NavCom RT-3020 User Manual Rev.F

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NavCom Technology, Inc.

20780 Madrona Avenue Torrance, California 90503 USA

Tel: +1 310.381.2000 Fax: +1 310.381.2001

sales@navcomtech.com www.navcomtech.com

P/N: 9

31000

3001

RT-3020 User Guide – Rev. F

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RT-3020 User Guide – Rev. F

List of Figures..........................................................iv

List of Tables ............................................................ v

Notices ...........................................................vi

Trademarks ................................................................vi

FCC Notice................................................................. vi

User Notice................................................................ vii

Limited Warranty .......................................................viii

StarFire™ Licensing...................................................ix

USG FAR....................................................................ix

Global Positioning System ......................................... ix

Revision History.......................................................xi

Use of this Document.............................................xii

Related Documents.......................................................xii

StarUtil User Guide.................................................... xii

Technical Reference Manual.....................................xiii

RINEXUtil User Guide...............................................xiii

Integrators Toolkit......................................................xiii

NavCom Release Notes............................................xiii

Related Standards........................................................ xiv

ICD-GPS-200 ........................................................... xiv

RTCM-SC-104.......................................................... xiv

CMR, CMR+............................................................. xiv

NMEA-0183.............................................................. xiv

Publicly-Operated SBAS Signals ............................. xiv

Chapter 1 Introduction .....................................17

System Overview...........................................................17

GPS Sensor System .................................................17

Accuracy....................................................................18

Features ....................................................................18

Output Data Rate.......................................................18

NCT Binary Proprietary Data.....................................19

NMEA-0183 Data ......................................................20

Models ...........................................................................21

RT-3020S..................................................................21

RT-3020M..................................................................21

Antennae........................................................................22

Standard....................................................................22

Spread Spectrum Radio Antenna..............................22

RT-3020 User Guide – Rev. F

Airborne (option)........................................................23

Controller.......................................................................23

Applications...............................................................26

Unique Features............................................................26

Chapter 2 Interfacing........................................ 29

Electrical Power.........................................................29

Communication Ports................................................32

CAN Bus/Event .........................................................35

Event .........................................................................35

