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Novatel OM-AD-0020 - page 1
Software Versions 4.52s3 (G PS/GEO) and 6.48s16 (G PS/GLONASS) OM-AD-0020 Rev 1 NovAtel Inc. Test Bed Receiver Addendum to the MiLLennium Command Description s Manual ...
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Novatel OM-AD-0020 - page 2
ii Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Test Bed Receiver Subsystem Addendum Publication Number: OM-AD-0020 Revision Level: 1 00/4/11 This manual reflects Test Bed fir mware revision levels 4.52s3 ( GPS/GEO) and 6.48s16 (GPS/GLO NASS). Proprietary Notic e Infor mat ion in this doc ument i s subject to change w ithout noti ce and doe ...
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Novatel OM-AD-0020 - page 3
Table of Contents Test B ed Re ce iver Subsyst em A ddendum – Rev 1 iii TABLE OF CONTENTS Foreword ....................................................................................................................... .... vii Scope .................................................................................................................. ...
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Novatel OM-AD-0020 - page 4
Table of Contents iv Test B ed Rece i ver Sub system A ddendum – Rev 1 Datum .......................................................................................................................... .................................. 26 MiLLenniu m-GLONASS GPSCard Sys tem .......................................................................... ...
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Table of Contents Test B ed Re ce iver Subsyst em A ddendum – Rev 1 v FIGURES Figure 1 The NovAtel Test B ed Receive r .................................................................................................. .................... 8 Figure 2 Test Bed Receiv er Function al Block Diagram...................................................... ...
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Foreword Test B ed Re ce iver Subsyst em A ddendum – Rev 1 vi i FOREWORD SCOPE The Test Be d Receiver Subsystem Addendum is written for users of th e Test Bed Receiver Subs ystem and co ntains information specific to th e TESTBEDW and TESTBEDGLO software mo dels. This manual d escribes the No vAtel Test Bed R eceiver Subsy stem in sufficient d et ...
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Novatel OM-AD-0020 - page 8
1 - Introduction 8 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 1 INTRODUCTION The Test Bed Receiver is based on a Wide A rea Aug men tation Sy stem receiver (NovA tel WAAS ). See Appendix A, Page 22 for an overv iew of the WA AS sy stem . THE NOVATEL TEST BED RECEIVER Figure 1 The NovAtel Test Bed Receiver The Test Bed Receiver consists of ...
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Novatel OM-AD-0020 - page 9
1 - Introduction Test B ed Re ce iver Subsyst em A ddendum – Rev 1 9 OPERATIONAL OVERVIEW The NovAtel Tes t Bed Receiv er has two fun ctional bl ocks (see Figure 2 ): • Single Fre que ncy GPS GLO N ASS • Dual Fre que ncy GPS GE O Figure 2 Test Bed Receiver Functional Block Diagram RF/I F Di gi tizi ng BA CKPLA NE: Comm unic ation and Tim e Sy ...
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Novatel OM-AD-0020 - page 10
1 - Introduction 10 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Single Frequency GPS GLONASS The GPS G LONA SS is configur ed to tr ack 12 L1 C/ A-code signals ( Narr ow Corr elator trac king technol ogy), and 6 L1 GLON A SS C/A-c ode signals. The output i s used to com put e ionospher i c corr ecti ons. Dual Frequency GPS GEO Within the G ...
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Novatel OM-AD-0020 - page 11
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 11 2 INSTALLATION OF TEST BED RECEIVER This chapter provides suff icient information to allow you to set up and pr epar e the Test Bed Receiver f or initial oper ation. MINIMUM CONFI GURATIO N In order fo r the Test Bed Receiver to fu nction as a co mplete s ystem, a minimu m equi ...
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Novatel OM-AD-0020 - page 12
2 - Installation 12 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 For the minimum configuration, setting up the T e st Bed Receiver involves the following steps: 1. Conn ect the user interface to the Test Bed Receiver ( “ GPS GLONASS ” and/or “ GPS GEO ” connect or s) 2. Inst a ll the G PS a nd GLON A SS antenna s a nd low-noise ampli ...
