied by the receiver (4.25 – 5.25 V DC @ 0 – 90 mA )

10 MHz INPUT

Connector

Sensitivity

BNC female

0 dBm to +15 dBm into 50 Ω

RECOMMENDED EXTERNAL FREQUENCY REFERENCE SPECIFICATIONS

Frequency

10.000 MHz

-11

Short Term Stability (Allen Variance)

Accuracy Over Operating Temp. Range

RF Output Power

2x10 , 1 second

-12

±5 x 10

+13 dBm into 50 Ω

Sine wave

Output Waveform

Harmonics:

-40 dBc

Spurious:

-80 dBc

Phase Noise

@10 Hz:

@100 Hz:

@1 kHz:

-120 dBc/Hz

-140 dBc/Hz

-150 dBc/Hz

BNC Female

RF Output Connector

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Default Channel Assignments

Config

Channel

SV Type

Code

DLL Type

Fra

Nav Type

Symbol Rate

FEC

Sky Search

12 L1/L2

GPS

L1 C/A, L2 P

Code

Narrow Corr.

DLL Type

GPS

FEC

Automatic

Sky Search

GPS

Port

Channel

SV Type

Fra

Nav Type

Symbol Rate

10 L1/L2

+ 1 GEO

GPS

L1 C/A, L2 P

L1 C/A

Narrow Corr.

Wide Corr.

GPS

GEO

GPS

Automatic

Sky Search

GPS

500

GEO

SV Type

GEO

Yes

FEC

Port

Channel

Code

DLL Type

Fra

Nav Type

Symbol Rate

8 L1/L2

GPS

GEO

L1 C/A, L2 P

L1 C/A

Narrow Corr.

Wide Corr.

GPS

GEO

GPS

GEO

Yes

Automatic

+ 2 GEO

500

L1 C/A

Wide Corr.

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Index

INDEX

external: frequency reference, 11, 13, 17; power input,

10 mhz output, 12, 15

1pps, 12, 16

external oscillator, 27

a/d, 28

filter, 28

accessories, 11

front panel, 13, 17

antenna, 11, 12, 17, 27, 28; active, 28; connector, 14;

installation, 14; model, 28; models, 28; passive, 28;

primary, 27; single-frequency, 28

ascii, 20

geo, waas, 31

gps: geo, 16; glonass, 16

gpsolution, 19

automatic gain control (agc), 27, 28

IF, 27, 28

back panel, 14

input, 19

backplane, 12

baud rate, 12, 17

bits per second (bps), 21

installation, 11

ionospheric, 10

led, 13, 29

c/a code, 29

cable, 11, 12, 14, 15

carrier phase, 29

lna, 11, 12, 27, 28

loop control, 29

channel, 29

clock, 27; drift, 13; signal, 15

coaxial cable, 28

microstrip, 28

multipath, 28

narrow correlator tracking technology, 8, 10

navigation, 29

com port, 14, 17

com1, 21

non-volatile memory, 17

commands, 19, 20, 21

communication, 17, 18, 19, 21

communications: port, 29

configuration, 21, 28; channel, 30; receiver, 33, 47

configure, 21, 29

operation, 17, 19

oscillator, 12, 13, 15, 27

output rate, 8

control segment, 24

converter: a/d, 28

p-code, 8

personal computer (pc), 20, 21

port, 19, 29

cpu, 27

customer service, 19, 20

position: solution, 13

power, 21

data, 21

power supply, 11, 12, 13, 14, 15, 17, 27

processing, 27, 28

dc, 28

default, 21, 29

default channel assignments, 50

differential: positioning, 29

digital electronics, 27, 28

direction, 28

quick start, 29

radio frequency, 27, 28

rear panel, 12

distributor, 19

receiver, 19

dos, 20, 21

rf signal, 28

dsp, 28

rs-232 serial communication, 12, 14

rt-2, 19

echo response, 18

enclosure, 8, 12, 13, 14

extended cable lengths, 28

satellite, 28, 29

Test Bed Receiver Subsystem Addendum – Rev 1

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Index

segment, control, 24

segment, space, 24

segment, user, 24

self-test, 29

serial number, 19

serial port, 19, 20, 21

space segment, 24

speed, 28

transfer, 19, 21

two-way communication, 14

updating, 19, 20

upgrading, 19, 20

user: segment, 24

velocity, 24

version, 18

voltage range, 15

strobe signal, 16

strobe signals, 28

support, 20, 21

waas: corrections, 32; ionospheric model, 31

warm-up, 17

wide area augmentation system (waas), 8, 22

technical specifications, 48, 49

terminator, 12, 15

time, 21; information, 12

Test Bed Receiver Subsystem Addendum – Rev 1

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Test Bed Receiver Subsystem Addendum – Rev 1

Download from Www.Somanuals.com. All Manuals Search And Download.

NovAtel Inc.

1120- 68 Avenue N.E.

Recyclable

Calgary, Alberta, Canada T2E 8S5

GPS Hotline: 1-800-NOVATEL (U.S. and Canada only)

Phone: 1-403-295-4900

Printed in Canada

on recycled paper

GPS Fax: 1-403-295-4901

E-mail: [email protected]

Web site: http://www.novatel.ca

OM-AD-0020 Rev 1

00/04/11

Software Versions 4.52s3 (GPS/GEO) and 6.48s16 (GPS/GLONASS)

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