1 PPS ........................................................................36

Indicator Panel...............................................................37

Chapter 3 Installation....................................... 41

Standard Antenna .....................................................41

GPS Sensor...............................................................43

Block Diagram...........................................................45

Communication Port Connectivity.............................46

GPS Antenna Connector...........................................48

SSR Antenna Connector...........................................50

Basics of RTK Surveying...............................................50

Chapter 4 Configuration .................................. 53

Factory Default Settings ................................................54

Message Descriptions...............................................56

3rd Party Controller Configuration Settings................57

Chapter 5 Safety Instructions.......................... 59

Transport...................................................................59

RF Exposure Compliance.........................................59

Maintenance..............................................................59

External Power Source..............................................60

Safety First ................................................................60

A GPS Module Specifications.............................61

Features ....................................................................61

Time-To-First-Fix.......................................................62

Dynamics...................................................................63

Measurement Performance.......................................63

User programmable output rates ..............................64

Data Latency .............................................................64

1PPS .........................................................................64

Built-in Radio Performance .......................................65

Connector Assignments............................................65

Input/Output Data Messages.....................................66

LED Display Functions (Default)...............................66

Satellite Based Augmentation System Signals.........67

RT-3020 User Guide – Rev. F

Physical and Environmental......................................67

B Antenna Specifications ....................................69

Radiation Pattern.......................................................71

C Event Input Configuration................................75

Glossary ..........................................................77

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RT-3020 User Guide – Rev. F

List of Figures

Figure 1: RT-3020 Supplied Equipment..................25

Figure 2: Universal Power Adapter.......................... 30

Figure 3: AC Power Cord ........................................ 30

Figure 4: Optional DC Power Cable........................31

Figure 5: RT-3020 Front View.................................33

Figure 6: NavCom Serial Cable...............................34

Figure 7: RT-3020M Only Back View......................35

Figure 8: RT-3020 Indicator Panel .......................... 37

Figure 9: Standard GPS/L-band Antenna................ 41

Figure 10: RT-3020 Base Plate Dimensions...........44

Figure 11: RT-3020S/M Block Diagram................... 45

Figure 12: Radio Port Configuration, StarUtil..........46

Figure 13: Communication Port Connections..........47

Figure 14: RTK setup – Good Line of Sight............. 52

Figure 15: RTK Setup – Poor Line of Sight.............52

Figure 16: StarUtil NMEA Message List.................. 54

Figure 17: StarUtil Rover Navigation Setup............. 55

Figure 18: PN: 82-001002-3002 Ant Dimensions....70

Figure 19: AN-2004T Radiation Pattern..................71

Figure 20: PN: 82-001002-3001 Ant Dimensions....73

Figure 21: Event Cable Wiring Diagram.................. 75

Figure 22: PPS & Event Latch Configuration .......... 76

Figure 23: Event Latch Output Rate........................ 76

Figure 24: DTE to DCE RS-232 Pin Assignments... 80

RT-3020 User Guide – Rev. F

List of Tables

Table 1: Supplied Equipment...................................25

Table 2: External Power Cable Pin-Out...................29

Table 3: Optional DC Pwr Cable Pin Assignments..31

Table 4: Serial Cable Pin-Outs ................................33

Table 5: Link LED Indication (Default Rover Mode).38

Table 6: Base Station Indication..............................38

Table 7: GPS Light Indication..................................39

Table 8: Acceptable Cable Lengths.........................48

Table 9: Factory Setup Proprietary Msgs COM 2....56

Table 10: Standard Antenna....................................69

Table 11: SSR Antenna (with mount) ......................72

Table 12: Event Wiring Connections........................75

RT-3020 User Guide – Rev. F

Notices

RT-3020 GPS Products User Guide P/N 96-310005-3001 Revision F August 2008

Serial Number:

Date Delivered:

Purchased From:

Copyright

computer program(s) described herein may be reproduced, stored, or transmitted by any means, without the expressed written consent of the copyright holders. Translation in any language is prohibited without the expressed written consent of the copyright holders.

Trademarks

‘find your way’, ‘NavCom Globe’ and ‘NAVCOM TECHNOLOGY’ logos are trademarks of NavCom Technology, Inc. StarFire™ is a registered trademark of Deere & Company. All other product and brand names are trademarks or registered trademarks of their respective holders.

FCC Notice

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:

RT-3020 User Guide – Rev. F

1. This device may not cause harmful interference, and

2. This device must accept any interference received, including interference that may cause undesired operation.

The GPS sensor has been tested in accordance with FCC regulations for electromagnetic interference. This does not guarantee non-interference with other equipment. Additionally, the GPS sensor may be adversely affected by nearby sources of electromagnetic radiation.

The Global Positioning System is under the control of the United States Air Force. Operation of the GPS satellites may be changed at any time and without warning.

User Notice

NavCom Technology, Inc. shall not be responsible for any inaccuracies, errors, or omissions in information contained herein, including, but not limited to, information obtained from third party sources, such as publications of other companies, the press, or competitive data organizations.

This publication is made available on an “as is” basis and NavCom Technology, Inc. specifically disclaims all associated warranties, whether express or implied. In no event will NavCom Technology, Inc. be liable for direct, indirect, special, incidental, or consequential damages in connection with the use of or reliance on the material contained in this publication, even if advised of the possibility of such damages. NavCom Technology, Inc. reserves the right to make improvements or changes to this publication and the products and services herein described at any time, without notice or obligation.

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RT-3020 User Guide – Rev. F

Limited Warranty

NavCom Technology, Inc., warrants that its products will be free from defects in workmanship at the time of delivery. Under this limited warranty, parts found to be defective or defects in workmanship will be repaired or replaced at the discretion of NavCom Technology, Inc., at no cost to the Buyer, provided that the Buyer returns the defective product to NavCom Technology, Inc. in the original supplied packaging and pays all transportation charges, duties, and taxes associated with the return of the product. Parts replaced during the warranty period do not extend the period of the basic limited warranty.

This provision does not extend to any NavCom Technology, Inc. products, which have been subjected to misuse, accident or improper installation, maintenance or application, nor does it extend to products repaired or altered outside the NavCom Technology, Inc. production facility unless authorized in writing by NavCom Technology, Inc.

