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ashtech G12 - User Manual

ashtech G12
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G12RevD.book Page i Tuesday, April 2, 2002 4:33 PM

Table of Contents

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Summary

General Information

Overview

Details the G12 GPS receiver's functionality, including signal processing, channel capabilities, and operational modes.

Functional Description

Explains the G12's built-in self-test, memory initialization, satellite tracking, and position computation capabilities.

Hardware Description

Describes the G12 receiver in two versions (Sensor and OEM Board), detailing power, enclosure, and component specifications.

Power Connections

Details the J301 connector for all power and input/output connections, including pin assignments.

J301 Pin Assignments

Provides a detailed table of pin assignments for the J301 connector on the G12 OEM board.

External Equipment Interfacing Diagram

Illustrates the connections between the G12 board and external equipment via the J301 connector.

Power Requirements

Lists the DC voltage, power consumption, and wiring gauge requirements for the G12 board and sensor.

Environmental Specifications

Specifies the operating and storage temperature ranges for the G12 receiver.

RF Connections

Describes the RF connector and impedance matching requirements using a coaxial cable and LNA.

Radio Interference

Advises on potential interference from radio transmitters and recommends verifying nearby devices.

Receiver Options

Explains how receiver options determine available commands and features, listing common options.

G12-L

Describes the lower-cost G12-L version with reduced update rates and multipath mitigation features.

G12 Evaluation Kits

Lists and describes the G12 Sensor and G12 OEM Board Evaluation Kits available for purchase.

Firmware Upgrades

Details how G12 firmware is stored, loaded, and updated, recommending external serial port design.

Getting Started

Connecting to the G12

Provides instructions on connecting the G12 to power, antenna, and controller devices via the J301 connector.

Power

Explains how to apply power to start G12 operation and how removing power stops it.

Antenna

Details antenna requirements, including operational band, polarization, and gain specifications.

Important Default Parameters

Lists the default communication parameters for the G12 serial ports.

Communication Port Setup

Explains the default communication parameters and protocol required for establishing communication.

Data Output Options

States that all default data output commands are OFF and data is only output when commanded.

Initial Operating Instructions

Guides on sending command messages to the G12 to receive data such as antenna position.

Operation

System Setup

Covers setup requirements, including compliance with hardware specifications for non-Magellan equipment.

Power-Up

Describes the status LED behavior during power-up and satellite lock indication.

Message Formats

Explains the structure and format of messages received and sent by the G12 via RS-232 ports.

G12 Input Messages

Details the format of input messages, including NMEA 0183 compliance and Ashtech proprietary deviations.

G12 Message Output

Describes the types of output messages (status, ACK/NAK, GPS data) and their compliance with NMEA standards.

Serial Port Configuration

Explains the default serial port protocol (9600 baud, 8N1) and how to adjust it using commands.

Satellite Tracking

Describes the satellite search process, almanac/ephemeris data collection, and position computation.

Parameter Settings and Status

Details how to query general receiver parameters and the default settings after initialization.

Saving Parameter Settings

Explains how to save new parameter settings using the $PASHS,SAV,Y command.

Watchdog Timer

Describes the watchdog timer's function to reset the receiver if the processor hangs up.

Position Modes

Details the four position computation modes (0-3) that determine satellite requirements and output.

Fixed Altitude Modes

Defines two modes for altitude setting when the G12 is in altitude hold mode.

Geoid Model

Specifies the geoid model used (OSU91A) and provides OSU contact information.

Ionospheric Model

Explains the use of ionospheric and tropospheric models for error compensation in autonomous mode.

Magnetic Variation Model

Identifies the Joint US/UK 1995 Epoch World Magnetic Model (WMM-95) used by the G12.

Setting Antenna Position

Describes how to enter accurate antenna position for differential base mode calculations.

NMEA Outputs

Details the output of NMEA and Ashtech NMEA-style messages, including compliance and length variations.

Raw Data Output (Optional)

Explains the optional feature to output raw data (MBN, PBN, SNV, SAL, MCA) in binary format.

