Novatel GNSS, SMART-AG User Manual 2

SMART-AG User

Manual

OM-20000123 Rev 2

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: 2
Revision Date: 200812/08
Firmware Version: 3.600 or higher

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.

NovAtel, Narrow Correlator tracking technology, ProPak, and RT-2 are registered trademarks of
NovAtel Inc.

RT-20, PAC, AdVance RTK, OEMV and SMART-AG are trademarks of NovAtel Inc.

All other brand names are trademarks of their respective holders.

Manufactured and protected under U.S. Patent:

2 SMART-AG User Manual Rev 2

© Copyright 2008 NovAtel Inc. All rights reserved. Unpublished rights reserved
under International copyright laws. Printed in Canada on recycled paper.
Recyclable.

Table of Contents

Customer Service 15
Foreword 16

Congratulations!......................................................................................................... 16

Scope......................................................................................................................... 16

Prerequisites .............................................................................................................. 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 Bracket......................................................................................... 22

2.1.5 Mounting the SMART-AG............................................................................ 23

2.1.6 Connecting Data Communications Equipment............................................ 23

2.2 Additional Features and Information ..................................................................... 23

2.2.1 MKI and PPS Strobes.................................................................................. 23

2.2.2 Status Indicators.......................................................................................... 23

2.2.3 CAN Setup................................................................................................... 24

2.2.4 Emulated Radar (ER) .................................................................................. 25

2.2.5 NEMA Standards......................................................................................... 25

3 Operation 26

3.1 Communications with the Receiver....................................................................... 26

3.1.1 Serial Port Default Settings ......................................................................... 26

3.1.2 Communicating Using a Remote Terminal.................................................. 27

3.1.3 Communicating Using a Personal Computer .............................................. 27

3.2 Getting Started...................................................................................................... 27

3.2.1 Starting the Receiver ................................................................................... 27

3.2.2 Communicating with the Receiver Using CDU ............................................ 27

3.3 Transmitting and Receiving Corrections ............................................................... 29

3.3.1 Base Station Configuration.......................................................................... 31

3.3.2 Rover Station Configuration ........................................................................ 32

3.3.3 GPS + GLONASS Base and Rover Configuration ...................................... 32

3.3.4 Recommended Configuration...................................................................... 32

3.3.5 Configuration Notes..................................................................................... 33

4 PC Utilities 35

4.1 CDU/Convert Installation ...................................................................................... 35

4.2 CDU ...................................................................................................................... 36

4.3 Convert ................................................................................................................. 41

4.3.1 Rinex Format ............................................................................................... 41

4.3.2 Convert Command Line Switches ............................................................... 43

SMART-AG User Manual Rev 2 3

Table of Contents

4.4 Firmware Upgrades.............................................................................................. 44

4.4.1 Upgrading Using the AUTH Command ....................................................... 44

4.4.2 Updating Using the WinLoad Utility ............................................................ 45

A Technical Specifications 50

Smart-AG Receiver Performance .............................................................................. 50

SMART-AG Specifications ........................................................................................ 51

B Commands 57

Syntax Conventions .................................................................................................. 57

FRESET Clear Selected Data from NVM and Reset .............................................. 58

LOG Request Logs from the Receiver .................................................................... 59

RADARCFG Configure the ER Output ................................................................... 64

RESET Perform a Hardware Reset ........................................................................ 66

C Logs 67

RADARSIGNAL ER Signal and Position Information ............................................. 68

VERSION HW & SW Versions and Serial Numbers ............................................... 71

D Replacement Parts 72

SMART-AG ............................................................................................................... 72

Accessories ............................................................................................................... 72

4 SMART-AG User Manual Rev 2

Tables

1 SMART-AG Controller Models ................................................................................... 19

2 SMART-AG Connector Pin-Out ................................................................................. 21

3 Default Port Configurations ........................................................................................ 23

4 SMART-AG LED Status Indicators ............................................................................ 24

5 Available CAN Signals on the SMART-AG ................................................................ 25

6 NovAtel Logs for Rinex Conversion ........................................................................... 43

7 SMART-AG Cable Pinouts......................................................................................... 54

8 SMART-AG Mating Connectors ................................................................................. 55

9 Recommended Fuse and Fuse Holders .................................................................... 56

10 SMART-AG Commands in Alphabetical Order .......................................................... 57

11 FRESET Target.......................................................................................................... 58

12 Detailed Serial Port Identifiers.................................................................................... 62

13 Response Modes ....................................................................................................... 65

14 SMART-AG Logs in Alphabetical Order..................................................................... 67

15 Position or Velocity Type............................................................................................ 69

16 Solution Status ........................................................................................................... 70

17 Component Type........................................................................................................ 71

SMART-AG User Manual Rev 2 5

Figures

1 SMART-AG Receiver ....................................................................................................... 18

2 SMART-AG Connector ..................................................................................................... 20

3 Simplified SMART-AG Setup ........................................................................................... 21

4 OEMV CD ........................................................................................................................22

5 Basic Differential Setup .................................................................................................... 30

6 Convert Screen Examples ............................................................................................... 41

7 Convert Command Line Arguments ................................................................................. 43

8 Main Screen of WinLoad .................................................................................................. 46

9 WinLoad’s Open Dialog ................................................................................................... 47

10 Open File in WinLoad ....................................................................................................... 47

11 COM Port Setup ...............................................................................................................48

12 Searching for Card ...........................................................................................................48

13 Authorization Code Dialog ............................................................................................... 48

14 Upgrade Process Complete ............................................................................................. 49

15 SMART-AG Development Kit Cable ................................................................................ 53

6 SMART-AG User Manual Rev 2

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

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

(d) transmit the Software over a network, by telephone or electronically using any means (except

(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 Soft-

: 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 other

: 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;

visual output of the Software;

when downloading a purchased up[grade from the NovAtel web site); or

SMART-AG User Manual Rev 2 7

Software License

ware from unauthorized disclosure or use.

