M600 GNSS receiver User Guide
ComNav Technology
User Guide
M600 GNSS Receiver
March 2016
M600 GNSS receiver User Guide
Corporate office
ComNav Technology Ltd.
Building 2, No.618 Chengliu Middle Road, 201801 Shanghai, China
Tel: +86 21 64056796
Fax: +86 21 54309582
Website:http://www.comnavtech.com
E-mail: support@comnavtech.com
Trademark notice
© 2016 ComNav Technology Ltd. All rights reserved.
SinoGNSS is the official trademark of ComNav Technology Ltd., registered in
People’s Republic of China, EU, USA and Canada.
All other trademarks are the property of their respective owners.
FCC Notice
ComNav M600 GNSS receivers comply with the limits for a Class B digital device, pursuant to the
Part 15 of the FCC rules when it is used in the Portable Mode.
Operation is subject to the following two conditions:
(1) This device may not cause harmful interference;
(2) It must accept any interference received, including interference that may cause undesired
operation.
Copyright Notice
This is the February 2016 revision of the M600 Receiver User Guide. It cannot be copied or
translated into any language without the written permission of ComNav Technology.
Technical Assistance
If you have any question and can't find the answer that you need in this manual, please contact
your local dealer from which you purchased the M600 Receiver. Alternatively, request technical
support using the ComNav Website at: www.comnavtech.com or technical support
email:support@comnavtech.com. Your feedback about this Guide will help us to improve it with
future revisions. Please email your comments to: support@comnavtech.com.
Safety Information
Before using the receiver, please make sure that you have read and understood this user Guide,
as well as the safety requirements
M600 GNSS receiver User Guide
Connect your devices strictly based on this User guide
Install the GNSS receiver in a location that minimizes vibration and moisture
Avoid falling to ground, or colliding with other items
Do not pull and plug serial port lines when powered on
Do not rotate 7-pin Lemo port
Do not cover the radio, keep a sound ventilation environment
To reduce radiation, please keep above 2 meters away from the radio station
Take lighting protection measures when installing antennas
Change the cable if damaged
Warranty Notice
ComNav does not warranty devices damage because of force majeure (lighting, high voltage or
collision).
ComNaw does not warranty the disassembled devices.
M600 GNSS receiver User Guide
I
CONTENTS
1.
Introduction ............................................................................................................... 1
1.1
About the receiver ............................................................................................ 1
1.2
Receiver Features .............................................................................................. 1
1.3
M600 Receiver parts list ................................................................................... 1
2.
Installing the receiver ................................................................................................. 3
2.1
Installing the Antenna ....................................................................................... 3
2.2
Mounting the Receiver...................................................................................... 4
2.3
Cable connections and indicator lights ............................................................. 5
3.
Setting up the receiver ............................................................................................... 6
3.1
Required software............................................................................................. 6
3.2
Power supply ..................................................................................................... 6
3.3
Guidelines ......................................................................................................... 6
3.4
Frequently Used Commands ........................................................................... 10
4.
FAQs .................................................................................................................................... 12
Appendix A：Specifications ......................................................................................... 13
Appendix B: 7-Pin Lemo definition .............................................................................. 14
Appendix C: GPTRA ...................................................................................................... 14
Appendix D: PJKPARA ............................................................................................................ 15
Appendix E: Firmware Update ..................................................................................... 16
M600 GNSS receiver User Guide
1
Items
Picture
M600 GNSS Receiver
1. Introduction
Thank you for choosing the M600 GNSS receiver.
This User Guide provides you a detailed introduction of receiver installation, setting
up, as well as frequently asked questions. It will help you get quickly started with
M600 receiver.
1.1 About the receiver
M600 is a dual-frequency GNSS receiver with two antenna systems, which is
designed for high-precision applications. It can provide quick and precise positioning
and heading information even in a harsh environment. Therefore, M600 receiver is
an optimal option for a wide range of static and mobile carriers, such as moving
vehicles, ships, harbor construction and aircraft.
1.2 Receiver Features
There are top features of M600 receiver, including:
Dual antenna system
GPS+BeiDou/ GLONASS Dual constellation system
A wide range of data output
Over current and voltage protection system built-in
The detailed technical specification, please see Appendix A
1.3 M600 Receiver parts list
Please check the package you received with the package list showed below:
M600 GNSS receiver User Guide
2
A/C Adapter
7-pin Lemo to RS232 Cable
USB to serial port convert
External Power Cable
2*GNSS Antenna
Cable(optional)
2*AT300
Antenna(optional)
M600 GNSS receiver User Guide
3
Radio Antenna(optional)
2. Installing the receiver
This chapter describes how to install the antenna, M600 receiver and cable
connections.
