Novatel 01018300 User Manual
SMART-AG
User Manual
OM-20000123 Rev 3C
SMART-AG User Manual
PAC Correlator
#6,243,409 B1
#5,414,729
Narrow Correlator
#5,101,416
#5,390,207
#5,495,499
#5,809,064
GLONASS
#6,608,998 B1
GALILEO
#6,184,822 B1
Dual Frequency GPS
#5,736,961
Position for Velocity Kalman Filter
#6,664,923 B1
Anti-Jamming Technology
#5,734,674
RTK Positioning
#6,728,637 B2
#6,664,923 B1
Publication Number: OM-20000123
Revision Level: 3C
Revision Date: 2009/10/19
Firmware Version: 3.600 or higher and 1.000 userapp
Proprietary Notice
Information in this document is subject to change without notice and does not represent a commitment
on the part of NovAtel Inc. The software described in this document is furnished under a licence
agreement or non-disclosure agreement. The software may be used or copied only in accordance with
the terms of the agreement. It is against the law to copy the software on any medium except as
specifically allowed in the license or non-disclosure agreement.
No part of this manual may be reproduced or transmitted in any form or by any means, electronic or
mechanical, including photocopying and recording, for any purpose without the express written
permission of a duly authorized representative of NovAtel Inc.
The information contained within this manual is believed to be true and correct at the time of
publication.
AdVance, NovAtel, Narrow Correlator tracking technology, OEMV, ProPak, and RT-2, RT-20 are
registered trademarks of NovAtel Inc.
PAC, and SMART-AG are trademarks of NovAtel Inc.
The Bluetooth
any use of such marks by NovAtel Inc. is under license. All other brand names are trademarks of their
respective holders.
Manufactured and protected under U.S. Patent:
2 SMART-AG User Manual Rev 3C
® word mark and logos are registered trademarks owned by Bluetooth SIG, Inc. and
© Copyright 2009 NovAtel Inc. All rights reserved. Unpublished rights reserved
under International copyright laws. Printed in Canada on recycled paper.
Recyclable.
Table of Contents
Foreword 16
Congratulations!.......................................................................................................... 16
Scope.......................................................................................................................... 16
Prerequisites ............................................................................................................... 16
What’s New in Rev 4 of this Manual? ......................................................................... 16
Conventions ................................................................................................................ 17
1 Introduction 18
1.1 Models and Features ............................................................................................ 18
2 Installation and Setup 20
2.1 Additional Equipment Required ............................................................................ 20
2.1.1 SMART-AG Setup ....................................................................................... 20
2.1.2 Installing the PC Utilities.............................................................................. 22
2.1.3 Power Supply Requirements ....................................................................... 22
2.1.4 Mounting Plate............................................................................................. 23
2.1.5 Mounting the SMART-AG............................................................................ 23
2.1.6 Connecting Data Communications Equipment............................................ 23
2.2 Additional Features and Information ..................................................................... 24
2.2.1 MKI and PPS Strobes.................................................................................. 24
2.2.2 Status Indicators.......................................................................................... 24
2.2.3 Emulated Radar (ER) .................................................................................. 25
2.2.4 Controller Area Network (CAN) ................................................................... 25
2.2.5 Terrain Compensation ................................................................................. 26
3 Operation 27
3.1 Communications with the Receiver....................................................................... 27
3.1.1 Serial Port Default Settings ......................................................................... 27
3.1.2 Communicating Using a Remote Terminal.................................................. 28
3.1.3 Communicating Using a Personal Computer .............................................. 28
3.2 Getting Started...................................................................................................... 28
3.2.1 Starting the Receiver ................................................................................... 28
3.2.2 Communicating with the Receiver Using CDU ............................................ 29
3.3 Transmitting and Receiving Corrections ............................................................... 30
3.3.1 Base Station Configuration.......................................................................... 32
3.3.2 Rover Station Configuration ........................................................................ 33
3.3.3 GPS + GLONASS Base and Rover Configuration ...................................... 33
3.3.4 Configuration Notes..................................................................................... 33
3.3.5 EGNOS........................................................................................................ 34
3.4 GL1DE .................................................................................................................. 35
3.5 Tilt .........................................................................................................................36
3.6 Recommended Configuration ............................................................................... 37
4 PC Utilities 38
4.1 CDU/Convert4 Installation .................................................................................... 38
4.2 CDU ...................................................................................................................... 39
4.3 Convert4 ............................................................................................................... 44
4.3.1 Rinex Format ............................................................................................... 44
SMART-AG User Manual Rev 3C 3
Table of Contents
4.3.2 Convert4 Command Line Switches............................................................. 46
4.4 Firmware Upgrades.............................................................................................. 47
4.4.1 Upgrading Using the AUTH Command ....................................................... 47
4.4.2 Updating Using the WinLoad Utility ............................................................ 48
5 Bluetooth® Configuration 53
5.1 Bluetooth on the SMART-AG Receiver ................................................................ 53
5.2 Set Up a PC/Laptop with a Bluetooth Adaptor ..................................................... 53
5.3 Locate a Bluetooth-Enabled SMART-AG in Range.............................................. 54
5.4 Communicate with the SMART-AG Using Bluetooth............................................ 55
5.5 Stop Communicating with the SMART-AG Using Bluetooth ................................ 56
A Technical Specifications 57
SMART-AG Receiver Performance ........................................................................... 57
SMART-AG Specifications ........................................................................................ 58
B Commands 64
Syntax Conventions .................................................................................................. 64
FRESET Clear Selected Data from NVM and Reset .............................................. 65
LOG Request Logs from the Receiver .................................................................... 66
$PMDT Configure Tilt Compensation ..................................................................... 71
RADARCFG Configure the ER Output ................................................................... 72
C Logs 74
RADARSIGNAL ER Signal and Position Information ............................................. 75
TILT Compensation ................................................................................................... 78
VERSION HW & SW Versions and Serial Numbers ............................................... 79
D Replacement Parts 80
SMART-AG ............................................................................................................... 80
Accessories ............................................................................................................... 80
4 SMART-AG User Manual Rev 3C
Tables
1 SMART-AG Controller Models ................................................................................... 19