5. Term and Termination: This Agreement and the rights and licences hereby granted shall continue
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

erwise 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 WARRANTIES,

(b) NovAtel will not be liable for any loss or damage caused by delay in furnishing the Software or

(c) NovAtel's entire liability and your exclusive remedies for our liability of any kind (including lia-

9. Governing Law

of the parties hereto irrevocably attorns to the jurisdiction of the courts of the Province of Alberta.

10. Customer Support: For Software UPDATES and UPGRADES, and regular customer support,
contact the NovAtel GPS Hotline at 1-800-NOVATEL (U.S. or Canada only), or [phone], Fax
[phone], e-mail to [e-mail],
website: http://www.novatel.com or write to:

: NovAtel does not warrant the contents of the Software or that it will be error free. The

: NovAtel shall be under no obligation or liability of any kind (in contract, tort or oth-

EXPRESS OR IMPLIED, INCLUDING ANY WARRANTIES OF MERCHANTABILITY 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.

any other performance under this Agreement.

bility for negligence) for the Software covered by this Agreement and all other performance or
non-performance by NovAtel under or related to this Agreement are to the remedies specified
by this Agreement.

: This Agreement is governed by the laws of the Province of Alberta, Canada. Each

NovAtel Inc.
Customer Service Department
1120 - 68 Avenue NE,
Calgary, Alberta, Canada T2E 8S5

8 SMART-AG User Manual Rev 2

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 website 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 2 9

Software License

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

10 SMART-AG User Manual Rev 2

Terms and Conditions

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.

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

SMART-AG User Manual Rev 2 11

Terms and Conditions

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.

12 SMART-AG User Manual Rev 2

Notice

Notice

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 NOTICES

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 has been tested and found to comply with the radiated and conducted emission limits for
a Class A digital device, for both CISPR 22 and Part 15 of the FCC rules. These 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” 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 (sheilded 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.

CE NOTICE

The enclosures carry the CE mark.

SMART-AG User Manual Rev 2 13

Notice

WARNING: This is a Class A product. In a domestic environment this product may cause radio

interference in which case the user may be required to take adequate measures.

"Hereby, NovAtel Inc. declares that this SMART-AG is in compliance with the essential requirements
and other relevant provisions of Directive 1999/5/EC."

Electromagnetic Compatibility (EMC) and Safety

SMART-AG Regulatory Testing

• FCC, Part 15B Radiated Emissions, Class A

• EN 55022 Emissions, Class A

• EN 55024 Immunity

• EN 61000-4-2 Electrostatic Discharge Immunity

• EN 61000-4-3 Radiated RF EM Field Immunity Test

• EN 61000-4-4 Electrical Fast Transient/Burst Test

• EN 61000-4-6 Conducted Immunity

• EN 61000-4-8 Magnetic Field Immunity

• EN 60950 Safety of Information Technology Equipment

WEEE Notice

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 recognised by their

wheeled bin label ( ).

1

RoHS Notice

The SMART-AG is compliant with the European Union (EU) Restriction of Hazardous Substances

(RoHS) Directive 2002/95/EC.

1. Please visit the NovAtel website at http://www.novatel.com/support/weee.htm for more
information on WEEE and RoHS.

1

14 SMART-AG User Manual Rev 2

Customer Service

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: [phone]

E-mail: [e-mail]

Website: 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 [e-mail] e-mail address.

SMART-AG User Manual Rev 2 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 57 and Logs starting on Page 67. Other
supplementary manuals, available on the accompanying CD and on our website at http://

www.novatel.com/support/docupdates.htm, aid you in using the other commands and logs available in

the OEMV family of receivers.

PC Utilities are also described, see Chapter 4 starting on Page 35. 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.

16 SMART-AG User Manual Rev 2

Foreword

Conventions

Some simple conventions used in this manual are:

 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 GPS+ Reference Manual available on our
website at http://www.novatel.com/support/docupdates.htm

.

See also Section B.1, Syntax Conventions on Page 57 for more syntax when entering commands.

SMART-AG User Manual Rev 2 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 on a maximum of 36
channels. SBAS (Satellite Based Augmentation Systems include WAAS, EGNOS, and MSAS)
support is standard and offers multi-system,and frequency configurations for many application
requirements. Refer to the GPS+ Reference Manual for an overview of each of the above signal types,
available from our website at http://www.novatel.com/support/docupdates.htm
rear panel also features light emitting diodes (LEDs) for status indication.

The SMART-AG is a single-frequency GNSS receiver. It can optionally be GLONASS-enabled with
measurements, full code and RTK positioning.

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 SMART-AG’s

Figure 1: SMART-AG Receiver

1.1 Models and Features

The main features of the SMART-AG and its multicable are:

• An enhanced high performance GPS+GLONASS L1 receiver

• A high performance GPS+GLONASS L1 antenna

• Emulated radar output

• A CAN port

• Two RS-232 COM ports

• LED status indicators

• A water and dust tight enclosure

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 .

18 SMART-AG User Manual Rev 2

Introduction Chapter 1

Table 1: SMART-AG Controller Models

Model Name Firmware Feature

SMART-V1-PVT GPS L1 only Autonomous, SBAS, or DGPS

positions with emulated radar output

SMART-V1-PVT-G As above with GLONASS L1

Refer also to the OEMV Family Installation and Operation User Manual for information on receiver
communications and operation.

SMART-AG User Manual Rev 2 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 21 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 these steps to connect and power your SMART-AG. See also Figures 2 to starting below.

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 2

Installation and Setup Chapter 2

+

-

Emulated Radar

MKI

PPS

CAN

COM

COM

User Supplied
5A Fast Blow
Fuse

Note: Minimum Conductor size for all
wiring is 0.5 mm/20 AWG

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)

Table 2: SMART-AG Connector Pin-Out

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.

