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Novatel OEM Series User Manual
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OM-20000
046 Rev 12
OEM4 Family
of Receivers
USER MANUAL - VOLUME 1
Installation and Operatio
n
2
Table of Contents
Default Chapter
2
Proprietary Notice
2
Table of Contents
3
Software License
10
Warranty Policy
12
Customer Service
13
Notice
14
Foreword
16
Congratulations
16
Scope
16
User Manual Updates
16
Prerequisites
16
Conventions
16
1 Introduction
17
Overview of the OEM4 Family
17
Common Features
17
Gpscards
18
OEM4-G2L Gpscard
18
OEM4-G2 Gpscard
19
Enclosures
20
Enclosure Features Comparison
20
Flexpak
21
Flexpak Enclosure
21
Propak-G2
22
Propak-G2 Back End-Cap (DB-9 Version)
22
Propak-G2 Enclosure
22
Propak-LB
23
Propak-LB Back End Cap
23
Propak-LB Interface
24
2 Receiver System Overview
25
Gpscard
25
GPS Receiver System Functional Diagram
25
Digital Electronics Section
26
Enclosure and Wiring Harness
26
GPS Antenna
26
Optional LNA Power Supply
26
Radio Frequency (RF) Section
26
Data Communications Equipment
27
Principal Power Supply
27
3 Installation and Set up
28
Additional Equipment Required
28
Selecting a GPS Antenna
28
Novatel GPS Antenna Models
28
Choosing a Coaxial Cable
29
Power Supply Requirements
29
Voltage Input Ranges for Gpscards
29
Installation Overview
30
Power Requirements for Enclosures
30
Typical Receiver Installation
31
Installing a Gpscard in a Wiring Harness and Enclosure
32
OEM4-G2L Connector and Indicator Locations
33
Connecting the Antenna to the Receiver
34
Mounting the GPS Antenna
34
OEM4-G2 Connector and Indicator Locations
34
Applying Power to the Receiver
35
Connecting Data Communications Equipment
35
Default Serial Port Configurations
35
Additional Features and Information
36
Strobes
36
USB (OEM4-G2 and OEM4-G2L Only)
38
Status Indicators
38
Available Strobe Signals on Receivers
38
External Oscillator (OEM4-G2 / -G2L Only)
39
Flexpak Status Indicators
39
Propak-G2 Status Indicators
39
Propak-LB Status Indicators
39
External Antenna LNA Power (OEM4-G2 Only)
40
Mounting Bracket (Propak-G2 and Propak-LB Only)
40
Propak-G2 with Mounting Bracket
41
Propak-LB with Mounting Bracket
41
4 Operation
42
Communications with the Receiver
42
Serial Port Default Settings
42
Typical Operational Configuration
42
Communicating Using a Remote Terminal
43
Communicating Using a Personal Computer
43
Getting Started
43
Starting the Receiver
44
Remote Terminal, PC and GPS Receiver
44
Transmitting and Receiving Corrections
46
Enabling SBAS Positioning
48
Enabling Omnistar Positioning (Propak-LB Only)
48
Pass-Through Logging
49
Pass-Through Log Data
50
T Sync Mod
51
Input Signal Phase Relationship Constraints
51
Transferring Time between Receivers
52
Procedures
52
1PPS Alignment
53
5 Message Formats
54
RTCA-Format Messages
54
Rtca1
54
RTCAEPHEM Type 7
55
RTCAOBS Type 7
55
RTCAREF Type 7
56
RTCM-Format Messages
56
Rtcm1
57
RTCM3 Base Station Parameters (RTK)
58
RTCM9 Partial Satellite Set Differential Corrections
58
RTCM15 Ionospheric Corrections
59
RTCM16 Special Message
60
RTCM18 and RTCM19 Raw Measurements (RTK)
60
RTCM20 and RTCM21 Measurement Corrections (RTK)
61
RTCM22 RTCM Extended Base Station Parameters (RTK)
61
RTCM59 Type 59N-0 Novatel Proprietary Message (RTK)
61
CMR Format Messaging
62
Using RT-2 or RT-20 with CMR Format Messages
62
NMEA Format Data Logs
64
6 Positioning Modes of Operation
65
Single-Point or Autonomous
65
Single-Point Averaging (Typical Results)
66
GPS System Errors
67
Satellite-Based Augmentation System (SBAS)
68
SBAS Receiver
69
The SBAS Concept
69
SBAS Commands and Logs
70
Pseudorange Differential
70
Pseudorange Algorithms
70
Position Solutions
71
Latency-Induced Extrapolation Error
71
Dual Station Differential Positioning
72
Typical Differential Configuration
72
Omnistar Positioning
74
Coverage
74
Virtual Base Station (VBS)
74
Omnistar Concept
75
High Performance (HP)
76
Omnistar Commands and Logs
76
Carrier-Phase Differential
76
Real-Time Kinematic (RTK)
78
Comparison of RT-2 and RT-20
79
Summary of RTK Messages and Expected Accuracy
79