This provision is expressly accepted by the buyer in lieu of any or all other agreements, statements or representations, expressed or implied, in fact or in law, including the implied warranties of merchantability and fitness for a particular purpose and of all duties or liabilities of NavCom Technology, Inc. To the buyer arising out of the use of the goods, and no agreement or understanding varying or extending the same will be binding upon NavCom Technology, Inc. unless in writing, signed by a dulyauthorized officer of NavCom Technology, Inc.

This limited warranty period is one (1) year from date of purchase.

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RT-3020 User Guide – Rev. F

StarFire™ Licensing

The StarFire™ signal requires a subscription that must be purchased in order to access the service. Licenses are non-transferable, and are subject to the terms of the StarFire™ Signal License agreement. For further details on the StarFire™ Signal Network, its capabilities, terms and conditions visit

www.navcomtech.com sales@navcomtech.com

or send an email inquiry to

USG FAR

Technical Data Declaration (Jan 1997) The Contractor, NavCom Technology, Inc., hereby

declares that, to the best of its knowledge and belief, the technical data delivered herewith under Government contract (and subcontracts, if appropriate) are complete, accurate, and comply with the requirements of the contract concerning such technical data

Global Positioning System

Selective availability (S/A code) was disabled on 02 May 2000 at 04:05 UTC. The United States government has stated that present GPS users use the available signals at their own risk. The US Government may at any time end or change operation of these satellites without warning.

The U.S. Department of Commerce Limits Requirements state that all exportable GPS products contain performance limitations so that they cannot be used to threaten the security of the United States.

Access to satellite measurements and navigation results will be limited from display and recordable output when predetermined values of velocity and altitude are exceeded. These threshold values are far

RT-3020 User Guide – Rev. F

in excess of the normal and expected operational parameters of the RT-3020 GPS Sensor.

Revision History

Rev F (Aug 2008)

RT-3020 User Guide – Rev. F

Format change Added Revision History Updated Supplied Equipment

Revised photo Added new PN for SSR antenna (includes mount)

Replaced old art work of

RT-3020 dimensions with new art work

Replaced old photos of standard

antenna dimensions with new

photos Added RT-3020 block diagram Added section, SSR Antenna

Connector, to Chapter 3 Added specs for SSR antenna to

Appendix B Added airborne antenna option &

dimensional drawing Added specs for UltraRTK™ Added NMEA message GBS Corrected in Appendix A, the

Antenna Power spec of

5 VDC, 0.05mA to

4.6 VDC, 50mA max

RT-3020 User Guide – Rev. F

Use of this Document

This User Guide is intended to be used by someone familiar with the concepts of GPS and satellite surveying equipment.

 Note indicates additional information

to make better use of the product.

This symbol means Reader Be

Careful. Indicates a caution, care, and/or safety situation. The user might do something that could result in equipment damage or loss of data.

This symbol means Danger. You are in

a situation that could cause bodily injury. Before you work on any equipment, be aware of the hazards involved with electrical and RF circuitry and be familiar with standard practices for preventing accidents.

Revisions to this User Guide can be obtained in a digital format from

http://www.navcomtech.com/Support/

Related Standards

ICD-GPS-200

NAVSTAR GPS Space Segment / Navigation User Interfaces Standard. ARINC Research Corporation; 2250 E. Imperial Highway; El Segundo, California 90245

RTCM-SC-104

Recommended Standards For Differential GNSS Service. Radio Technical Commission For Maritime Services; 1800 N. Kent St, Suite 1060; Arlington, Virginia 22209

CMR, CMR+

Compact Measurement Record; Trimble Navigation Limited; 935 Stewart Drive; Sunnyvale, CA 94085

NMEA-0183

National Marine Electronics Association Standard For Interfacing Marine Electronic Devices. NMEA National Office; 7 Riggs Avenue; Severna Park, Maryland 21146

Publicly-Operated SBAS Signals

RTCA/DO-229D

The Radio Technical Commission for Aeronautics (RTCA) develops consensus-based recommendations regarding communications, navigation, surveillance, and air traffic management (CNS/ATM) system issues.

RTCA. 1828 L Street, NW, Suite 805, Washington, DC 20036.