2.1 Installing the Antenna
To improve the performance of receivers and acquire high-precision position
accuracy, it is necessary to mount the antenna to the optimal position in a proper
way. Antennas must be installed:
Outdoors with a clear view of sky
In a level plane
Away from obstructions
Away from other radio frequency and electronic devices
Along the center line of the carriers
The M600 receiver is linked with two antennas, primary antenna is connected to
Master, and secondary antenna is connected to the Slave. AT300 antenna is
recommended, if use other kinds of antenna please check the specifications with the
ComNav support team. Please install antennas in the proper position based on your
requirement.
M600 GNSS receiver User Guide
4
To mount the stable antennas, there are various mounting types you can choose,
including magnetic mount, pole mount and rail mount. The following picture shows
the antenna mounted with the magnetic mount.
2.2 Mounting the Receiver
M600 receiver is desired with a bracket at the bottom, which can be easily mounted
to desired location. However, GNSS receivers are disturbed by radio equipment,
please make sure that the M600 receiver is mounted:
Away from wireless bridge, router, signal isolator etc.
in a location that minimizes vibration, extreme temperatures and moisture
Power supply within 10.5~28 VDC, and proper electrode
Be careful about the range of input voltage if using external radio
With secure cable connection
Screw down the brackets in your desired location as figure below:
M600 GNSS receiver User Guide
5
5
2.3 Cable connections and indicator lights
This section introduces the cable connections and the indicator lights. The following
figure explains the connection of each component.
1
GNSS1: Connected to the Master (positioning);
2
GNSS2: Connected to the Slave (heading);
3
UHF：TNC UHF antenna connector;
4
DC/: Input commands for master station, 12V power supply input,
also output heading and positioning information;
DC/: Input commands for slave station, communicated with internal UHF.
Note: the heading and positioning information only can be outputted from DC1 port. For
detailed information of 7-pin Lemo cable, please see Appendix B
According to LED lights, you can check the work status of your receiver.
PWR: Power indicator. The LED will light in red color when powered on.
SAT1: Satellite indicator of master station (GNSS 1), it will flash based on the
number of locked satellites.
SAT2: satellite indicator of slave station (GNSS 2), as the same meaning as SAT1.
LINK: correction message. As a base station, flashing once per second means
that it sends one correction message per second; as a rover, it means receiving
correction message. In the raw data recording mode, data is recorded in the
memory of the receiver, and LINK indicator will flash according to the sampling
interval of Mater.
M600 GNSS receiver User Guide
6
3. Setting up the receiver
3.1 Required software
The required software can be downloaded from ComNav Website, or you can contact
our technical support.
Compass Receiver Utility (CRU): Software to configure the receiver
U20_V1.16.exe: Software to configure the radio settings
3.2 Power supply
The M600 GNSS receiver has no built-in battery, which only can work with an extra
power supply. The proper voltage range is from 10.5VDC to 28VDC. Power supply is
connected through 7-pin Lemo to RS232 Cable (as the picture below):
3.3 Guidelines
This chapter describes guidelines to set up the receiver and output position message
through programmatic commands. Please read these notes before sending
commands to your M600 receiver.
Select and send proper commands, all commands are case insensitive:Log
version=LOG VERSION
Press Enter button at the end of every command, then input other commands
For More detailed programmatic commands, please refer to ComNav OEM
CARD REFERENCE MANUAL
The default baud rate is 115200bps, set the same baud rate when sending
commands through DC1 or DC3.
M600 GNSS receiver User Guide
7
Then follow the guidelines to set up your M600 receiver:
1. Connect the M600 receiver with your PC through DC1 port (with USB to serial
port convert).
2. Open CRU software to configure the master OEM board. Click set port -> select
correct COM port ->OK.
3. Click Commands to input configuration commands.
Note: if receiver connected successfully, serial number will be shown on the title bar.
4. Input the following commands to configure the master station (set as an
example to GPGGA+HEADING+GPVTG module).
Unlogall //clear previous settings
Fix none // clear previous reference coordinates
Log com2 rtcmcompassb ontime 0.2 //set Com2 port output differential data (5HZ)
Interfacemode com2 auto auto on //set Com2 port to auto differential mode
M600 GNSS receiver User Guide
8
Interfacemode com3 auto auto on //set Com3 port to auto differential mode
Log com1 gpgga ontime 0.2 //output GGA data through Com1 (5HZ)
Log com1 headingt ontime 0.2 //output heading data through Com1 (5HZ)
Log com1 gpvtg ontime 0.2 //output GPVTG data through Com1 (5HZ)
Saveconfig // save the configuration
Note: It has 5HZ output frequency with the above commands, change 0.2 to 1 if you need
1HZ. For frequency above 5HZ, please add the following commands(10HZ as an example).
set cpufreq 624
set pvtfreq 10
set rtkfreq 10
ComNav also define our unique heading message - GPTRA, see Appendix C for more
information about this message; see Appendix D for PJKPAPA message.