2 SMART-AG Connector Pin-Out ................................................................................. 21
3 SMART-AG LED Status Indicators ............................................................................ 24
4 Available CAN Signals on the SMART-AG ................................................................ 25
5 Tilt Commands ........................................................................................................... 36
6 NovAtel Logs for Rinex Conversion ........................................................................... 46
7 SMART-AG Development Kit Cable Pinouts ............................................................. 61
8 SMART-AG Mating Connectors ................................................................................. 62
9 Recommended Fuse and Fuse Holders .................................................................... 63
10 SMART-AG Commands in Alphabetical Order .......................................................... 64
11 FRESET Target.......................................................................................................... 65
12 Detailed Serial Port Identifiers.................................................................................... 69
13 Response Modes ....................................................................................................... 73
14 SMART-AG Logs in Alphabetical Order..................................................................... 74
15 Position or Velocity Type............................................................................................ 76
16 Solution Status ........................................................................................................... 77
17 Component Type........................................................................................................ 79
SMART-AG User Manual Rev 3C 5
Figures
1 SMART-AG Receiver ....................................................................................................... 18
2 SMART-AG Connector ..................................................................................................... 20
3 Simplified SMART-AG Setup ........................................................................................... 22
4 OEMV CD ........................................................................................................................22
5 SMART-AG Mounting Plate ............................................................................................. 23
6 SMART-AG Tilt Feature ................................................................................................... 26
7 Open Configuration Window ............................................................................................ 29
8 Basic Differential Setup .................................................................................................... 31
9 Convert4 Screen Examples ............................................................................................. 44
10 Convert4 Command Line Arguments ............................................................................... 46
11 Main Screen of WinLoad .................................................................................................. 49
12 WinLoad’s Open Dialog ................................................................................................... 50
13 Open File in WinLoad ....................................................................................................... 50
14 COM Port Setup ...............................................................................................................51
15 Searching for Card ...........................................................................................................51
16 Authorization Code Dialog ............................................................................................... 51
17 Upgrade Process Complete ............................................................................................. 52
18 Bluetooth Adapter for PC/Laptop ..................................................................................... 53
19 Bluetooth Standby: White ................................................................................................. 53
20 Bluetooth Error: Red ........................................................................................................53
21 My Bluetooth Places Window ........................................................................................... 54
22 Bluetooth PIN Code Request ........................................................................................... 55
23 PC/Laptop COM3 Port Assignment ................................................................................. 55
24 Bluetooth Connected: Green ............................................................................................ 56
25 COM3 Disconnect? .......................................................................................................... 56
26 SMART-AG Development Kit Cable ................................................................................ 60
6 SMART-AG User Manual Rev 3C
Software License
Software License
BY INSTALLING, COPYING, OR OTHERWISE USING THE SOFTWARE PRODUCT, YOU
AGREE TO BE BOUND BY THE TERMS OF THIS AGREEMENT. IF YOU DO NOT
AGREE WITH THESE TERMS OF USE, DO NOT INSTALL, COPY OR USE THIS ELECTRONIC PRODUCT (SOFTWARE, FIRMWARE, SCRIPT FILES, OR OTHER ELECTRONIC PRODUCT WHETHER EMBEDDED IN THE HARDWARE, ON A CD OR
AVAILABLE ON THE COMPANY WEB SITE) (hereinafter referred to as "Software").
1. License
to, where the Software will be used on NovAtel supplied hardware or in conjunction with other
NovAtel supplied software, use the Software with the product(s) as supplied by NovAtel. You agree
not to use the Software for any purpose other than the due exercise of the rights and licences hereby
agreed to be granted to you.
2. Copyright
other proprietary rights in the Software and the Software is protected by national copyright laws,
international treaty provisions and all other applicable national laws. You must treat the Software like
any other copyrighted material except that you may make one copy of the Software solely for backup
or archival purposes (one copy may be made for each piece of NovAtel hardware on which it is
installed or where used in conjunction with other NovAtel supplied software), the media of said copy
shall bear labels showing all trademark and copyright notices that appear on the original copy. You
may not copy the product manual or written materials accompanying the Software. No right is conveyed by this Agreement for the use, directly, indirectly, by implication or otherwise by Licensee of
the name of NovAtel, or of any trade names or nomenclature used by NovAtel, or any other words or
combinations of words proprietary to NovAtel, in connection with this Agreement, without the prior
written consent of NovAtel.
3. Patent Infringement
tained by it as the result of any claim made or action brought by any third party for infringement of
any letters patent, registered design or like instrument of privilege by reason of the use or application
of the Software by the Licensee or any other information supplied or to be supplied to the Licensee
pursuant to the terms of this Agreement. NovAtel shall not be bound to take legal proceedings against
any third party in respect of any infringement of letters patent, registered design or like instrument of
privilege which may now or at any future time be owned by it. However, should NovAtel elect to take
such legal proceedings, at NovAtel's request, Licensee shall co-operate reasonably with NovAtel in all
legal actions concerning this license of the Software under this Agreement taken against any third
party by NovAtel to protect its rights in the Software. NovAtel shall bear all reasonable costs and
expenses incurred by Licensee in the course of co-operating with NovAtel in such legal action.
4. Restrictions: You may not:
(a) copy (other than as provided for in paragraph 2), distribute, transfer, rent, lease, lend, sell or
(b) modify or prepare derivative works of the Software;
(c) use the Software in connection with computer-based services business or publicly display
: NovAtel Inc. ("NovAtel") grants you a non-exclusive, non-transferable license (not a sale)
: NovAtel owns, or has the right to sublicense, all copyright, trade secret, patent and
: NovAtel shall not be liable to indemnify the Licensee against any loss sus-
sublicense all or any portion of the Software except in the case of sale of the hardware to a
third party;
SMART-AG User Manual Rev 3C 7
Software License
visual output of the Software;
(d) transmit the Software over a network, by telephone or electronically using any means (except
when downloading a purchased up[grade from the NovAtel Web site); or
(e) reverse engineer, decompile or disassemble the Software.