These organizations implement the RTCA/DO-229D standard set by RTCA:

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RT-3020 User Guide – Rev. F

WAAS (Wide Area Augmentation System)

U.S. Department of Transportation. Federal Aviation Administration. 800 Independence Ave, SW, Washington, DC 20591

EGNOS (European Geostationary Navigation Overlay Service)

European Space Agency. 8, 10 rue Mario-Nikis, F75738 Paris Cedex 15, France.

MSAS (MTSAT Satellite-based Augmentation System)

Japan Civil Aviation Bureau. Ministry of Transport. Kasumigaseki 2-1-3, Chiyoda-ku, Tokyo 100, Japan.

GAGAN (GPS Aided Geo Augmented Navigation)

Indian Space Research Organization. Antariksh Bhavan, New Bel Road, Bangalore - 560 094, India.

RT-3020 User Guide – Rev. F

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RT-3020 User Guide – Rev. F

Chapter 1 ..............................Introduction

System Overview

GPS Sensor System

The RT-3020 GPS sensor delivers unmatched accuracy to the precise positioning community. This unique receiver is designed to integrate easily into a wide variety of surveying and machine control applications.

The RT-3020 has a built-in spread spectrum radio (SSR), a geodetic-quality GPS antenna, and onboard 64MB memory for millimeter level position accuracy from post-processing. The receiver may be configured as base or rover. It is capable of NCT

RTK/

UltraRTK™, RTCM (code and phase v2.3), and

CMR/CMR+ DGPS operating methods. The RT-3020 integrated sensor consists of:

9 Built-in spread spectrum radio (SSR) 9 24-channel, dual-frequency, precision GPS

receiver

9 2 separate SBAS channels, RTCA/DO-229D

compliant (WAAS/EGNOS/MSAS/GAGAN)

There are two models, the RT-3020S and the RT-3020M. Packaging and performance standards of the models are the same; the differences lie in the features, as described later in this chapter.

Refer to Table 1, later in this chapter, for the complete list of supplied equipment.

Requires NCT-2100D Engine

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RT-3020 User Guide – Rev. F

Accuracy

When WAAS, EGNOS, MSAS, or GAGAN (RTCA/DO-229D compliant) SBAS correction signals are used, the system provides <50cm position accuracy.

 System accuracy with WAAS,

EGNOS, MSAS, or GAGAN signals is subject to the quality and update rate of these publicly-operated signals. Refer to Related Standards\Publicly- Operated SBAS Signals for contact information regarding the organizations that implement the RTCA/DO-229D standard.

The system provides instant <0.5cm position accuracy when

UltraRTK™ correction signals are used (base-line, <40km, 0.5cm +1ppm). UltraRTK™ requires GPS software version 4.2 or higher.

The system provides instant <1cm position accuracy when RTK correction signals are used (base-line, <10km, 1cm +1ppm).

 After RTK correction signals are

received, it takes approximately one minute to enter RTK mode.

Features Output Data Rate

The RT-3020 can output proprietary raw data at programmable rates from < rates up to 50Hz

and Position Velocity Time (PVT) data at programmable rates from < predetermined rates up to 25Hz

Requires NCT-2100D Engine. 2Separate Software Option

Required. Standard Output Data Rates Are Model Dependent.

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1Hz to predetermined

1Hz to

through two 115kbps

RT-3020 User Guide – Rev. F

RS-232 serial ports with less than 20ms latency.

1cm horizontal and <2cm vertical accuracy are

< maintained as each output is independently calculated based on an actual GPS position measurement, as opposed to an extrapolation/interpolation between 1Hz measurements.

The system resolves ambiguities at startup or on satellite reacquisition typically within 2 seconds.

The standard output data rates for the RT-3020M only are <

25Hz for proprietary raw data and <10Hz

for PVT data.

NCT Binary Proprietary Data

The sensor can output proprietary raw data containing information including (but not limited to):

9 Satellite Ephemeris (0x81) 9 Satellite Almanac (0x44) 9 Raw Pseudorange Measurements (0xB0) 9 Position, Height, & Time (0xB1) 9 Velocity & Heading (0xB1) 9 Signal to Noise (0x86) 9 Channel Status (0x86) 9 Correction Data (mirror data; 0xEC) 9 Event/Marker (M model only; 0xB4) 9 Measurement Quality (0xB1 and 0xB5)

These data can be integrated in real-time positioning applications or post-processed against any number of software applications designed to handle NCT or RINEX raw data. A Technical Reference Manual is available on NavCom’s web site, which describes the attributes of each of the input/output records (see Related Documents in the fore-matter).