Differential Operation (Optional)

Discusses real-time differential operation concepts, commands, and RTCM-SC104 correction messages.

Sources of Error

Identifies major sources of GPS range measurement errors and how they are mitigated.

RTCM Messages

Explains RTCM message formats for differential corrections and G12 support for various RTCM types.

RTCM 104 Format, Version 2.2

Details RTCM message types 1, 2, 3, 6, 9, and 16 used for differential corrections.

Photogrammetry; Event Marking (Optional)

Describes how to measure and record events with high accuracy using a photogrammetry trigger signal.

Time Tagging the Shutter Signal

Explains using the camera shutter signal for accurate time-tagging of pictures with GPS observations.

Closed-Loop Technique (Advanced Trigger)

Combines PPS synchronization and shutter timing for accurate event time tagging.

Timing Pulse & Measurement Strobe (Optional)

Details the TTL-level timing pulse output synchronized with GPS time.

10 HZ and 20 HZ Outputs

Explains optional capabilities for 10 Hz or 20 Hz internal update rates for position and raw data.

RAIM Algorithm

Describes Receiver Autonomous Integrity Monitoring for detecting anomalous satellite pseudorange errors.

Command Response Formats

Command Parameter Symbols

Lists and defines symbols used to represent parameter types in ASCII message structures.

Receiver Commands

Explains commands for changing or querying receiver operating parameters and status.

Query Command Structure

Defines the format for query messages, including headers, message identifiers, and optional parameters.

AIM: RAIM Availability-Extended Memory G12 Only

Details the command to set Receiver Autonomous Integrity Monitor modes and alarm limits.

ALT: Ellipsoidal Height

Explains the command to set the ellipsoidal height of the antenna for 2D position computations.

CLK: Clock Status

Describes the command to query the real-time clock status and its response format.

CRR: Code Correlator Mode

Explains the command to select the code correlator type for multipath mitigation.

CTS: Handshaking Protocol

Details the command to enable or disable CTS/RTS handshaking protocol on serial ports.

DTM: Set Reference Datum

Allows selection of a user-defined datum for position computations and measurements.

ERM: Set Position Error Mask Values

Explains setting horizontal and vertical error mask values for different positioning modes.

FIX: Fixed Altitude Mode

Describes the command to set the fixed altitude mode for 2D positioning or low satellite count.

FUM: Fix UTM Zone

Enables or disables the fixing of the UTM zone to avoid coordinate shifts near boundaries.

FZN: Select Fixed UTM Zone

Allows selection of the UTM zone to be held fixed, typically near zone boundaries.

GDC: 3-D Position in User-defined Grid Coordinates

Details the command to query for current position in user-defined grid coordinates.

GRD: Datum-to-Grid (Map Projection)- Extended Memory G12 Only

Allows enabling or disabling user-defined datum to grid transformation for position outputs.

HDP: HDOP Mask Value

Explains setting the HDOP mask value, which affects automatic transition to fixed altitude mode.

INI: Initialize the Receiver

Describes the command to clear receiver memory and reset serial port baud rates.

ION: Ionospheric and Tropospheric Modeling

Details the command to query for current ionospheric data generated by GPS satellites.

LPS: Third-order Loop Tracking Parameters

Allows setting third-order loop tracking parameters to optimize performance for specific applications.

PAR: Query General Receiver Parameters

Queries current settings of general receiver parameters, outputting a free-form proprietary message.

PDP: PDOP Mask Value

Explains setting the PDOP mask value to stop position computation when the value exceeds the mask.

PEM: Position Elevation Mask Value

Details setting the elevation mask for position computation, excluding satellites below the angle.

PHE: Photogrammetry Edge Mode

Allows synchronizing the photogrammetry trigger to the rising or falling edge of the timing pulse.

PMD: Position Mode

Explains setting the position mode, which determines satellite requirements and auto-switching.

POP: Position and Raw Data Update Rate

Allows setting the G12's internal update rate for position and raw data computations.

PPO: Point Positioning

Details the command to enable/disable point positioning mode for improved static point accuracy.

POS: 3-D Antenna Position

Describes setting a 3-D antenna reference position for a differential base station receiver.