RT-2 Performance: Kinematic Mode
81
RT-2 Degradation with Respect to Data Delay
81
RT-2 Accuracy Convergence
82
Typical RT-2 Horizontal Convergence - Static Mode
82
Typical RT-2 Horizontal Convergence - Kinematic Mode
82
RT-20 Performance
83
Typical RT-20 Convergence - Static Mode
84
Typical RT-20 Convergence - Kinematic Mode
84
RT-20 Re-Initialization Process
86
7 PC Software and Firmware
87
Gpsolution/Convert Installation
87
Gpsolution
88
Convert
91
Convert Screen Examples
91
Novatel Logs for Rinex Conversion
92
Rinex Format
92
Firmware Upgrades & Updates
93
Upgrading Using the AUTH Command
94
Updating Using the Winload Utility
95
Main Screen of Winload
96
WinloadĂs Open Dialog
96
Open File in Winload
97
COM Port Setup
97
Authorization Code Dialog
98
Update Process Complete
98
8 Built-In Status Tests
99
Overview
99
Receiver Status Word
99
Error Strobe Signal
100
RXSTATUSEVENT Log
100
Receiver Status Log
100
Overview
100
Location of Receiver Status Word
100
Error Word
101
Reading the Bits in the Receiver Status Word
101
Location of Receiver Error Word
101
Status Code Arrays
102
Receiver Status Code
102
Auxiliary Status Codes
102
Set and Clear Mask for All Status Code Arrays
102
Reading the Bits in the Receiver Error Word
102
Status LED
103
Status LED Flash Sequence Example
103
9 Troubleshooting
104
Troubleshooting Based on Symptoms
104
Examining the RXSTATUS Log
106
Resolving a Receiver Error Word
106
Resolving an Error in the Receiver Status Word
107
Technical Specifications
109
OEM4-G2L Board Dimensions
110
Top-View of 24-Pin Connector on the OEM4-G2L
114
OEM4-G2 Board Dimensions
115
Top-View of 40-Pin Connector on the OEM4-G2
119
Flexpak COM1 Port Pin-Out Descriptions
123
Flexpak COM2 Port Pin-Out Descriptions
124
Flexpak Power Cable
125
Flexpak 13-Pin Serial Cable
126
Flexpak USB Cable
127
Propak-G2 (DB-9 Version) Serial Port Pin-Out Descriptions
130
Propak-G2 (LEMO Version) Serial Port Pin-Out Descriptions
130
Propak-G2 (DB-9 Version) I/O Port Pin-Out Descriptions
131
Propak-G2 Power Cable
132
Propak-G2 (DB-9 Version) Y-Type Null Modem Cable
133
Propak-G2 (DB-9 Version) Straight Serial Cable
134
Propak-G2 (DB-9 Version) I/O Strobe Port Cable
135
Propak-G2 (LEMO Version) Null Modem Cable
136
Propak-G2 (LEMO Version) Straight Serial Cable
137
Propak-LB Port Pin-Outs
140
Propak-LB PWR Port Pin-Out Descriptions
140
Propak-LB COM1 Port Pin-Out Descriptions
140
Propak-LB COM2 Port Pin-Out Descriptions
141
Propak-LB COM3 Port Pin-Out Descriptions
141
Propak-LB Power Cable
142
Propak-LB 6-Pin Serial Cable
143
Propak-LB 7-Pin Serial Cable
144
Propak-LB 8-Pin Serial Cable
145
Static-Accumulating Materials
147
NAVSTAR Satellite Orbit Arrangement
149
Illustration of Receiver Height Measurements
151
Accuracy Versus Precision
152
Example of Differential Positioning
153
Illustration of GPS Signal Multipath
154
GPS Signal Multipath Vs. Increased Antenna Height
156
Illustration of Quadrifilar Vs. Microstrip Patch Antennae
158
Comparison of Multipath Envelopes
160
Typical Receiver TTFF
161
Approximate Time and Position Methods
162
Replacement Parts
181
Voltage Input Ranges for Gpscards
183
Gpscard RF Input Connectors
183
Gpscard Power Inputs
183
Enclosure Power Inputs
183
Default Serial Port Configurations
184
Powerpak-4 Status Indicators
184
Powerpak-4E Status Indicators
184
OEM4 Board Dimensions
185
Top-View of 40-Pin Connector on the OEM4
189
Euro4 Board Dimensions
191
Front-View of 64-Pin Connector on the Euro4
194
Powerpak Serial Port Pin-Out Descriptions
198
Powerpak I/O Port Pin-Out Descriptions
198
Powerpak Power Adapter
199
Powerpak Y-Type Null Modem Cable
200
Propak-4E Serial Port Pin-Out Descriptions
203
Propak-4E I/O Port Pin-Out Descriptions
203
Propak-4E Power Cable
204
Propak-4E Straight Serial Cable
205
Propak-4E Null Modem Cable
206
Propak-4E Strobe Cable
207
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Novatel OEM Series Specifications
General
Category
Receiver
Position Accuracy (RMS)
2.5 m
Protocols
NMEA 0183
Interfaces
USB
Power Supply
3.3 V to 5.5 V DC
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