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RT-3020 User Guide – Rev. F

NMEA-0183 Data

The RT-3020 is capable of outputting several standard NMEA-0183 data strings (see Related Standards in the fore-matter) and one proprietary data sting. Each data is headed with GP. The proprietary data sting is denoted with a $PNCT header.

Standard:

9 ALM – GPS Almanac Data 9 GBS – GNSS Satellite Fault Detection 9 GGA – GPS Fix Data 9 GLL – Geographic Position – Lat / Lon 9 GSA – GNSS DOP & Active Satellites 9 GST – GNSS Pseudorange Error Statistics 9 GSV – GNSS Satellites In View 9 RMC – Recommended Min. Specific GNSS Data 9 VTG – Course Over Ground & Ground Speed 9 ZDA – Time & Date

Proprietary (header $PNCT):

9 SET – Solid Earth Tide

Described in the Technical Reference Manual (see Related Documents in the fore-matter)

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RT-3020 User Guide – Rev. F

Models

RT-3020S

This model is designed for:

9 Construction Stakeout 9 Boundary Surveys 9 High Order Control Surveys 9 Topographic Surveys In Rough Terrain.

The sensor can be carried in a backpack with the antenna either pole-mounted from the backpack or on a survey pole with a single cable connection. It can be powered from portable, rechargeable batteries, which allow a full day’s operation.

RT-3020M

This model is ideal for vehicle mounting to suit a wide variety of machine guidance and control applications in:

9 Construction 9 Agriculture 9 Mining 9 Military

It is equipped with additional features allowing interconnectivity with a wide variety of antennas, vehicle data busses and other instrumentation to suit specific applications and configurations. Features that distinguish this model include:

9 A 1PPS output port 9 A combined Event/CAN Bus interface port

 The GPS antenna port provides 4.3VDC.

Care must be taken to select an appropriately rated GPS antenna if the standard NavCom antenna is not used.

An Event latch interface may be necessary for mechanically

devices (i.e. camera shutter)

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RT-3020 User Guide – Rev. F

Antennae

Standard

The standard integrated antenna (PN: 82-001002-

3002) tracks all GPS, WAAS, EGNOS, MSAS, GAGAN, and StarFire™ signals. The compact GPS antenna has excellent tracking performance and a stable phase center for GPS L1 and L2. This antenna is listed in the NOAA GPS Antenna Calibration tables, as NAVAN2004T. The robust housing assembly features a standard 5/8” BSW thread for mounting directly to a surveyo pole, tripod, or mast and is certified to 70,000 feet (see Specifications for restrictions).

r’s

 Although rated to 70K feet, this antenna is not

designed for aircraft installations. Contact

sales@navcomtech.com

for aircraft solutions.

Spread Spectrum Radio Antenna

The RT-3020, configured as a reference station or rover, communicates via the integrated 2-way, 2.4GHz Spread Spectrum Radio (SSR). The SSR was designed specifically for GPS RTK. It has built-in interference rejection to prevent extraneous radio signals from interfering with the reception or transmission of the correction data.

The supplied SSR 2.4GHz Radio Antenna (PN: 91310020-3001) includes the antenna with mount. The antenna has a black polyurethane finish and a female TNC connector.

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RT-3020 User Guide – Rev. F

 The SSR 2.4GHz Radio Antenna

without mount (PN: 82-001000-0003) is an option.

 The RT-3020 complies with FCC

exposure limits. Individuals are required to be a minimum of 20 cm (8 in) away from the SSR transmitting antenna when used in the basic configuration. If the transmitting system is modified from the basic setup, check FCC regulations for compliance with exposure limits.

Airborne (option)

The airborne integrated antenna (PN: 82-001002-

3001) tracks all GPS, WAAS, EGNOS, MSAS, GAGAN, and StarFire™ signals. The compact GPS antenna has excellent tracking performance and a stable phase center for GPS L1 and L2. This antenna is listed in the NOAA GPS Antenna Calibration tables, as NAVAN2008T. The robust housing assembly features a flat mounting surface with four mounting holes and a downward facing TNC connector. This antenna is also certified to 70,000 feet (see Specifications for restrictions).