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Novatel OM-AD-0020 - page 13
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 13 command is disabled, or if the EXTERNAL clock command is disabled, then the two receivers will d rift away from each other in time. The n ormal mode of operation is to use either the in ternal OCXO or a highl y stable external os cillator. The 10 MHz OCXO is m ounted w ithin th ...
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Novatel OM-AD-0020 - page 14
2 - Installation 14 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 CONNECTING DATA COMMUNICATI O NS EQUI PMENT There ar e two ser ial ports on the back panel of the T est Bed Receiver; both are configur ed for RS-232 protocol. These ports ma ke i t possible for ext er nal da ta c om muni ca tions e quipm ent - such a s a pe r sonal com pute r ...
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Novatel OM-AD-0020 - page 15
2 - Installation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 15 CONNECTING THE EXTERNAL POWER INPUT The Test Bed Receiver re quires one source of external regulated power. T he input can be in the +22 to +30 V DC range. The receiver draws up to 3 A at start-up, b ut the stead y-state requ irement is app roximately 1 .5 A. Five and tw elve v ...
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Novatel OM-AD-0020 - page 16
2 - Installation 16 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 ACCESSING THE STROBE SIGNALS A str obe por t i s loc ated on the enclosur e back pa nel. T his is a di agnostic c onnector and is in t he for m of a DE9S connecto r (see Figure 11 ). The 1PPS and Measurement p ulse from bo th receiver sub systems are availab le on this connecto ...
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Novatel OM-AD-0020 - page 17
3 - Operation Test B ed Re ce iver Subsyst em A ddendum – Rev 1 17 3 OPERATION Before operating the Test Bed Receiver for the first time, ensur e that you have followed the installation instructions in Chapter 2 . From here on, it will be assumed that testing and op eration of the Test Bed Receiver will be performed while using a personal compu t ...
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Novatel OM-AD-0020 - page 18
3 - Operation 18 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 INITI AL COMMUNI CATI ONS WITH THE TEST BED RECEI VER Commun icating with the Test Bed Receiver is a st raightforward process an d is accomplis hed by issuing desired comma nds to the COM1 ports fr om an exter nal seria l communic ations device. For your initial testing and commun ...
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Novatel OM-AD-0020 - page 19
4 - Update or Upgrade Test B ed Re ce iver Subsyst em A ddendum – Rev 1 19 4 UPDATE OR UPGRADE YOUR GPSCARD The M iLLennium stor es its program firmware in non- volatile memory, which allows you to perform f irmware upgr ades and update s without ha ving to ret urn the M iLL ennium to t he distr ibutor. New f irm ware can be t ransf err ed to the ...
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Novatel OM-AD-0020 - page 20
4 - Update or Upgrade 20 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 where $auth is a specia l com m and whi c h allow s pr ogram mode l upgr ades auth-code is the upgr ade author ization code, expressed as hhhh,hhhh,hhhh,hhhh, hhhh,model # where the h characters are an ASCII hexad ecimal code, and the model# woul d be ASCII text Example: $ ...
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Novatel OM-AD-0020 - page 21
4 - Update or Upgrade Test B ed Re ce iver Subsyst em A ddendum – Rev 1 21 USING THE LOADER UTILITY The Loader utility can opera te from any DOS direc tory or dr ive on your PC. The program is compri sed of three parts: Program Card (a uthoriz ation pr ocedur e), Setup (c omm unicati ons configur ation) and Term inal (terminal emulator). Th e mai ...
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Novatel OM-AD-0020 - page 22
Appendices 22 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 A WAAS OVERVIEW The Wide Area Augmentation System (WAAS) is a safety-critical system wh ich is desig ned to en able the GPS to meet the U S Fede ral Aviation A dminist ration ( FAA) navigat ion perf orma nce r equire ments f or dome stic e n route, term inal, non-pre c ision appr oac ...
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Novatel OM-AD-0020 - page 23
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 23 B GLONASS OVERVIEW MILLENNIUM-GLONASS GPSCARD The MiLLennium- GLONASS GPSCard can receive L1 signals f rom combined GPS/GLONASS satellites. This hybrid receiver offers comb ined GPS/GLONASS pos ition solutio ns. An RTK ver sion of the M iLLe nnium-G LONA SS GPSCard pe rform s signifi ...