PPS: Pulse Per Second

Explains generating a programmable timing pulse synchronized with GPS time.

PRR: Extended-Memory- Extended Memory G12 Only

Allows uploading current ephemeris and almanac data for faster time to first fix.

PRT: Serial Port Baud Rate

Details the command to set the baud rate for the G12 serial ports.

PSM: Navigation Mode Filtering

Allows enabling or disabling position/velocity filters to smooth output and reduce noise.

RID: Receiver Identification Parameters (Format 1)

Explains querying receiver identification parameters like type, firmware version, and options.

RST: Restore Default Parameters

Restores G12 parameters to their default values, allowing verification via query commands.

SAV: Save Parameter Settings

Enables or disables saving user-entered parameters in battery-backed memory.

SEM: Secondary Elevation Mask

Allows setting a secondary elevation mask angle for a specific sector of the sky.

SMI: Code Measurement Smoothing

Sets the interval for code measurements smoothing to reduce the effect of noise.

SNR: Set Signal-to-Noise Ratio

Defines the algorithm used for computing signal-to-noise ratio (DBH or AMP).

SPD: Serial Port Baud Rate

Sets the baud rate for G12 serial ports, with default at 9600 bps.

STA: Satellite Tracking Status

Queries the current satellite tracking status, including UTC time and PRN numbers.

STB: Measurement Strobe Output

Allows setting the output interval, offset, and synchronization edge of the measurement strobe signal.

SUI: Satellite Usage Indicator

Enables or disables the satellite usage indicator, affecting SAT message display.

UDD: User-defined Datum

Allows setting parameters for a user-defined datum and storing them in battery-backed memory.

UDG: User-Defined Datum-to-Grid, Extended Memory G12 Only

Sets parameters to transform geodetic coordinates to grid coordinates internally.

USE: Satellites for Acquisition

Allows excluding specific satellites from tracking or enabling/disabling all satellites.

USP: Satellites Used in Position Computation

Enables selection of specific satellites to be used or excluded from position computations.

UTS: Synchronize with GPS Time

Enables or disables synchronization of measurements with GPS system time.

VDP: VDOP Mask

Sets the VDOP mask value, affecting automatic transition to fixed altitude mode.

Raw Data Commands

ELM: Elevation Mask for Raw Measurements Outputs

Sets the minimum elevation for raw measurement data output, affecting which satellites are used.

MBN: Raw Measurements (Ashtech Type 2 Data Structure)

Enables/disables raw measurement data (MBN) messages, detailing the data string format.

MCA: Raw Measurements (Ashtech Type 3 Data Structure)

Enables/disables raw measurement data (MCA) messages using Ashtech Type 3 structure.

MCM: Missile Application Condensed Measurement Record (MACM) - G12 HDMA Users Only

Optimizes data output for missile applications requiring high-speed data transmission.

MSV: Minimum Satellites for Raw Measurement Output

Sets the minimum number of satellites required to output raw measurement data.

PBN: Raw Position Data

Enables/disables position data (PBN) messages, detailing the message format.

RAW: Setting Query Command

Shows current settings of raw data parameters, including output interval and types.

RCI: Set Output Interval for Raw Messages

Sets a global output interval for all raw messages, overriding individual settings.

SAL: Satellite Almanac Data

Allows querying for satellite almanac data, including health and orbital measurements.

SIT: Site Name for Observation Session

Sets a user-defined site name for observation sessions, captured in PBN messages.

SNV: Satellite Ephemeris Data

Enables/disables GPS raw satellite ephemeris data messages, including clock and harmonic parameters.

NMEA Commands

Message Structure

Describes the structure of standard and non-standard NMEA messages, including headers and delimiters.

NME: Enable;Disable All NMEA Messages

Disables all NMEA message types on a specified output port.

AIM: Receiver Autonomous Integrity Monitor - Ext. Mem. G12 Only

Enables/disables RAIM message output, dependent on position computation.

CRT: Cartesian Coordinates Message

Allows output of computed Cartesian coordinates and velocities, enabling/disabling the message.