Figure 3: Simplified SMART-AG Setup

SMART-AG User Manual Rev 2 21

Chapter 2 Installation and 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 51 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

54.

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.

2.1.4 Mounting Bracket

A mounting kit is provided along with the SMART-AG to facilitate mounting the receiver to a surface.

To install the mounting bracket provided with the SMART-AG Development kit, using the adhesive

22 SMART-AG User Manual Rev 2

Installation and Setup Chapter 2

tape attached, or 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:

• Choose a location that has a clear view of the sky so that each satellite above the
horizon can be tracked without obstruction. (Refer to the Multipath section in the
GPS+ Reference Manual).

• Mount on a secure, stable structure capable of safe operation in the specific
environment. Typical installation is the tractor cab roof, ideally on the steering point
of the tractor.

2.1.6 Connecting Data Communications Equipment

In order to communicate with the receiver, by sending commands and obtaining logs, a connection to
some form of data communications equipment is required. The default configuration available is
shown in Tab le 3 , below, and its pin-out table is in Appendix A on Page 54.

Table 3: Default Port Configurations

Receiver COM1 COM2 CAN

SMART-AG RS-232 RS-232 CAN

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 ouput (PPS) strobe provide status and synchronization signals. PPS is a 3.3V
CMOS output; MKI is an SV logic tolerant input.

Pin-out information can also be found on Page 54.

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

Table 4, SMART-AG LED Status Indicators on Page 24 shows the meaning of the LED states in the
expected sequence after power is applied.

SMART-AG User Manual Rev 2 23

Chapter 2 Installation and Setup

Red Yellow Green

Condition

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 Flashing An SBAS signal is being tracked but sufficient data for SBAS

operation has not yet been received.

On On On Position valid in an enhanced accuracy mode

(WAAS/EGNOS/MSAS/DGPS or RTK)

Table 4: SMART-AG LED Status Indicators

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
distributed in the sky. If it is stuck on solid 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.

2.2.3 CAN Setup

See Section 3.1, Communications with the Receiver starting on Page 26 to begin collecting data.

Collected data can be transmitted to a host computer over a serial port using a program such as CDU.
Refer to its on-line Help for details. See also the SMART-AG commands and logs, detailed in this
manual.

24 SMART-AG User Manual Rev 2

Installation and Setup Chapter 2

2.2.4 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 7 on Page 54 for the pin-out details of this cable.

The ER outputs a logic high of supply voltage-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. It 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
Appendix B.4, RADARCFG Configure the ER Output starting on Page 64 for more information.

2.2.5 NEMA Standards

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 NMEA2000 Parameter Group Message (PGN):

• PGN 129029 GNSSPositionData

• PGN 129025 GNSSPositionRapidUpdate

• PGN 129026 COGandSOGRapidUpdate

Table 5: Available CAN Signals on the SMART-AG

CAN Pins

CANI+ Pin 6

CANI- Pin 7

SMART-AG User Manual Rev 2 25

Chapter 3 Operation

Before operating the SMART-AG for the first time, please ensure that you have followed the
installation instructions in Chapter 2, Installation and Setup starting on Page 20. The following
instructions are based on a COM port configuration such as that shown in Figure 5 on Page 30. It is
assumed that a personal computer, or laptop, is used during initial operation and testing for greater
ease and versatility.

3.1 Communications with the Receiver

Communication with the receiver typically consists of issuing commands through the communication
ports from an external serial communications device. This could be either a terminal or PC/laptop that
is directly connected to the receiver serial port using a DB-9 connector on the SMART-AG mult­cable. If you are using a radio, it connects to another DB-9 connector on the same multi-cable by
means of the radio serial cable supplied with the radio. It is recommended that you become thoroughly
familiar with the commands and logs detailed in the OEMV Firmware Reference Manual to ensure
maximum utilization of the receiver’s capabilities.

3.1.1 Serial Port Default Settings

The receiver communicates with your PC/laptop or terminal via a serial port. For communication to
occur, both the receiver and the operator interface have to be configured properly. The receiver’s
COM1and COM2 default port settings are as follows:

• 9600 bps, no parity, 8 data bits, 1 stop bit, no handshaking, echo off

Changing the default settings requires using the COM command.

The data transfer rate you choose determines how fast information is transmitted. Take for example a
log whose message byte count is 96. The default port settings allows 10 bits/byte (8 data bits + 1 stop
bit + 1 framing bit). It therefore takes 960 bits per message. To get 10 messages per second then
requires 9600 bps. Please also remember that even if you set the bps to 9600 the actual data transfer
rate is lower and depends on the number of satellites being tracked, data filters in use, and idle time. It
is therefore suggested that you leave yourself a margin when choosing a data rate (115200 is
recommended for most applications).

CAUTION: Although the receiver can operate at data transfer rates as low as 300 bps, this is

not desirable. For example, if several data logs are active (that is, a significant
amount of information needs to be transmitted every second) but the bit rate is set
too low, data will overflow the serial port buffers, cause an error condition in the
receiver status and result in lost data.

26 SMART-AG User Manual Rev 2

Operation Chapter 3

3.1.2 Communicating Using a Remote Terminal

One method of communicating with the receiver is through a remote terminal. The receiver has been
pre-wired to allow proper RS-232 interface with your data terminal. To communicate with the
terminal the receiver only requires the RX, TX, and GND lines to be used. Handshaking is not
available. Ensure the terminal’s communications set-up matches the receiver’s RS-232 protocol.

3.1.3 Communicating Using a Personal Computer

An IBM-compatible PC/laptop can be set up to emulate a remote terminal as well as provide the
added flexibility of creating multiple-command batch files and data logging storage files. Any
standard communications software package that emulates a terminal can be used to establish
bidirectional communications with the receiver, for example, HyperTerminal or our own graphic user
interface (GUI) program, CDU. All data is sent as raw 8-bit binary or ASCII characters.