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Novatel OM-AD-0020 - page 24
Appendices 24 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 The NovAtel MiL Lennium -GL ONASS GPSCar ds ca n be applied i n mining a nd machi ne contr ol, roboti cs, fl ight inspection , marine navigation, ag riculture, military, direction fin ding and other custom OEM ap plications. Som e of t he i nf orm ati on u sed to create th e Intr odu ...
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Novatel OM-AD-0020 - page 25
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 25 frequen cies used by the satellites and to gradually chan ge the L 1 frequencies to 1598.0625 - 1609.3125 MHz. Eventu ally the s yst em w ill only us e 12 primary frequen cy ch annels (plu s tw o additional channels for testing purposes). • Sys tem operation (24 satellites and on l ...
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Novatel OM-AD-0020 - page 26
Appendices 26 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 TIME The GLONASS satellites broadcast their time within th eir satellite messages. NovAtel ’ s MiLLennium GLON ASS GPSCard is ab le to receive and reco rd both time references as well as rep ort the offset informatio n between GPS an d GLONASS time (see the GCLA/B log on Page 41 ). ...
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Novatel OM-AD-0020 - page 27
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 27 FUNCTIONAL OVERVIEW MILLENNIUM-GLONASS GPSCARD SYSTEM The MiLL ennium- GLON ASS GPSCa rd c onsists of a ra dio fre quency ( RF) and a digi tal el ectr onics sect ion. Prior to operation, a GPS/GLONASS antenna, power supply, and data and signal interfaces m ust be connected. The overa ...
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Novatel OM-AD-0020 - page 28
Appendices 28 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 GPS/GLONASS ANTENNA The pur pose of the GPS/GLONASS a ntenna is to convert the electr omagnetic wa ves transmitte d by the combined GPS/GLONASS satellites at the L1 fr equency (1575.42 M Hz for GPS and 1602 - 1615.5 MHz for GLONASS) into RF signals. The MiLLenn ium-GLONASS GPSCard wi ...
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Novatel OM-AD-0020 - page 29
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 29 comm unicat ions ports suppor t user- sele ctable bit ra tes of 300 - 115,200 bps, w ith a de fault of 9600 bps. The digita l section doe s the fol l owing: • converts th e IF analog sig nals to a digital f ormat • tracks the C/A codes and carrier phases of the satellites in use ...
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Novatel OM-AD-0020 - page 30
Appendices 30 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 C WAAS COMM ANDS AND LO GS These com mands and l ogs diffe r fr om the versi ons descri bed in the M iLL ennium Com mand D escr iptions Ma nual for the Test Bed Receiver at the time of this publication. COMMANDS CONFIG This comm and sw itches t he channe l confi guration of the GPSCa ...
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Novatel OM-AD-0020 - page 31
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 31 IONOMODEL This comm and a llows the user to inf luence wha t ionosphe ric corr ections t he car d uses. T his com mand c urrent ly does not effe ct the ionospher ic model that is used when the c ard is operating in RTK m ode. Additional range value s are reserve d for futu re use. Th ...
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Novatel OM-AD-0020 - page 32
Appendices 32 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 WAASCORRECTION This com mand allows you to have a n affe ct on how the car d handles WAAS corr ections. T he card will switc h automatically to Pseudorange Differential (RTCM or RTCA) or RT K if the appropriate cor rections are being received, regar dless of t he curr ent set t i ng. ...
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Novatel OM-AD-0020 - page 33
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 33 LOGS RCCA RECEIVER CONFIGURATION This log out puts a list of all curre nt G PSCard comm and settings. Obser ving this log is a good way to m onitor the GPSCard c onfigura tion setti ngs. See R CCA in the MiLLenni um Command De scriptions Manual f or the RCCA def ault list. The follow ...
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Novatel OM-AD-0020 - page 34
Appendices 34 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 D GLONASS COMMANDS AND LOGS GLONASS-SPECIFIC COMMANDS This chapte r descr ibes Mi L Lennium -GLO NASS GPSCar d comm ands impor tant to GL ONASS. GLONASS-specific commands are generated by using info rmation obtained from the GLONASS satellite system. Please see the f ollowing se ctio ...