GSA: DOP and Active Satellites

Enables/disables the DOP and active satellite message, output if position is computed.

GDC: Grid Coordinates

Enables/disables the $PASHR,GDC message for position rendered in UTM coordinates.

GGA: 3-D GPS Position

Enables/disables NMEA GPS position response message, specifying output format and rate.

GLL: 2-D Position

Enables/disables NMEA latitude/longitude message, including output port, status, and rate.

GRS: Satellite Range Residuals

Enables/disables NMEA satellite range residual response message, output if position is computed.

GSN: Satellite PRN Number and Signal Strength

Enables/disables signal strength/satellite number response, providing satellite PRN and SNR.

GST: Pseudo-Range Error Statistics

Enables/disables the GST message providing real-time estimate of position error (1 sigma).

RMC: Recommended Minimum Course

Enables/disables NMEA recommended minimum course message containing time, position, course, speed.

LTN: Position Output Latency

Enables/disables latency information message, reporting time to compute position and prepare data.

MSG: Differential Base Station Data

Enables/disables RTCM base station message types, applicable only when sending/receiving differential corrections.

TCM: Differential Remote Station Status

Enables/disables RTCM rover data message, providing status on base station and reception quality.

TTT: Photogrammetry Event Marker

Enables/disables event marker message, requiring photogrammetry pulse input and option.

UTM: Universal Transverse Mercator (UTM) - Ext. Mem. G12 Only

Enables/disables UTM message, containing position in UTM coordinates, UTC time, and satellites used.

VTG: Course and Speed Over Ground

Enables/disables velocity/course message, containing true/magnetic north course and speed data.

ZDA: Time and Date

Enables/disables time and date message, containing UTC time, date, and local time offsets.

RTCM Commands

AUT: Automatic Differential Mode

Enables or disables automatic differential mode for remote stations.

BAS: Set Receiver in Differential Base Station Mode

Sets the G12 to operate as an RTCM differential base station, designating the output port.

IOD: Ephemeris Data Update Rate for RTCM Base Station

Sets the time period before the RTCM base station switches to a new ephemeris data issue.

MAX: Maximum Age Threshold for Differential Corrections

Sets the maximum age for incoming RTCM differential corrections, which the receiver ignores if exceeded.

MSG: Define RTCM Type 16 Message

Defines an ASCII message for broadcast by the RTCM base station.

OFF: Disable Differential Operation

Disables differential operation for the receiver, whether set as base or remote station.

REM: Set Receiver in Differential Remote Station Mode

Sets the G12 to operate as an RTCM differential remote station, designating the input port.

RTC: Query RTCM Operating Parameters and Status

Queries differential parameter settings and status, providing information on synchronization and health.

SEQ: Verify RTCM Message Sequence

Enables or disables checking the sequence number of received RTCM correction messages.

SPD: Baud Rate for RTCM Message Output

Sets the base station's output rate for RTCM messages in bits per second (bps).

STH: Differential Base Station Health

Sets the health of the base station, with codes indicating status like 'not working'.

STI: Differential Base;Remote Station ID

Sets differential station identification numbers for communication between base and remote stations.

TYP: Enable;Disable Output of RTCM Message Types

Enables or disables specific RTCM message types and their output intervals.

Appendix A: G12 and Sensor II: Differences and Compatibility

G12 and Sensor II Connector Pin Configurations

Compares the connector pin configurations between the G12 and Sensor II models.

Appendix B: Floating Point Data Representation

Single-Precision Float

Explains the single-precision format using 32 bits for sign, exponent, and fraction fields.

Double-Precision Float

Details the double-precision format using 64 bits for sign, exponent, and fraction fields.

Appendix C: Global Product Support

Solutions for Common Problems

Provides troubleshooting steps for common hardware and software issues.

Corporate Web Page

Lists Ashtech and Magellan internet addresses for obtaining product information and FAQs.

Repair Centers

Provides contact information for repair centers in California, England, and authorized distributors.

Glossary

ashtech G12 Specifications

General IconGeneral
Brandashtech
ModelG12
CategoryAccessories
LanguageEnglish