You agree to keep confidential and use your best efforts to prevent and protect the contents of the Software from unauthorized disclosure or use.
5. Term and Termination
in force in perpetuity unless terminated by NovAtel or Licensee in accordance herewith. In the event
that the Licensee shall at any time during the term of this Agreement: i) be in breach of its obligations
hereunder where such breach is irremediable or if capable of remedy is not remedied within 30 days
of notice from NovAtel requiring its remedy; then and in any event NovAtel may forthwith by notice
in writing terminate this Agreement together with the rights and licences hereby granted by NovAtel.
Licensee may terminate this Agreement by providing written notice to NovAtel. Upon termination,
for any reasons, the Licensee shall promptly, on NovAtel's request, return to NovAtel or at the election
of NovAtel destroy all copies of any documents and extracts comprising or containing the Software.
The Licensee shall also erase any copies of the Software residing on Licensee's computer equipment.
Termination shall be without prejudice to the accrued rights of either party, including payments due to
NovAtel. This provision shall survive termination of this Agreement howsoever arising.
6. Warranty
Software is furnished "AS IS" and without warranty as to the performance or results you may obtain
by using the Software. The entire risk as to the results and performance of the Software is assumed by
you. See product enclosure, if any for any additional warranty.
7. Indemnification
otherwise and whether directly or indirectly or by way of indemnity contribution or otherwise howsoever) to the Licensee and the Licensee will indemnify and hold NovAtel harmless against all or any
loss, damage, actions, costs, claims, demands and other liabilities or any kind whatsoever (direct, consequential, special or otherwise) arising directly or indirectly out of or by reason of the use by the
Licensee of the Software whether the same shall arise in consequence of any such infringement, deficiency, inaccuracy, error or other defect therein and whether or not involving negligence on the part of
any person.
8. Disclaimer and Limitation of Liability:
(a) THE WARRANTIES IN THIS AGREEMENT REPLACE ALL OTHER WARRAN-
(b) NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software
(c) NovAtel's entire liability and your exclusive remedies for our liability of any kind (including
: NovAtel does not warrant the contents of the Software or that it will be error free. The
TIES, EXPRESS OR IMPLIED, INCLUDING ANY WARRANTIES OF MER-
CHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. NovAtel
DISCLAIMS AND EXCLUDES ALL OTHER WARRANTIES. IN NO EVENT WILL
NovAtel's LIABILITY OF ANY KIND INCLUDE ANY SPECIAL, INCIDENTAL OR
CONSEQUENTIAL DAMAGES, INCLUDING LOST PROFITS, EVEN IF NovAtel
HAS KNOWLEDGE OF THE POTENTIAL LOSS OR DAMAGE.
or any other performance under this Agreement.
liability for negligence) for the Software covered by this Agreement and all other perfor-
mance or non-performance by NovAtel under or related to this Agreement are to the reme-
dies specified by this Agreement.
: This Agreement and the rights and licences hereby granted shall continue
: NovAtel shall be under no obligation or liability of any kind (in contract, tort or
8 SMART-AG User Manual Rev 3C
Software License
9. Governing Law: This Agreement is governed by the laws of the Province of Alberta, Canada.
Each of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of
Alberta.
10. Customer Support
contact the NovAtel GPS Hotline at 1-800-NOVATEL (U.S. or Canada only), or +1-403-295-4900,
Fax +1-403-295-4901, email to support@novatel.ca, Web site: http://www.novatel.com or write to:
: For Software UPDATES and UPGRADES, and regular customer support,
NovAtel Inc.Customer Service Department
1120 - 68 Avenue NE
Calgary, Alberta, Canada T2E 8S5
SMART-AG User Manual Rev 3C 9
Terms and Conditions
Standard Terms and Conditions of Sales
1. PRICES: All prices are Firm Fixed Price, FCA 1120 - 68th Avenue N.E., Calgary, Alberta. All
prices include standard commercial packing for domestic shipment. All transportation, insurance,
special packing costs and expenses, and all Federal, provincial and local excise, duties, sales, and
other similar taxes are the responsibility of the Purchaser.
2. PAYMENT: Terms are prepayment unless otherwise agreed in writing. Interest shall be charged
on overdue accounts at the rate of 18% per annum (1.5% per month) from due date. To expedite
payment by wire transfer to NovAtel Inc.: Bank - HSBC Bank of Canada
Bank: HSBC Bank of Canada US Account # 788889-002
407 - 8 Avenue S.W. CDN Account # 788889-001
Calgary, AB, Canada T2P 1E5 EURO Account # 788889-270
Transit # 10029-016
Swift HKBCCATTCAL
3. DELIVERY: Purchaser shall supply shipping instructions with each order. (Ship to and bill to
address, NovAtel Quotation #, Preferred carrier and account #, Custom broker/freight forwarder
including name and contact #) In the absence of specific instructions, NovAtel may select a carrier
and insure Products in transit and charge Purchaser accordingly. NovAtel shall not be responsible for
any failure to perform due to unforeseen circumstances or causes beyond its ability to reasonably
control. Risk of loss, damage or destruction shall pass to Purchaser upon delivery to carrier. Goods are
provided solely for incorporation into the Purchaser’s end product and shall not be onward delivered
except as incorporated in the Purchaser’s end product.