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Novatel OM-AD-0020 - page 35
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 35 PZ90TOWGS84 This command allows the user to input the Helmert transfor mation relating the GL ONASS PZ90 refe rence fra me to the GPS WGS-84 reference frame. In th is case, ( x,y,z ) is the desir ed WGS- 84 coordinat e set a nd ( u,v, w ) is t he given coordina te se t in PZ 90. T he ...
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Novatel OM-AD-0020 - page 36
Appendices 36 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 UNIMPLEMENTED COMMANDS Currently, the ability to set satellite health, and the ab ility to de-weight th e range of a satellite in the solu tion computatio ns, is not enabled for GLONASS. Becau se of this, the follo wing comman ds will n ot wo rk with the MiLLennium-GLONASS GPSCard fo ...
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Novatel OM-AD-0020 - page 37
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 37 Field # Field Description Example 1 $CAL A Log Header $CAL A 2 Week G PS week numbe r 992 3 Sec G PS time into w eek , in seconds 453075 4 Reserved for future use 5 Reserved for future use 6,7 8, 9, 10, 11, ..., 50, 51, 52, 53, 54, 55, ..., 68, 69, Bias 1, Std. Dev . Bias 1 Bias 2, S ...
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Novatel OM-AD-0020 - page 38
Appendices 38 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 CALB Form at: Messag e ID = 87 Message by te cou nt = 32 + (16 * 32) Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 1 Messa ge by te count 4 inte ger by tes 8 2 Wee k num ber 4 integ er weeks 12 3 Seconds of w eek 8 double seconds 16 4 R ...
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Novatel OM-AD-0020 - page 39
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 39 GALA/B ALMANAC INFORMATION The GLONASS almanac reference time and week are in GPS time coord inates. GLONASS ephemeris information is availa ble thr ough t he GEPA/ B log. GALA Structure: $G ALA week seconds week tim e SVID freq health TlambdaN Lambad N deltal ecc argperig deltaT del ...
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Novatel OM-AD-0020 - page 40
Appendices 40 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 GALB Form at: Message ID = 78 Message by te cou nt = 112 Field # Data Bytes Format Units Offset Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 1 Messa ge by te count 4 inte ger by tes 8 2 Wee k num ber 4 integ er weeks 12 3 Seconds of w eek 8 double sec onds 16 4 Reference we ...
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Novatel OM-AD-0020 - page 41
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 41 GCLA/B CLOCK INFORMATION This log contains th e time difference info rmation between GPS and GLONASS time as well as status flags. Th e statu s flags are used to indicate th e type of time pro cessing u sed in the leas t squ ares adjus tment. GPS and GLONASS time are both base d on t ...
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Novatel OM-AD-0020 - page 42
Appendices 42 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Table 2 Time Status Value Description 0 GL ONASS tim e floa ting 1 GLONA SS time fixed Example : $GCL A,994,149871.00,10787,10.62179349,167.82950123,1121, -3.0544738044739E -007,9, 4,00000000*7B,[ CR][L F]GCLB GCLB Form at: Message ID = 88 Message by te count = 68 Field # Data Bytes ...
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Novatel OM-AD-0020 - page 43
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 43 GEPA/B EPHEMERIS INFORMATION GLONASS epheme rides are r efe renced to the Par ame try Ze mli 1990 ( PZ-90) geodetic datum, and GLONASS epheme ris information is available through the GE PA/B log. GLONASS coordinates are reconciled internally through a position filter and output to WG ...
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Novatel OM-AD-0020 - page 44
Appendices 44 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 16 VelZ Z coordinate f or satellite velocity at re fere nce tim e (PZ90), in mete rs/s -3.387468338012698E+003 17 LSAccX X co ordi n ate for luni solar acceleratio n at reference time (PZ 9 0), in meters/s/s -1 . 862645149230957E-006 18 LSAccY Y coo rdin at e for lu niso l ar accel e ...