3.2 Getting Started

Included with your receiver are NovAtel’s CDU and Convert programs. CDU is a windows-based
GUI which allows you to access the receiver's many features without the need for communications
protocol or to write special software. The Convert utility is a windows-based utility that allows you to
convert between file formats, and strips unwanted records for data file compilation. See also Page 22.

3.2.1 Starting the Receiver

When first powered, the SMART-AG undergoes a complete self-test. If an error condition is detected
during a self-test, the self-test status word changes. This self-test status word can be viewed in the
header of any data output log. Refer to the chapter on Messages in the OEMV Firmware Reference
Manual for header information. If a persistent error develops, please contact your local NovAtel
dealer first. If the problem is still unresolved, please contact NovAtel directly through any of the
methods listed in the Customer Service section at the beginning of this manual on Page 15.

3.2.2 Communicating with the Receiver Using CDU

Launch the CDU program and select Device | Open from its main menu. The Open Configuration
window appears. The example below shows an Open Configuration window with two possible
configurations already set up. Your configurations may be different or you may have none at all, in
which case, the Open Configuration window is empty.

SMART-AG User Manual Rev 2 27

Chapter 3 Operation

Refer to CDU’s Help file by selecting the Help | Contents menu. Ensure you can see the Console and ASCII Messages windows by selecting them from the Vie w menu.

When the receiver is first turned on, no data is transmitted from the COM ports except for the port
prompt. The Console window displays a port name:

[COM1] if connected to COM1 port,

or

[COM2] if connected to COM2 port,

Any of the above prompts indicate that the receiver is ready and waiting for command input.

 1. You may also have to wait for output from receiver self tests. For example, on start-up,

the OEMV family receiver is set to log the RXSTATUSEVENTA log ONNEW on all
ports. Refer to the OEMV Family Firmware Reference Manual for more details.

2. If you find that CDU is unable to locate your OEMV family receiver, it may be that you

have previously used the SAVECONFIG command. In this case, try using a different
COM port to communicate to the receiver. Once communication has been established,
issue the command FRESET STANDARD. You should now be able to use your original
communication port again.

Commands are typed at the interfacing computing device’s keypad or keyboard, and executed after
issuing a carriage return command which is usually the same as pressing the <Enter> key.

An example of a response to an input command is the FIX POSITION command. It can be as:

[COM2] fix position 51.11635 -114.0383 1048.2 [carriage return]

<OK

where

[COM2 ] is the port prompt, followed by the command you enter from your keypad or keyboard

28 SMART-AG User Manual Rev 2

Operation Chapter 3

and [carriage return] indicates that you should press the <Enter> key.

The above example illustrates command input to the base receiver’s COM2 port, which sets the position of the base station receiver for differential operation. Confirmation that the command was actually accepted is the appearance of <OK.

If a command is entered incorrectly, the receiver responds with:

<I

NVALID MESSAGE ID (or a more detailed message)

WARNING!: Ensure the Control Panel’s Power Settings on your PC/laptop are not set to go

into Hibernate or Standby modes. Data will be lost if one of these modes occurs
during a logging session.

3.3 Transmitting and Receiving Corrections

Corrections can be transmitted from a base station to a rover station to improve position accuracy. The
base station is the GNSS receiver, which is acting as the stationary reference. It has a known position
and transmits correction messages to the rover station. The rover station is the GNSS receiver which
does not know its exact position and can be sent correction messages from a base station to calculate
differential GNSS positions. An example of a differential setup is given in Figure 5 on Page 30.

SMART-AG User Manual Rev 2 29

Chapter 3 Operation

4

Base

Rover

3

+

-

4

+

-

1

212

Figure 5: Basic Differential Setup

Reference Description

1 SMART-AG receiver

2 User-supplied power supply, for example a battery

3 User-supplied device to COM1

4 User-supplied radio device to COM2

5 User-supplied PC/laptop, for setting up and monitoring, to COM1

System biases can introduce errors, as described in the Modes of Operation chapter in the GPS+
Reference Guide. In most cases you need to provide a data link between the base station and rover

station (two NovAtel receivers) in order to receive corrections. SBAS corrections can be
accomplished with one receiver and are exceptions to the base/rover concept. Generally a link capable
of data throughput at a rate of 9600 bits per second, and less than 4.0 s latency, is recommended.

Once your base and rover are set up, you can configure them as shown in the configuration examples
that follow in Sections 3.3.1 - 3.3.2 starting on Page 32.

30 SMART-AG User Manual Rev 2

Operation Chapter 3

3.3.1 Base Station Configuration

At the base station, enter the following commands:

interfacemode port rx_type tx_type [responses]

fix position latitude longitude height

log port message [trigger [period]]

For example:

RTCA interfacemode com2 none rtca off

fix position 51.11358042 -114.04358013 1059.4105

log com2 rtcaobs ontime 1

log com2 rtcaref ontime 10

log com2 rtca1 ontime 5

log com2 rtcaephem ontime 10 1 (optional)

RTCM interfacemode com2 none rtcm off

fix position 51.11358042 -114.04358013 1059.4105

log com2 rtcm3 ontime 10

log com2 rtcm22 ontime 10 1

log com2 rtcm1819 ontime 1

log com2 rtcm1 ontime 5

RTCMV3 interfacemode com2 none rtcmv3 off

fix position 51.11358042 -114.04358013 1059.4105

log com2 rtcm1006 ontime 10

log com2 rtcm1003 ontime 1

CMR+ interfacemode com2 none cmr off

fix position 51.11358042 -114.04358013 1059.4105

log com2 cmrobs ontime 1

log com2 cmrplus ontime 1 (important to use ontime 1 with cmrplus)