4. COPYRIGHT AND CONFIDENTIALITY: Copyright in any specification, drawing, computer
software, technical description and other document supplied by NovAtel under or in connection with
the Order and all intellectual property rights in the design of any part of the Equipment or provision of
services, whether such design be registered or not, shall vest in NovAtel absolutely. The Buyer shall
keep confidential any information expressed or confirmed by NovAtel in writing to be confidential
and shall not disclose it without NovAtel's prior consent in writing to any third party or use it other
than for the operation and maintenance of any Equipment provided.
5. GENERAL PROVISIONS: All Purchase Orders are subject to approval and acceptance by
NovAtel. Any Purchase Order or other form from the Purchaser, which purports to expand, alter or
amend these terms and conditions, is expressly rejected and is and shall not become a part of any
agreement between NovAtel and the Purchaser. This agreement shall be interpreted under the laws of
the Province of Alberta.
10 SMART-AG User Manual Rev 3C
Terms and Conditions
6. LIMITED WARRANTY AND LIABILITY: Warranty Period: Products - 1 year; Accessories 90 days (in each case from the date of invoice). NovAtel warrants that during the Warranty Period that
(a) the Product will be free from defects in material and workmanship and conform to NovAtel
specifications; (b) the software will be free from error which materially affect performance; and (c) if
applicable as defined in the User’s Manual, be eligible for access to post contract support and software
updates when available. THESE WARRANTIES ARE EXPRESSLY IN LIEU OF ALL OTHER
WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, WITHOUT LIMITATION, ALL
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. NOVATEL SHALL IN NO EVENT BE LIABLE FOR SPECIAL, INDIRECT,
INCIDENTAL, OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO
ANY CAUSE.
Purchaser’s exclusive remedy for a claim under this warranty shall be limited to the repair or
replacement at NovAtel’s option and at NovAtel’s facility, of defective or nonconforming materials,
parts or components or in the case of software, provision of a software revision for implementation by
the Buyer. All material returned under warranty shall be returned to NovAtel prepaid by the Buyer
and returned to the Buyer, prepaid by NovAtel. The foregoing warranties do not extend to (i)
nonconformities, defects or errors in the Products due to accident, abuse, misuse or negligent use of
the Products or use in other than a normal and customary manner, environmental conditions not
conforming to NovAtel’s specifications, or failure to follow prescribed installation, operating and
maintenance procedures, (ii) defects, errors or nonconformities in the Products due to modifications,
alterations, additions or changes not made in accordance with NovAtel’s specifications or authorized
by NovAtel, (iii) normal wear and tear, (iv) damage caused by force of nature or act of any third
person, (v) shipping damage, (vi) service or repair of Product by the Purchaser without prior written
consent from NovAtel, (vii) Products designated by NovAtel as beta site test samples, experimental,
developmental, preproduction, sample, incomplete or out of specification Products, (viii) returned
Products if the original identification marks have been removed or altered or (ix) Services or research
activities.
7. EXCLUSION OF LIABILITY: If a Party would, but for this paragraph (7), have concurrent
claims in contract and tort (including negligence) such claims in tort (including negligence) shall to
the extent permitted by law be wholly barred, unenforceable and excluded.
NovAtel shall not be liable to the Buyer by way of indemnity or by reason of any breach of the Order
or of statutory duty or by reason of tort (including but not limited to negligence) for any loss of profit,
loss of use, loss of production, loss of contracts or for any financing costs or for any indirect or
consequential damage whatsoever that may be suffered by the Buyer.
In the event and to the extent that NovAtel shall have any liability to Buyer pursuant to the terms of
the Order, NovAtel shall be liable to Buyer only for those damages which have been foreseen or might
have reasonably been foreseen on the date of effectivity of the Order and which are solely an
immediate and direct result of any act or omission of NovAtel in performing the work or any portion
thereof under the Order and which are not in the aggregate in excess of ten (10%) percent of the total
Order price.
SMART-AG User Manual Rev 3C 11
Warranty
Warranty
NovAtel Inc. warrants that its products are free from defects in materials and workmanship, subject to
the conditions set forth below, for the following periods of time, from the date of sale:
SMART-AG One (1) Year
Antenna One (1) Year
Cables and Accessories Ninety (90) Days
Computer Discs Ninety (90) Days
Software Warranty One (1) Year
Date of sale shall mean the date of the invoice to the original customer for the product. NovAtel’s
responsibility respecting this warranty is solely to product replacement or product repair at an
authorized NovAtel location, or in the case of software, provision of a software revision for
implementation by the customer.
Determination of replacement or repair will be made by NovAtel personnel or by technical personnel
expressly authorized by NovAtel for this purpose.
THE FOREGOING WARRANTIES DO NOT EXTEND TO (I) NONCONFORMITIES, DEFECTS OR ERRORS
IN THE PRODUCTS DUE TO ACCIDENT, ABUSE, MISUSE OR NEGLIGENT USE OF THE PRODUCTS OR
USE IN OTHER THAN A NORMAL AND CUSTOMARY MANNER, ENVIRONMENTAL CONDITIONS NOT
CONFORMING TO NOVATEL’S SPECIFICATIONS, OR FAILURE TO FOLLOW PRESCRIBED INSTALLATION, OPERATING AND MAINTENANCE PROCEDURES, (II) DEFECTS, ERRORS OR NONCONFORMITIES IN THE PRODUCTS DUE TO MODIFICATIONS, ALTERATIONS, ADDITIONS OR CHANGES NOT
MADE IN ACCORDANCE WITH NOVATEL’S SPECIFICATIONS OR AUTHORIZED BY NOVATEL, (III) NORMAL WEAR AND TEAR, (IV) DAMAGE CAUSED BY FORCE OF NATURE OR ACT OF ANY THIRD PERSON, (V) SHIPPING DAMAGE; OR (VI) SERVICE OR REPAIR OF PRODUCT BY THE DEALER WITHOUT
PRIOR WRITTEN CONSENT FROM NOVATEL. IN ADDITION, THE FOREGOING WARRANTIES SHALL
NOT APPLY TO PRODUCTS DESIGNATED BY NOVATEL AS BETA SITE TEST SAMPLES, EXPERIMENTAL,
DEVELOPMENTAL, PREPRODUCTION, SAMPLE, INCOMPLETE OR OUT OF SPECIFICATION PRODUCTS OR TO RETURNED PRODUCTS IF THE ORIGINAL IDENTIFICATION MARKS HAVE BEEN
REMOVED OR ALTERED. THE WARRANTIES AND REMEDIES ARE EXCLUSIVE AND ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, WRITTEN OR ORAL, INCLUDING THE IMPLIED WARRANTIES OF
MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE ARE EXCLUDED. NOVATEL SHALL
NOT BE LIABLE FOR ANY LOSS, DAMAGE, EXPENSE, OR INJURY ARISING DIRECTLY OR INDIRECTLY
OUT OF THE PURCHASE, INSTALLATION, OPERATION, USE OR LICENSING OR PRODUCTS OR SERVICES. IN NO EVENT SHALL NOVATEL BE LIABLE FOR SPECIAL, INDIRECT, INCIDENTAL OR CONSEQUENTIAL DAMAGES OF ANY KIND OR NATURE DUE TO ANY CAUSE.