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Novatel OM-AD-0020 - page 45
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 45 GEPB Format: Message ID = 77 Me ssage byte c ount = 156 Field # Data Bytes Format Units Offset 1 Sync 3 char 0 Checksum 1 char 3 Message Id 4 integer 4 Messa ge by te count 4 inte ger by tes 8 2 GPS w eek of log output 4 integ er weeks 12 3 GPS tim e of log output 8 double se conds 1 ...
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Novatel OM-AD-0020 - page 46
Appendices 46 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Table 3 GLONASS Ephe me ris Flags Coding N 7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Ni bble Number 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Bit Description Range Values Hex Valu e lsb = 0 P1 FLAG - TIME INTERVAL BETW EEN ADJACENT iISSUE ( ...
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Novatel OM-AD-0020 - page 47
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 47 OTHER NOVATEL LOGS RCCA RECEIVER CONFIGURATION This log out puts a list of all curre nt G PSCard comm and settings. Obser ving this log is a good way to m onitor the GPSCard c onfigura tion setti ngs. See R CCA in the MiLLenni um Command De scriptions Manual f or the RCCA def ault li ...
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Novatel OM-AD-0020 - page 48
Appendices 48 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 E TEST BED RECEI VER - TECHNI CAL SPECIFICATI ONS PHYSICAL Size 448.8 x 361 x 183.5 mm (without the 19” mounti ng brackets) Weight 10.2 kg ENVIRONMENTAL Operating T emperature -25° C to +55° C with 1 m 3 / minute air flow Storage T emperature -40° C to +85° C Humid ity 10-80% A ...
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Novatel OM-AD-0020 - page 49
Appendices Test B ed Re ce iver Subsyst em A ddendum – Rev 1 49 INPUT/OUTPUT DATA INTERFACE Serial Bit rates: 300, 600,1200, 4800, 9600, 19200, 38400, 57600, 115200 bps, user s electable Default: 9600 bps (GPS GLONASS, GPS GEO) Connect or DE9P Electrical format RS-232C OUTPUT STROBES 1PPS Output A one-pulse-per-second T ime Sync output. T his is ...
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Novatel OM-AD-0020 - page 50
Appendices 50 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 Default Channel Assi gnments Config Channel SV Ty pe Code DLL Ty pe Fra me Nav Ty pe Sy mbol Rate FEC Sky S earch 12 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic 1 GPS L1 C/A, L2 P Narrow Corr . GPS GPS 50 No Automatic 2 GPS L1 C/A, L2 P Narrow Corr . GPS GPS 50 No A ...
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Novatel OM-AD-0020 - page 51
Index Test B ed Re ce iver Subsyst em A ddendum – Rev 1 51 INDEX 10 mh z outpu t, 12, 15 1pps, 12, 16 a/d, 28 accessories, 11 anten na, 11, 12, 17, 27, 28; activ e, 28; conn ector, 14; inst allation , 14; m odel, 28; m odels, 28; pas siv e, 28; prim ary, 27; sing le-f requency , 28 ascii, 20 automatic g ain control (agc), 27, 2 8 back panel , 14 ...
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Novatel OM-AD-0020 - page 52
Index 52 Test B ed Re ce iver Subsyst em A ddendum – Rev 1 segm ent, con trol, 24 segm ent, space, 24 segment, user , 24 self-te s t , 29 serial n um ber, 19 serial port , 19, 20, 21 space segm ent, 24 speed, 28 strobe si gnal , 16 strobe si gnal s, 28 support , 20, 21 technical s pecifications, 48, 49 term inator, 12, 15 time, 21; inf ormation, ...
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Novatel OM-AD-0020 - page 53
Test B ed Re ce iver Subsyst em A ddendum – Rev 1 53 ...
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Novatel OM-AD-0020 - page 54
OM-AD-0020 R ev 1 00/04/11 Software Version s 4.52s3 (GPS/GEO ) and 6.48s16 (GPS/GLO NASS) NovAtel Inc. 1120- 68 Avenue N.E. Calgary, Alberta, Canad a T2E 8S5 GPS Hotline: 1-800-NOVATEL ( U.S. and Canada o nly) Phone: 1-403-295-4900 GPS Fax: 1- 403-295-4901 E - m a il: s uppo r t@no va t e l. c a W e b s i t e : http: / / www . no va t e l . c a Re ...
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