5. Connect the M600 receiver with your PC through DC3 port, the following
message will be shown.
6. Input the following commands to configure the slave OEM board.
Unlogall // clear previous settings
Interfacemode com3 auto auto on //auto detect the correction message type
Rtkrefmode 1 //set differential mode
Set diffmatchmode synch //set synchronous work mode as the master board
Log com3 rtcmcompass3b ontime 0.2 //transfer position information
Log com3 headingp ontime 0.2 //transfer heading information
Saveconfig // save configuration
7. Radio Configuration
Open upgrade kit U20_V1.16.exe -> click Break -> Connect(C) -> setup (choose
your connected port) -> OK
M600 GNSS receiver User Guide
9
Click Radio CFG -> set the frequency, Protocol and status (same as the base)->
Click Apply to complete radio configuration. Only RX mode is supported for the
M600 GNSS receiver, and link LED light will flash when setting up successfully.
Note: Click Update to update the radio firmware. To update the OEM board, please see
Appendix E.
8. Then connect DC1 to output heading information through CRU software, you can
check and save output messages as below:
Heading information Pitch information PVT (position/velocity/time)
M600 GNSS receiver User Guide
10
3.4 Frequently Used Commands
1. Receiver reset
Freset
For DC1, the prompt message is shown below if resetting successfully. For DC3 port,
Link LED light will flash once without prompt messages.
2. Check baud rate of OEM board
Log comconfiga
Note: For RxType and TxType, you can send or receive commands through this COM port
with value of “1”, while “27” means the COM port is set in RTK mode and cannot receive
any command.
3. Check settings of output information
Log loglista
4. Read the version of GNSS board
Log version
5. Raw data output
Log com1 rawephemb onchanged //Output GPS ephemeris
Log com1 glorawephemb onchanged //Output Glonass ephemeris
Log com1 bd2rawephemb onchanged //Output Beidou ephemeris
Log com1 rangecmpb ontime 1 // Set com1 output raw observation data, the
frequency is 1Hz.
6. Change the serial port baud rate
Com com1 9600 // Change the baud rate of com1 to 9600
M600 GNSS receiver User Guide
11
7. Check System Information
log sysconfiga // All the configuration of the system can be viewed by this command.
M600 GNSS receiver User Guide
12
4. FAQs
1. Why cannot I turn on the receiver?
Verify receiver within a proper voltage range (10.5～ 28VDC).
Check the external power supply or power cables
2. Why cannot I control my receiver through commands?
Verify the proper baud rate
Send inrfacemode compass compass on command to close differential working
mode
3. What should I do when radio loss signal?
Verify the antenna without any damage
Check differential data sent from the reference station
Change the mounting position of antennas to check signal status
Connect DC3 through U20_V1.16.exe software to check the radio settings
Reset the receiver by entering FRESET command
Try to change the frequency of the reference station.
4. Why can’t I get exceptional GNSS positioning and heading information
Verify GNSS antenna within a clear view of sky
Verify GNSS antenna connection
Check indicator lights
M600 GNSS receiver User Guide
13
Appendix A：Specifications
Signal Tracking
•120 channels
-GPS: L1, L2
-BeiDou: B1, B2, B3
-GLONASS: L1, L2
-SBAS: WAAS, EGNOS, MSAS, GAGAN
Performance Specifications
•Cold start: <50 s
•Warm start: <45 s
•Signal re-acquisition: <2 s
•Velocity accuracy: 0.03 m/s
Heading Specifications
•Azimuth Accuracy: (0.2/R)°
•Roll and Pitch Accuracy: (0.4/R)°
Time Precision
•GPS + GLONASS/BeiDou: 20 ns
Positioning Specifications
•Post Processing Static
-Horizontal: 2.5 mm + 1 ppm RMS
-Vertical: 5 mm + 1 ppm RMS
•Real Time Kinematic (RTK)
-Horizontal: 10 mm + 1 ppm RMS
-Vertical: 20 mm + 1 ppm RMS
•DGPS: <0.5 m 3D RMS
•SBAS: <1 m 3D RMS
•Standalone: < 1.5 m 3D RMS
Communications
• 2 Serial ports (7 pin Lemo), 3 TNC
Connectors.
•Position data outputs: 1, 2, 5, 10 Hz.
•1 Pulse Per Second output
3
• 4 LEDs (indicating Power, Satellite
Tracking and Differential Data)
Data Format
2
•Correction data I/O:
-RTCM 2.X, 3.X, CMR (GPS only), CMR+
(GPS only).