There are no user serviceable parts in the NovAtel receiver and no maintenance is required. When the
status code indicates that a unit is faulty, replace with another unit and return the faulty unit to
NovAtel Inc.
Before shipping any material to NovAtel or Dealer, please obtain a Return Material Authorization (RMA)
number from the point of purchase. You may also visit our Web site at http://www.novatel.com
and select
Support | Repair Requests from the top menu.
Once you have obtained an RMA number, you will be advised of proper shipping procedures to return
any defective product. When returning any product to NovAtel, please return the defective product in
the original packaging to avoid ESD and shipping damage.
SMART-AG User Manual Rev 3C 12
Notices
bbbNotice
The following notices apply to the SMART-AG. For more information on emissions testing, please
refer to the regulatory body in your geographic area. For example, in the US that is the Federal
Communications Commission (FCC) and in Europe the Conformité Européenne (CE).
FCC
This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions: (1) this device may not cause harmful interference, and (2) this device must accept any
interference received, including interference that may cause undesired operation.
SMART-AG-PVT, SMART-AG-PVT-G, SMART-AG-PVT-S and SMART-AG-PVT-RT20 have been
tested and found to comply with the emission limits for a Class A digital device. The SMART-AG-B
and SMART-AG-TB comply with the emission limits for a Class B digital device. The Class B limits
are designed to provide reasonable protection against harmful interference in a residential installation.
This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used
in accordance with the instructions, may cause harmful interference to radio communications.
However, there is no guarantee that interference will not occur in a particular installation. If this
equipment does cause harmful interference to radio or television reception, which can be determined
turning the equipment off and on, the user is encouraged to try to correct the interference by one or
more of the following measures:
• Re-orient or relocate the SMART-AG
• Increase the separation between the equipment and the SMART-AG
• Connect the equipment to an outlet on a circuit different from that to which the SMART-AG
is connected
• Consult the dealer or an experienced radio/TV technician for help
IMPORTANT: In order to maintain compliance as a Class “A” or Class “B” digital device,
shielded cables should be used for the RS-232 serial data ports (Belden 1036A
or equivalent) and twisted pair cable should be used for the CAN port
(shielded twisted pair will improve CAN performance in electrically harsh
environments). I/O signals should be referred to signal ground (connector pin
5) and not power ground (connector pin 9). If I/O signals route to different
areas of the vehicle, dedicated signal grounds for I/O should be spliced into a
common connection to connector pin 5 at a point close to the SMART-AG.
WARNING: Changes or modifications to this equipment not expressly approved by NovAtel
Inc. could result in violation of Part 15 of the FCC rules and void the user’s
authority to operate this equipment.
SMART-AG User Manual Rev 3C 13
Notice
Industry Canada
SMART-AG-PVT, SMART-AG-PVT-G, SMART-AG-PVT-S and SMART-AG-PVT-RT20
Class A digital apparatuses all comply with Canadian ICES-003.
SMART-AG-PVT, SMART-AG-PVT-G, SMART-AG-PVT-S et le SMART-AG-PVT-RT20 appareils
numérique de la classe B sont conforme à la norme NMB-003 du Canada.
SMART-AG-B and SMART-AG-TB Class B digital apparatues comply with Canadian ICES-003.
SMART-AG-B et SMART-AG-TB appareils numérique de la classe B sont conforme à la norme
NMB-003 du Canada.
CE
The enclosures carry the CE mark.
"Hereby, NovAtel Inc. declares that this SMART-AG is in compliance with the essential requirements
and other relevant provisions of the R&TTE Directive 1999/5/EC and with the EMC Directive 2004/
108/EC."
WEEE
If you purchased your OEMV family product in Europe, please return it to your dealer or supplier at
the end of its life. The objectives of the European Community's environment policy are, in particular,
to preserve, protect and improve the quality of the environment, protect human health and utilise
natural resources prudently and rationally. Sustainable development advocates the reduction of
wasteful consumption of natural resources and the prevention of pollution. Waste electrical and
electronic equipment (WEEE) is a regulated area. Where the generation of waste cannot be avoided, it
should be reused or recovered for its material or energy. WEEE products may be recognized by their
wheeled bin label ( ).
1
RoHS
The SMART-AG is compliant with the European Union (EU) Restriction of Hazardous Substances
(RoHS) Directive 2002/95/EC.
1. Please visit the NovAtel Web site at http://www.novatel.com/support/weee.htm for more information
on WEEE and RoHS.
14 SMART-AG User Manual Rev 3C
1
Customer Service
OEMV Firmware UPGRADES
Firmware upgrades are firmware releases, which increase basic functionality of the receiver from one
model to a higher level model type. When available, upgrades may be purchased at a price, which is
the difference between the two model types on the current NovAtel GPS Price List plus a nominal
service charge.