CMR interfacemode com2 none cmr off

fix position 51.11358042 -114.04358013 1059.4105

log com2 cmrobs ontime 1

log com2 cmrref ontime 10

log com2 cmrdesc ontime 10 1

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Chapter 3 Operation

3.3.2 Rover Station Configuration

At the rover station, enter:

interfacemode port rx_type tx_type [responses]

For example:

RTCA interfacemode com2 rtca none off

RTCM interfacemode com2 rtcm none off

RTCMV3 interfacemode com2 rtcmv3 none off

CMR+ interfacemode com2 cmr none off

CMR interfacemode com2 cmr none off (same as CMR+)

3.3.3 GPS + GLONASS Base and Rover Configuration

This section shows you how to set up your base and rover OEMV GPS + GLONASS-enabled
receivers for GPS + GLONASS RTK operation:

Base Station:

fix position lat lon hgt (enter your own lat, lon, and hgt values)

com com2 9600 N 8 1 N off

interfacemode com2 none rtca off

log com2 rtcaref ontime 10

log com2 rtcaobs2 ontime 1

log com2 rtca1 ontime 5 (optional, enable code-DGPS coverage)

saveconfig (optional, save configuration to non-volatile memory)

Rover Station:

com com2 9600 N 8 1 N off

interfacemode com2 rtca none off

log com1 bestposa ontime 1 (optional, view position information)

saveconfig (optional, save configuration to non-volatile memory)

3.3.4 Recommended Configuration

The following command is recommended to enable SBAS(WAAS/EGNOS/MSAS) corrections:

sbascontrol enable

The following commands are recommended to enable GLIDE:

pdpfilter enable

32 SMART-AG User Manual Rev 2

Operation Chapter 3

pdpmode relative auto

The following command is recommended to enable CAN:

setcanname 305

NovAtel has registered manufactured ID code 305 with J1939. When complete, your configuration
can be saved with the SAVECONFIG command. See the OEMV Family Firmware Reference Manual
and APN-050 SMART-AG Firmware Release for further details on these commands.

3.3.5 Configuration Notes

For compatibility with other GNSS receivers, and to minimize message size, it is recommended that
you use the standard form of RTCA, RTCM, RTCMV3 or CMR corrections as shown in the base and
rover examples above. This requires using the INTERFACEMODE command to dedicate one
direction of a serial port to only that message type. When the INTERFACEMODE command is used
to change the mode from the default, NOVATEL, you can no longer use NovAtel format messages.

If you wish to mix NovAtel format messages and RTCA, RTCM, RTCMV3 or CMR messages on the
same port, you can leave the INTERFACEMODE set to NOVATEL and log out variants of the
standard correction messages with a NovAtel header. ASCII or binary variants can be requested by
simply appending an "A" or "B" to the standard message name. For example on the base station:

interfacemode com2 novatel novatel

fix position 51.11358042 -114.04358013 1059.4105

log com2 rtcm1b ontime 2

 Using the receiver in this mode consumes more CPU bandwidth than using the native

differential messages as shown in Section 3.3.1, Base Station Configuration on Page 31.

At the rover station you can leave the INTERFACEMODE default settings (interfacemode com2
novatel novatel). The rover receiver recognizes the default and uses the corrections it receives with a
NovAtel header.

The PSRDIFFSOURCE and RTKSOURCE commands set the station ID values which identify the
base stations from which to accept pseudorange or RTK corrections respectively. They are useful
commands when the rover station is receiving corrections from multiple base stations. Refer to the
GPS+ Reference Manual for more information on SBAS, available from our website at:

http://www.novatel.com/support/docupdates.htm

 All PSRDIFFSOURCE entries fall back to SBAS (even NONE) for backwards compatibility.

At the base station it is also possible to log out the contents of the standard corrections in a form that is
easier to read or process. These larger variants have the correction fields broken out into standard
types within the log, rather than compressed into bit fields. This can be useful if you wish to modify
the format of the corrections for a non-standard application, or if you wish to look at the corrections

SMART-AG User Manual Rev 2 33

Chapter 3 Operation

for system debugging purposes. These variants have "DATA" as part of their names (for example,
RTCADATA1, RTCMDATA1, CMRDATAOBS, and more). Refer also to the OEMV Firmware
Reference Manual, which describes the various message formats in more detail.

 Information on how to send multiple commands and log requests using DOS or Windows, can

be found on our website at http://www.novatel.com/support/knowledgedb.htm.

34 SMART-AG User Manual Rev 2

Chapter 4 PC Utilities

Visit the Firmware and Software Updates section of the NovAtel website, www.novatel.com, for the
most recent versions of the PC software and receiver firmware.

4.1 CDU/Convert Installation

The CD accompanying this manual contains the Windows applications CDU (Control and Display
Unit) and Convert. The DL Explorer is part of CDU. They are installed via a standard Install Shield
set-up application. Also included on the CD is sample source code, to aid development of software for
interfacing with the receiver, and product documentation.

These applications utilize a database in their operations so the necessary components of the Borland
Database Engine (BDE) are installed as well as the necessary database tables and an alias for the
database. The install set-up application does all this automatically so you have only to select where
you would like the applications installed on your PC. It is strongly recommended that you close all
applications before installing CDU and Convert. You must close any applications that may be using
the BDE before installing. The install set-up modifies the BDE configuration so that it can recognize
the new CDU and Convert.

The software operates from your PC’s hard drive. You will need to install the software from the CD
supplied by NovAtel or from our website:

1. Start Microsoft Windows.

2. Place the NovAtel CD in your CD-ROM drive. If the setup utility is not automatically accessible,

follow these steps:

a. Select Run from the Start menu.

b. Select the Browse button.

c. Locate Setup.exe on the CD drive and select Open.

d. Select OK to run the setup utility.

3. Advance through the steps provided by the setup utility.

When the installation is complete, click on a program icon to launch the application.