Controller

The RT-3020 GPS sensor is designed for use with an external controller solution connected via one of two serial COM ports.

This may be accomplished using a PC, Tablet PC or Personal Digital Assistant (PDA) and a software program which implements the rich control language

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RT-3020 User Guide – Rev. F

defined for NavCom GPS products. Refer to the user’s guide of your controller solution for further information. NavCom lists several application software solutions on our website:

http://www.navcomtech.com/Support/ApplicationSoftware.cfm

In addition, NavCom provides a Windows™ based software utility, called StarUtil, with the receiver.

The StarUtil User Guide, P/N 96-310008-3001, is available on-line at

http://www.navcomtech.com/Support/DownloadCenter.cfm?categ ory=manuals.

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RT-3020 User Guide – Rev. F

Included Items

Figure 1: RT-3020 Supplied Equipment

Table 1: Supplied Equipment

RT-3020 GPS Sensor

(RT-3020S P/N 92-310054-3001) (RT-3020M P/N 92-310054-3002)

Compact L1/L2 Tri-Mode GPS Antenna

(P/N 82-001002-3002) GPS Antenna Cable, 12 ft

(P/N 94-310058-3012) SSR 2.4GHz Radio Antenna with Mount

(P/N 91-310020-3001) LEMO 7-Pin to DB9S Data Cable, 6 ft

(P/N 94-310059-3006) CD-Rom containing User Guides, brochures, software

utilities, and technical papers. (P/N 96-310006-3001)

LEMO 4-Pin Universal AC/DC Power Adapter 12vdc, 2A

(P/N 82-020002-5001) SSR Antenna Cable, 3 ft {Not Shown}

(P/N 94-310065-3003) RT-3020 User’s Guide {Not Shown}

(P/N 96-310005-3001) Ruggedized Travel Case {Not Shown}

(P/N 79-100100-0002)

11 American 2-Pin AC power Cord, 10 ft {Not Shown}

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RT-3020 User Guide – Rev. F

Applications

The RT-3020 GPS sensor meets the needs of a large number of applications including, but not limited to:

9 High-Order Control Survey 9 Construction Stakeout 9 Boundary Survey 9 Topographical Survey 9 Machine Control

NavCom lists several application software solutions on our website:

http://www.navcomtech.com/Support/ApplicationSoft ware.cfm

Unique Features

The RT-3020 GPS sensor has many unique features:

 NCT RTK/UltraRTK™

The RTK/UltraRTK™ algorithm developed by NavCom provides fast initialization and the NCT ultra compact binary data format for RTK/UltraRTK™ ensures robust data throughput on the built-in spread spectrum radio.

 Positioning Flexibility

The RT-3020 is capable of using WAAS, EGNOS, MSAS, GAGAN (RTCA/DO-229D compliant) code corrections via two internal Satellite Based Augmentation System (SBAS) channels. The RT-3020 automatically configures to use the most suitable correction source available and changes as the survey dictates (this feature can be overridden).

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+ 65 hidden pages

NavCom RT-3020 User Manual Rev.F

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of Contents

List of Figures

List of Tables

Notices

Copyright

Trademarks

FCC Notice

User Notice

Limited Warranty

StarFire™ Licensing

USG FAR

Global Positioning System

Revision History

Use of this Document

Related Documents

StarUtil User Guide P/N 96-310008-3001

Technical Reference Manual P/N 96-3120001-3001

RINEXUtil User Guide P/N 96-310021-2101

Integrators Toolkit P/N 97-310020-3001

NavCom Release Notes

Related Standards

ICD-GPS-200

RTCM-SC-104

CMR, CMR+

NMEA-0183

Publicly-Operated SBAS Signals

RTCA/DO-229D

WAAS (Wide Area Augmentation System)

EGNOS (European Geostationary Navigation Overlay Service)

MSAS (MTSAT Satellite-based Augmentation System)

GAGAN (GPS Aided Geo Augmented Navigation)

System Overview

GPS Sensor System

Accuracy

NCT Binary Proprietary Data

NMEA-0183 Data

Models

RT-3020S

RT-3020M

Antennae

Standard

Spread Spectrum Radio Antenna

Airborne (option)

Controller

Applications

Unique Features