WINLOAD
Please refer to the OEMV Family Installation and Operation User Manual for instructions on how to
use the WinLoad program to upgrade your OEMVcard.
Contact Information
Model upgrades are accomplished through NovAtel authorized dealers.
Contact your local NovAtel dealer first for more information. To locate a dealer in your area or if the
problem is not resolved, contact NovAtel Inc. directly using one of the following methods:
Call the NovAtel GPS Hotline at 1-800-NOVATEL (U.S. & Canada), or 403-295-4900 (international)
Fax: 403-295-4901
E-mail: support@novatel.com
Web site: http://www.novatel.com
Write: NovAtel Inc., Customer Service Dept., 1120 - 68 Avenue NE, Calgary, AB., Canada, T2E 8S5
Before contacting NovAtel Customer Service regarding software concerns, please do the
following:
1. Issue a FRESET command
2. Log the following data to a file on your PC/laptop for 30 minutes
RXSTATUSA once
BESTPOSA ontime 1
RXCONFIGA once
VERSIONA once
3. Send the file containing the logs to NovAtel Customer Service, using either the NovAtel ftp
site at ftp://ftp.novatel.com/incoming or the support@novatel.com e-mail address.
SMART-AG User Manual Rev 3C 15
Foreword
Foreword
Congratulations!
Congratulations on your purchase of the SMART-AG, a GPS L1 plus GLONASS L1 receiver and
antenna with exceptional flexibility and performance.
NovAtel is an industry leader in state-of-the-art Global Navigation Satellite Systems (GNSS) receiver
design. We believe that our SMART-AG will meet your high expectations, and are working hard to
ensure that future products and enhancements maintain that level of satisfaction.
This is your primary hardware and software reference.
Scope
This manual provides sufficient detail on the SMART-AG, to allow you to effectively integrate and
fully operate it. The information in this manual is a companion to the OEMV family information in
the OEMV Firmware Reference Manual and the OEMV Installation and Operation User Manual.
After the addition of accessories and a power supply, the SMART-AG is ready to go.
SMART-AG utilizes a comprehensive user-interface command structure, which requires
communications through its communications (COM) ports. This manual describes the SMART-AGspecific commands and logs, see Commands starting on Page 64 and Logs starting on Page 73.
Other supplementary manuals, available on the accompanying CD and on our Web site at
http://www.novatel.com/support/docupdates.htm
available in the OEMV family of receivers.
, aid you in using the other commands and logs
PC Utilities are also described, see Chapter 4 starting on Page 37. Integrated with the Control and
Display Unit (CDU) software, these utilities provide graphical user interfaces for logging to a PC/
laptop, upgrading, and converting data types.
Prerequisites
The installation chapters of this document provide information concerning the installation
requirements and considerations for SMART-AG. To run the PC software supplied, your personal
computer must meet or exceed this minimum configuration:
• Windows compatible mouse or pointing device and SVGA display
Although previous experience with Windows is not necessary to use CDU, familiarity with certain
actions that are customary in Windows will assist in the usage of the program. This manual has been
written with the expectation that you already have a basic familiarity with Windows.
What’s New in Rev 4 of this Manual?
This manual has been revised to include information on the following:
• Terrain compensation, see “Terrain Compensation” on page 26.
• Bluetooth®, see “Bluetooth on the SMART-AG Receiver” on page 53.
16 SMART-AG User Manual Rev 3C
Foreword
Conventions
Conventions used in this manual are the following:
This is a notebox that contains important information.
• The letter H in the Offset columns of the commands and logs tables represents the
header length for that command or log. Refer to the OEMV Family Firmware
Reference Manual for ASCII and binary header details.
• The number following 0x is a hexadecimal number.
• Command descriptions’ brackets, [ ], represent the optionality of parameters.
• In tables where values are missing they are assumed to be reserved for future use.
• Status words are output as hexadecimal numbers and must be converted to binary
format (and in some cases then also to decimal). For an example of this type of
conversion, please refer to the RANGE log in the OEMV Family Firmware
Reference Manual.
Conversions and their binary or decimal results are always read from right to left.
For a complete list of hexadecimal, binary and decimal equivalents, please refer to
the Unit Conversion section of the GNSS Reference Book available on our Web site
at http://www.novatel.com/support/docupdates.htm
.
See also Section B.1, Syntax Conventions on Page 64 for more syntax when entering commands.
SMART-AG User Manual Rev 3C 17
Chapter 1 Introduction
The SMART-AG is a high-performance GNSS receiver and antenna, capable of receiving and
tracking different combinations of GPS L1 and GLONASS L1 code and carrier signals on a maximum
of 36 channels. SBAS (Satellite Based Augmentation Systems) includes WAAS, EGNOS, and MSAS.
SBAS support is standard. Refer to the GNSS Reference Book for an overview of each of the above
signal types, available from our Web site at http://www.novatel.com/support/docupdates.htm
SMART-AG’s rear panel also features light emitting diodes (LEDs) for status indication.
Once you connect the SMART-AG to a vehicle, it begins operating as a fully functional GNSS
system. Figure 1 below shows the SMART-AG without connecting cables.
. The
Figure 1: SMART-AG Receiver
1.1 Models and Features
The main features of the SMART-AG are the following:
• an enhanced high performance GPS+GLONASS L1 receiver
• a high performance GPS+GLONASS L1 antenna
• emulated radar output
• a CAN port
• two (2) RS-232 COM ports
• three (3) LED status indicators
• a water and dust tight enclosure
18 SMART-AG User Manual Rev 3C
Introduction Chapter 1
The SMART-AG is available in several different firmware models whose configurations may include
other additional features. Some possible configurations can be seen in Tab l e 1 below.