 The latest CDU is available to download from our website at:

http://www.novatel.com/support/fwswupdates.htm

SMART-AG User Manual Rev 2 35

Chapter 4 PC Utilities

4.2 CDU

CDU is a 32-bit Windows application. The application provides a graphical user interface (GUI) to

allow you to set-up and monitor the operation of the NovAtel receiver by providing a series of
windows whose functionality is explained in this section. A help file is included with CDU. To access
the file, select Contents from the Help menu.

The rest of this section shows the CDU windows from the View menu and their descriptions.

Most windows have a popup menu accessible by right clicking on the window with the mouse. They
provide a way to customize the window by changing the font or to print the window contents. Some of
the windows have access to the Options dialog which contains further settings for certain windows.

• Constellation Window: The Constellation window displays each satellite being tracked by the
receiver. When you select a satellite, the window shows details of its PRN, Signal to Noise Ratio
(SNR), azimuth and elevation. Concentric circles from 0° to 90° represent elevations from the

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PC Utilities Chapter 4

horizon to directly overhead, respectively. The azimuth is mapped on a compass relative to true
North. The colored rings indicate the lowest elevation cut-off angles at which satellites are

tracked and can be changed or viewed via the button.

Each of the satellites being tracked are represented with icons according to their satellite system
as follows:

• Circular for GPS

• Square for GLONASS

• Hexagon for SBAS

There are also information icons and values at the bottom of the window:

• The number of GPS/GLONASS satellites used in the solution verses the number
being tracked. For example, 0/5 next to the Russian flag means that while the
receiver is tracking 5 GLONASS satellites, none are currently used in the position
solution.

• Satellite PRN number Azimuth and elevation angle values

• Signal to Noise Ratio (SNR) value and indicator

The PRN of the satellite is displayed on the icon and color-coding is used to indicate the status of
the satellite or the tracking channel. Click on a satellite to display information on that satellite.

When a valid position has been achieved, dilution of precision (DOP) values can be viewed in the
DOP window.

Open this window by selecting Constellation Window from the View menu or by clicking

its button in the Window Toolbar.

• Channel Tracking Status Window: The Channel Tracking Status window displays key
information for each of the receiver's processing channels, including the PRN of the satellite
being tracked by that channel, the Signal to Noise Ratio, Pseudorange measurements, Doppler
values, Residuals measurements and Lock Time from the satellite.

The TRACKSTAT log provides the data for many of the fields listed in this window. The number
of channels displayed depends on the model of your receiver and the bars are color-keyed to indi­cate the frequency type on the channel.

Open these windows by selecting Tracking Status Window GPS/GLONASS
from the View menu or by selecting the American and Russian flag buttons in the Window Tool­bar.

• Position Window: The Position window displays:

• The receiver's latitude, longitude and height

• The Solution Type, also known as Position Type

• The solution or differential age (number of seconds the current solution has been

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Chapter 4 PC Utilities

valid). Normally this represents the latency in the correction data.

• The number of satellites used in the solution

• The Solution Status

• The receiver's date and time (GMT and local)

Open this window by selecting Position Window from the View menu or its button in

the Window Toolbar.

Right-click in the Position window to that enables you to set the PC clock to the receiver's time,
change the font used to display the position data or set the units through the Options dialog box.

• Velocity Window: The Velocity window displays vertical and horizontal speed and direction.The
numeric displays within the dial, and the velocity values below the dial, show the vector velocity
as well as the vertical, North, and East velocity components. If necessary, the scale in the dial
increases so that you have room to accelerate.

Open this window by selecting Velocity Window from the View menu or its button in

the Window Toolbar.

• Compass Window: The direction dial is a compass that displays the direction of motion of the
receiver over ground and its elevation (both in degrees). The white arrow indicates the elevation
value on the vertical scale down the centre of the dial. The black arrow on the outer rim of the dial
indicates the Track Over Ground value. Both the track over ground and elevation angles are also
shown at the bottom of the Compass window.

Open this window by selecting Compass Window from the View menu or its button in

the Window Toolbar.

• INS Window: If applicable, please refer to your SPAN User Manual for more on INS.
Information in the INS Position, Velocity, Attitude window is only available if you have an INS­capable receiver model.

The dial is a graphical display of the Roll, Pitch and Azimuth values indicated by an arrow on
each axis.

Open this window by selecting INS Window from the View menu or its button in the

Window Toolbar.

• Plan Window: The Plan window provides real-time graphic plotting of the current position of
each connected device. The latitude and longitude shown at the bottom of the window indicate
the receiver's reference position, which is used as the center of the grid system. The receiver's

38 SMART-AG User Manual Rev 2

PC Utilities Chapter 4

subsequent positions, shown with a yellow + marker, are given relative to this initial starting
point. The current position is shown with a red + marker.

The buttons at the top of the window provide options for controlling the plan display:

• Zoom in or out of the Plan window

• View all configurations or center in on the active configuration

• Select a grid or circular display

• Show/Hide history

• Delete all history (no undo)

To open this window, select Plan Window from the View menu or select its button in the

Window Toolbar.

• Doppler Window: A value representing the uncertainty of the position solution based on

the current satellite geometry. The lower the value, the greater the confidence in the solution.

In the DOP window, DOP is displayed in the following forms:

• GDOP Geometric DOP: Uncertainty of all parameters (latitude,
longitude, height, clock offset)

• PDOP Position DOP: Uncertainty of the three-dimensional
parameters (latitude, longitude, height)

• HDOP Horizontal DOP: Uncertainty of the two-dimensional
parameters (latitude, longitude)

• VDOP Vertical DOP: Uncertainty of the height

• TDOP Time DOP: Uncertainty of the clock offset

• Console Window: This window allows the user to communicate directly to the receiver through
the serial port. It is essentially a terminal emulator with added receiver functionality. Commands
can be issued to the receiver via the command editor (at the bottom of the window) and sent by
pressing the Enter button or simply pressing <Enter> on the keyboard. The command editor has
recall functionality similar to DosKey whereby pressing the up arrow on the keyboard will move
backward through the previously issued commands and pressing the down arrow will move
forward through the previously issued commands. This allows the user to scroll through
previously issued commands and then press the <Enter> key to issue that command again.