•Position and heading data output:
-ASCII: NMEA-0183 GSV, RMC, HDT, VHD,
GGA, GSA, ZDA, VTG, GST; PTNL, PJK,
-ComNav Heading format, GPTRA
-ComNav Binary (compatible with major
brands)
Physical
•Size(L*W*H): 200mm*145 mm*80 mm
•Weight: 1.3 kg (include Internal UHF)
• Case: Rugged and light high
performance metal
Environmental
•Operating temperature: -40 °C to
+ 70 °C
•Storage temperature: -45 °C to
+ 80 °C
•Humidity: 95% no condensation
Electrical
•Power consumption: 3 W
•External power input: 10.5-28 VDC
•Memory: 100 MB
Antenna
•AT300 GNSS Geodetic Antenna
Software
• ComNav Compass Receiver Utility
software
1 You can choose GPS+BeiDou or GPS+Glonass as the system
configuration, need to clarify when place the order.
2 R (meter) is the length of baseline from master to slave.
3 PPS need to clarify when place the order.
Specifications subject to change without notice.
M600 GNSS receiver User Guide
14
Field#
Field Type
Data Description
Symbol
Example
1
$GPTRA
GPTRA header
$GPTRA
2
UTC
UTC time
hhmmss.ss
104252.00
3
Heading
Heading in degrees (0 to 360.0 degrees)
hhh.hh
044.56
4
pitch
Pitch (90 degrees)
ppp.pp
-09.74
5
roll
Roll (90 degrees)
rrr.rr
0
6
QF
Solution status: 1 autonomous mode; 4
RTK FIX; 5 RTK float
q
4
7 pin Lemo
Description
1 Signal GND
2
GND
3 TX data out (TXD)
4 NONE
5 NONE
6 Power In (+)
7 Serial data in (RXD)
Appendix B: 7-Pin Lemo definition
The following figures show the definition of 7-pin lemo, and the structure of 7-pin
Lemo to RS232 Cable:
Appendix C: GPTRA
GPTRA is the unique format of heading information defined by ComNav. The
detailed explanation is shown below:
Command input: log gptra ontime 1
Output explanation:
$GPTRA,hhmmss.ss,hhh.hh,ppp.pp,rrr.rr,q,n,dd.dd,xxxx*CC<CR><LF>
M600 GNSS receiver User Guide
15
7
Sat NO.
Number of satellites in solution
n
20 8 Age
dd.dd
9
STN ID
Station ID string
xxxx
4
10
*XX
Checksum
*hh 11
[CR][LF]
End
[CR][LF]
Field#
Field Type
Data Description
Default
1 A The long axle of the earth
6378137.0
2
1/F
1/The Earth flat rate
298.257223563
3
B0
Reference latitude(in degree)
0
4
L0
Reference longitude(in degree)
120 / 180 * PI
5
N0
Reference north coordinate
0
6
E0
Reference east coordinate
500000
Field#
Field Type
Data Description
Symbol
Example
1
$PTNL,PJK
Header
$PTNL,PJK
2
utc
UTC time (hhmmss.ss)
<1>
063102.00
3
date
Date (mmddyy)
<2>
032113
4
lat
X coordinate (meter)
<3>
+34311.143
5
Latdir
X direction(N/S)
<4>
N
6
Lon
Y coordinate(meter)
<5>
+339.462
7
Lon dir
Y direction(E/W)
<6>
E
8
QF
Solution status: 1 autonomous mode; 3
RTK FIX; 4 RTK float
<7>
3
9
Sat No.
Number of satellites in solution
<8>
13
10
HDOP
HDOP（0.5~99.9）
<9>
3.1
11
H
Altitude（-9999.9~99999.9）
<10>
EHT+73.928
12
a-units
Unit(meter)
<11>
M
Appendix D: PJKPARA
PJKPARA is a command that can help you set projection parameters based on your
requirement.
Command input: Set pjkpara<A><1/F><B0><L0><N0><E0>
Note: Input log pjkpara command to check if set parameters correctly.
Completed the above configuration, you can obtain the local horizontal coordinate.
Command input: log com1 ptnlpjk ontime 1
Output explanation:
$PTNL,PJK,<1>,<2>,<3>,<4>,<5>,<6>,<7>,<8>,<9>,<10>,<11>,<12>*hh<CR><LF>
M600 GNSS receiver User Guide
16
13
*xx
Checksum
<12>
*64
11
[CR][LF]
End
[CR][LF]
Appendix E: Firmware Update
To update firmware of GNSS OEM board, you should follow:
1. Connect M600 receiver with your PC. Connect to DC1 for the master station,
DC3 for the slave station.
2. Change the baud rate to 115200 in CRU software, enter commands: com com1
115200
3. Open firmware upgrade software, click Break -> Setting -> select serial port and
click OK
4. Click Link and Update to upgrade OEM board
Note: please don’t move your mouse when updating firmware.
M600 GNSS receiver User Guide
17
5. Please wait for 3-4 seconds after update completed, then restart the receiver.
Loading...