Table 1: SMART-AG Controller Models
Model Name Firmware Feature
SMART-AG-PVT GPS L1 only Autonomous, SBAS, or DGPS
20 Hz positions with emulated radar output
SMART-AG-PVT-G As above with GLONASS L1
SMART-AG-PVT-S GPS L1 only Autonomous, SBAS, or DGPS
5 Hz positions with emulated radar output
SMART-AG-RT20 GPS L1 only Autonomous, SBAS, DGPS, or
20 cm RT-20 positions
Refer also to the OEMV Family Installation and Operation User Manual for information on receiver
communications and operation.
SMART-AG User Manual Rev 3C 19
Chapter 2 Installation and Setup
This chapter contains instructions and tips to set up your SMART-AG to create a GNSS receiver
system.
2.1 Additional Equipment Required
In order for the receiver to perform optimally, the following additional equipment is required:
• A PC/laptop (user-supplied)
• A means of communicating with, and powering, the SMART-AG
• SMART-AG cable (01018256) (included with the receiver Development Kit),
NovAtel part number 01018257, see Figure 3, Simplified SMART-AG Setup on
Page 22 for COM and power connections
Use a serial COM connection to communicate with the receiver first.
• A fused power supply (user-supplied) or other user equipment
2.1.1 SMART-AG Setup
Complete the following steps to connect and power your SMART-AG.
1. Mount the SMART-AG on a secure, stable part of the vehicle (i.e. cab roof) with an unobstructed
view of the sky from horizon to horizon, see Section 2.1.5, Mounting the SMART-AG on Page 23.
2. Establish a physical communication connection between the SMART-AG and the PC/laptop.
Connect the COM and Power port on the back of the SMART-AG, see Figure 2 below, to a DB-9
serial port on a PC, laptop or other data storage device.
Figure 2: SMART-AG Connector
20 SMART-AG User Manual Rev 3C
Installation and Setup Chapter 2
+
-
Emulated Radar
MKI
PPS
CAN
COM
COM
User Supplied
5A Fast Blow
Fuse
Table 2: SMART-AG Connector Pin-Out
Pin Use Pin Use
1 COM 1 TxD 8 RESERVED (Do not
connect)
2 COM 1 RxD 9 Power Negative/Return
3 COM 2 TxD 10 Emulated Radar Output
4 COM 2 RxD 11 MKI (Mark Input)
5 Signal Ground
(COM/ER/MKI/PPS)
6 CAN+ 13 RESERVED (Do not
7 CAN- 14 Power Positive/Source
12 PPS (Pulse Per Second)
Output
connect)
3. Turn on the power supply to the SMART-AG (the SMART-AG cable is also a power cable). The
power LED on the back of the receiver glows red when the SMART-AG is properly powered.
Fuse/holder recommendations can be found in Table 9, Recommended Fuse and Fuse Holders
on page 63
SMART-AG User Manual Rev 3C 21
Chapter 2 Installation and Setup
Figure 3: Simplified SMART-AG Setup
Minimum conductor size for all wiring is 0.5 mm / 20 AWG
2.1.2 Installing the PC Utilities
Once the SMART-AG is connected to the PC/laptop and a power supply, install NovAtel’s PC
Utilities. These include CDU, a graphical user interface program.
1. Start up the PC/laptop.
2. Insert the accompanying CD, see Figure 4 below, in the CD-ROM drive of the computer.
3. Select Install the OEMV GPS PC Utilities from the window that is automatically displayed.
If the window does not automatically open when the CD is inserted, select Run from the Start
menu and select the Browse button to locate Setup.exe on the CD drive.
4. Install the PC Utilities by advancing through the steps provided in the NovAtel PC Utilities setup
program.
Figure 4: OEMV CD
2.1.3 Power Supply Requirements
The SMART-AG requires +8 to +36 VDC for the input power to the receiver. See Page 58 for more
power supply specifications.
The SMART-AG cable provides power in (with a BATT+ label) and power ground (with a BATTlabel) bare wires for connections from the SMART-AG to a 12 to 24V vehicular power system (or
equivalent) protected by a 5A Fast Blow Fuse (user supplied). See its cable details starting on Page
62.
WARNING!: The SMART-AG power source must be protected by a 5A Fast Blow Fuse
or damage to wiring may result (not covered by warranty).
If the voltage supplied is above or below the specified range, the receiver will
suspend operation. If the voltage supplied is above 48V, the receiver may be
permanently damaged, voiding your warranty.
22 SMART-AG User Manual Rev 3C
Installation and Setup Chapter 2
2.1.4 Mounting Plate
A mounting plate is available to facilitate mounting the receiver to a surface
.
Figure 5: SMART-AG Mounting Plate
All measurements are in inches unless specified otherwise.
To install the mounting plate provided with the SMART-AG Development Kit, use the adhesive tape
attached or the mounting holes at each corner of the plate.
2.1.5 Mounting the SMART-AG
The SMART-AG is a single-frequency GNSS receiver and antenna.
When installing the SMART-AG, do the following:
• Choose a location that has a clear view of the sky so that each satellite above the
horizon can be tracked without obstruction. For more information, refer to the
GNSS Reference Book found at http://www.novatel.com/support/docupdates.htm
• Mount on a secure, stable structure capable of safe operation in the specific
environment. Typical installation is the tractor cab roof, ideally close to the pivot
point of the tractor.
2.1.6 Connecting Data Communications Equipment
To communicate with the receiver by sending commands and obtaining logs, a connection to data
communications equipment is required. See the SMART-AG Cable Pinouts table on Page 61 for more
information.
.
SMART-AG User Manual Rev 3C 23
Chapter 2 Installation and Setup
2.2 Additional Features and Information
This section contains information on the additional features of the SMART-AG, which may affect the
overall design of your receiver system.
2.2.1 MKI and PPS Strobes
An input (MKI) and output (PPS) strobe provide status and synchronization signals. PPS is a 3.3V
CMOS output; MKI is a 5V logic tolerant input.
Pin-out information can also be found on Page 61.