Feedback from the receiver is displayed in the ASCII Messages or Console window depending on
the format of the message (ASCII or Abbreviated ASCII respectively).

WARNING!: Ensure all other windows are closed in CDU when entering the SAVECONFIG

command in the Console window.

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Chapter 4 PC Utilities

This window automatically opens when CDU is first connected to a receiver. To bring

the window to the front, select Console Window from the View menu or click its button in the
Window Toolbar.

• Logging Control Window: The Logging Control window provides a graphical interface for:

• Initiating data logging to a file

• Initiating logging to the receiver's serial ports

• Specifying a time window for data logging

• Stopping logging

• Editing log settings

To display the Logging Control window, select Logging Control Window from the

Tools menu or select its button in the Window Toolbar.

WARNING!: Ensure the Power Settings on your PC are not set to go into Hibernate or

Standby modes. Data will be lost if one of these modes occurs during a logging
session. Refer to CDU’s online Help for more information.

• ASCII Messages Window: This window displays ASCII formatted NovAtel logs.

To display the ASCII Messages window, select ASCII Messages Window from the View

menu or select its button in the Window Toolbar.

• Wizards: There are two wizards available: RTK and SPAN.

The Real Time Kinematic (RTK) wizard takes you through the steps needed to set up your RTK
system. You must have an RTK-capable receiver model or the wizard does not continue past its
opening page.

The SPAN wizard takes you through the steps needed to set up your Synchronized Position
Attitude Navigation (SPAN) system. You must have a SPAN-capable receiver model, or the
wizard does not continue past its opening page. The SPAN wizard can help with the alignment or
calibration of a SPAN system.

To display a wizard window, if you have the necessary receiver model, select
SPAN Wizard or RTK Wizard from the Tools menu or select one of their buttons in the Window
Toolbar.

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PC Utilities Chapter 4

4.3 Convert

Convert is a 32-bit Windows application and is shown in Figure 6. Convert will accept GPS file
formats and convert them to ASCII, Binary or Rinex format. The application also allows the user to
screen out particular logs by selecting the desired logs from the list of available logs. This feature is
useful for screening particular logs out of large data files in either ASCII or Binary formats.

Figure 6: Convert Screen Examples

4.3.1 Rinex Format

The Receiver-Independent Exchange (RINEX1) format is a broadly-accepted, receiver-independent
format for storing GPS data. It features a non-proprietary ASCII file format that can be used to
combine or process data generated by receivers made by different manufacturers.

1. For further information on RINEX Version 2.10 file descriptions, you may wish to
consult the U.S. National Geodetic Survey website at http://www.ngs.noaa.gov/CORS/

Rinex2.html.

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Chapter 4 PC Utilities

The Convert4 utility can be used to produce RINEX files from NovAtel receiver data files.

 Although RINEX is intended to be a receiver-independent format, there are many optional

records and fields. Please keep this in mind when combining NovAtel and non-NovAtel
RINEX data.

When converting to RINEX, two files are produced - a RINEX observation file and a RINEX
navigation file. A third GLONASS file is produced if the data contains GLONASS observations. The
default names of these files conform to the RINEX Version 2.10 recommended naming convention of
ssssdddf.yyt, where:

ssss 4 character station name - Convert4 uses the first four characters of the <infile>

parameter as the station ID

ddd day of year

f file sequence number within the day - Convert4 sets this to zero

t file type: o for the observation and n for the navigation file

Selecting the RINEX field, see Figure 6, Convert Screen Examples on Page 41, in the Convert To
section causes the:

1. Destination File: field to be replaced by the Observation File: and Ephemeris File: fields. Note
that Observation File refers to the RINEX OBS file while Ephemeris File refers to the RINEX
NAV file.

2. RINEX Headers buttons to appear allowing you to supply additional information that appears in
the header records of the RINEX output files (for example, Company Name, Marker Name and
Marker Number).

For best results, the NovAtel receiver input data file should contain the logs as in Table 6, NovAtel
Logs for Rinex Conversion on Page 43.

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PC Utilities Chapter 4

Table 6: NovAtel Logs for Rinex Conversion

NovAtel OEMV Family Log Recommended Trigger

RANGEA/B, or
RANGECMPA/B

BESTPOSA/B, or
PSRPOSA/B, or
RTKPOSA/B, or
MARKPOSA/B

IONUTCA/B onchanged

RAWEPHEMA/B onchanged

GLORAWEPHEMA/B onchanged

VERSIONA/B

SITEDEFA/B

a. Information from this log overrides data entered into the Receiver

Number, Type and Version fields using the OBS file button of the
RINEX Headers section, see Figure 6 on Page 41.

b. Available on DL-V3 receivers, refer to the DL-V3 User

Manual. Information from this log overrides data entered into
the Marker Name, Marker Number, Antenna Type and
Antenna Delta H fields using the OBS file button of the
RINEX Headers section.

a

b

4.3.2 Convert Command Line Switches

ontime 15

once

once

once

Convert4 supports several command-line switches to facilitate batch processing. To access its
Command Line Arguments window, open a command prompt window (select Accessories |
Command Prompt from the Start menu). Change directory (cd) to the directory on your hard drive that
Convert4 is stored. Type the following: convert4 -h

The Convert4 Command Line Arguments window appears as shown in Figure 7.