2.2.2 Status Indicators
LED indicators on the SMART-AG provide the status of the receiver. They represent these categories:
• Position Status
• Position Type
• Power
Tab l e 3 shows the meaning of the LED states in the expected sequence after power is applied.
Table 3: SMART-AG LED Status Indicators
Red
Off Off Off Power is not available
On Off Off Power available but no satellites are tracking yet
On Flashing Off Tracking at least one satellite but not a valid position
On On Off Position valid in basic autonomous mode
On On On Position valid in an enhanced accuracy mode
Yellow
Green
Condition
(WAAS/EGNOS/MSAS/DGPS or RTK)
Flashing means that the LED is turning on and off at a 1 Hz rate - 0.5 seconds on and 0.5 seconds off.
Debugging:
• If the power is on but the yellow LED doesn’t flash within one minute, then no satellites are
tracking. There may be excessive blockage or the unit may be defective. Make sure the unit has
an unobstructed view of the sky. Try power cycling the unit.
• If the yellow LED is flashing but doesn’t progress to solid yellow within one minute, then
insufficient satellites are tracking or the signal quality is poor and ephemeris data can’t be
received. Normally, four satellites are sufficient for a valid position as long as they are widely
24 SMART-AG User Manual Rev 3C
Installation and Setup Chapter 2
distributed in the sky. If it is stuck on blinking yellow, there may be excessive blockage or the unit
may be defective. Make sure the unit has an unobstructed view of the sky. Try power cycling the
unit.
• If the yellow LED is on, but the green doesn’t turn on within five minutes than no SBAS or DGPS
positions are available. If you are using SBAS, make sure SBAS is available in your area and that
the unit is configured to enable SBAS positions (SBASCONTROL ENABLE). For DGPS, make
sure the unit is configured with the correct serial port parameters and to accept the DGPS protocol
your area is using and that your data modem is connected and working.
• The green LED blinks when SBAS is detected then it comes on solid when SBAS is enabled. The
LED will stay dark if SBAS is not detected.
2.2.3 Emulated Radar (ER)
The SMART-AG outputs an emulated RADAR signal via the bare wires labeled ER GND and
ER_OUT on the SMART-AG cable. See Table 6 on Page 61 for the pin-out details of this cable.
The ER outputs a logic high of supply voltage minus 0.5V minimum and logic low of 0.5V maximum
with a rise and fall time of less than 1 ms. Its output references signal GND and provides logic low
output until its speed is greater than 1 km/Hr. ER provides an output frequency that represents 36.11
Hz/km/Hr with an effective range from 1 km/Hr to 55 km/Hr for near-horizontal applications. Please
see B.4, RADARCFG Configure the ER Output starting on Page 71 for more information.
2.2.4 Controller Area Network (CAN)
NEMA 2000 is a CAN standard created by the National Marine Electronics Association and designed
to support networking in marine applications. It functions over a longer physical distance, and
supports more physical nodes than ISO 11783. The relationship between NMEA2000 and SAE J1939
is that J1939 is the standard, while the NMEA 2000 group has added some new messages (called
PGNs or Parameter Group Numbers) and added a new, additional transport protocol called
FastPacket. NMEA2000 compliant, for all intents and purposes, means J1939 compliant plus support
for new NMEA2000 messages. In other word, one cannot have NMEA2000 without J1939 support as
well. J1939 is additionally “harmonized” with ISO 11783, a standard for the agriculture industry.
The CAN module is generally not user-interactive. It is activated when a SETCANNAME command
is entered, and after a SAVECONFIG, the CAN module is activated immediately on all subsequent
start-ups. The module supports the following NMEA2000 Parameter Group Message (PGN):
• PGN 129029 GNSSPositionData
• PGN 129025 GNSSPositionRapidUpdate
• PGN 129026 COGandSOGRapidUpdate
Table 4: Available CAN Signals on the SMART-AG
CAN Pins
CANI+ Pin 6
CANI- Pin 7
SMART-AG User Manual Rev 3C 25
Chapter 2 Installation and Setup
Level Ground
10
o
slope
10
o
SMART-AG
3.5 m
Position Error
60 cm
2.2.5 Terrain Compensation
The SMART-AG Terrain Compensation feature corrects for errors in position caused by tilting of the
vehicle. The SMART-AG senses the vehicle’s roll angle and, with the user-entered “height above
ground”, compensates the position output to give the position under the vehicle rather than at the
antenna.
As shown in Figure 6, if an agricultural implement is operating on sloped terrain, the position will be
in error by an amount proportional to the tilt angle.
Figure 6: SMART-AG Tilt Feature
If enabled, the SMART-AG determines the tilt and corrects the position data before it is forwarded to
the user equipment. In the above example, the tilt is 10 degrees, and the position correction that needs
to be applied is 60 cm. Accuracy of the compensation is a function of the accuracy of the
measurements of both the height of the SMART-AG above ground and the tilt angle, which will be
less than 1 degree.
The Tilt functionality is physically integrated with the SMART-AG, so if Tilt is enabled, it will be
used. For accurate Tilt compensation, the SMART-AG should be installed and oriented on the center
line of the vehicle. When the SMART-AG is correctly installed and oriented, the cables should line up
with the back of the vehicle. The SMART-AG connector can be used as a guide.
Once the SMART-AG is installed, measure the distance from the middle of the SMART-AG (from the
bottom of the connector) to the ground and enter this measurement through the command line, as
outlined in section 3.5 on page 36. For accurate tilt compensation, the height measurement should be
accurate within 2.5 - 5 cm. The error in compensation is proportional to the error in height. If tires
become deflated, the vehicle sinks in mud, or if the height is not measured accurately, the tilt
correction will be in error.
SMART-AG Tilt functionality works with NMEA (GPGGA for example) and NovAtel (BESTPOS,
for example) position logs.
Instructions for setting up and using the Tilt function are outlined in Chapter 3.
26 SMART-AG User Manual Rev 3C
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