Figure 7: Convert Command Line Arguments

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Chapter 4 PC Utilities

The name of the output file is the same as the input file when converting to ASCII or binary formats.
The file extension, however, is altered to indicate the format of the data:

*.asc for ASCII

*.bin for binary

When converting to RINEX, the output files are named according to the RINEX Version 2.10 naming
convention, see Section 4.3.1, Rinex Format on Page 41.

The -batch arguments suppress the window display and convert the specified file automatically.

 When converting to RINEX in batch mode, the navigation and observation file header

information from the most recent interactive Convert session is used.

4.4 Firmware Upgrades

The receiver stores its program firmware in non-volatile memory, which allows you to perform
firmware upgrades without having to return the receiver to the distributor. New firmware can be
transferred to the receiver through COM1, and the unit will immediately be ready for operation at a
higher level of performance.

The first step in upgrading your receiver is to contact your local NovAtel dealer. Your dealer will
assist you in selecting the best upgrade option that suits your specific GPS needs. If your needs are
still unresolved after seeing your dealer then you can contact NovAtel directly through any of the
methods described in the Customer Service section, Page 15, at the beginning of this manual.

When you call, have your receiver model number, serial number, and program revision level
available. This information can be found by issuing the LOG VERSION command at the port prompt.

After establishing which new model/revision level would best suit your needs, and having described
the terms and conditions, you will be issued an authorization code (auth-code). The auth-code is
required to unlock the new features according to your authorized upgrade model type.

To upgrade to a higher performance model at the same firmware revision level (for example,
upgrading from a SMART-AG to a SMART-AG-ER on firmware version 3.600), you can use the
AUTH command with the issued auth-code.

If you are upgrading to a higher firmware revision level (for example, upgrading a SMART-AG- PVT
firmware version 3.600 to SMART-AG-RT-20 firmware version 3.700), you will need to transfer new
program firmware to the OEMV family receiver using the WinLoad utility program. As WinLoad and
the upgrade file are generally provided in a compressed file format, you will also be given a
decompression password. WinLoad and the upgrade files can be found on NovAtel's FTP site at http:/

/www.novatel.com, or can be sent to you by e-mail.

Your local NovAtel dealer will provide you with all the information that you require to upgrade your
receiver.

4.4.1 Upgrading Using the AUTH Command

The AUTH command is a special input command which authorizes the enabling or unlocking of the

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various model features. Use this command when upgrading to a higher performance OEMV family
model available within the same revision level as your current model (for example, upgrading from a
SMART-AG to a SMART-AG-ER on firmware version 3.600). This command only functions in
conjunction with a valid auth-code assigned by Customer Service.

The upgrade can be performed directly from CDU's Command Line Screen, or from any other
communications program. The procedure is as follows:

1) Power-up the OEMV family receiver and establish communications over a serial port (see

Chapter 4, Operation on Page 51)

2) Issue the LOG VERSION command to verify the current firmware model number, revision level,

and serial number.

3) Issue the AUTH command, followed by the auth-code and model type. The syntax is as follows:

Syntax:

auth auth-code

where auth is a special command which allows program model upgrades

auth-code is the upgrade authorization code, expressed as hhhh,hhhh,hhhh,hhhh,hhhh,model# where
the h characters are an ASCII hexadecimal code, and the model# would be ASCII text

Example:

auth 17cb,29af,3d74,01ec,fd34,l1smrter

Once the AUTH command has been executed, the OEMV family receiver will reboot itself. Issuing
the LOG VERSION command will confirm the new upgrade model type and version number.

If communicating using CDU, the communication path needs to be closed and re-opened using the
Device menu.

4.4.2 Updating Using the WinLoad Utility

WinLoad is required (instead of the AUTH command) when upgrading previously released firmware
with a newer version of program and model firmware (for example, upgrading a SMART-AG- PVT
firmware version 3.600 to SMART-AG-RT-20 firmware version 3.700). WinLoad is a Windows utility
program designed to facilitate program and model upgrades. Once WinLoad is installed and running,
it will allow you to select a host PC serial port, bit rate, directory path, and file name of the new
program firmware to be transferred to the OEMV family receiver via its COM1 or COM2 port. The
port chosen must have an RS-232 interface to the PC.

Transferring Firmware Files

To proceed with your program upgrade, you must first acquire the latest firmware revision. You will
need a file with a name such as OEMXXXX.EXE (where XXXX is the firmware revision level). This
file is available from NovAtel's FTP site (http://www.novatel.com
([e-mail]). If transferring is not possible, the file can be mailed to you on CD. For more
information on how to contact NovAtel Customer Service please see Page 15 at the beginning of this
manual.

), or via e-mail

SMART-AG User Manual Rev 2 45

Chapter 4 PC Utilities

You will need at least 1 MB of available space on your hard drive. For convenience, you may wish to
copy this file to a GPS sub-directory (for example, C:\GPS\LOADER).

The file is available in a compressed format with password protection; Customer Service will provide
you with the required password. After copying the file to your computer, it must be decompressed.
The syntax for decompression is as follows:

Syntax:

[filename] [password]

where filename is the name of the compressed file (but not including the .EXE extension) and
password is the password required to allow decompression

Example:

oem1001 12345678

A windows-based dialog box is provided for password entry.

The self-extracting archive will then generate the following files:

WinLoad.exe WinLoad utility program

HowTo.txt Instructions on how to use the WinLoad utility

WhatsNew.txt Information on the changes made in the firmware since the last revision

XXXX.hex Firmware version upgrade file, where XXXX = program version level (for

example, 1001.hex)

Using the WinLoad Utility

WinLoad is a windows based program used to download firmware to OEMV family cards. The main
screen is shown in Figure 8 on Page 46.

Figure 8: Main Screen of WinLoad

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PC Utilities Chapter 4

If you are running WinLoad for the first time you will need to make sure the file and communications
settings are correct.

Open a File to Download

From the file menu choose Open. Use the Open dialog to browse for your file, see Figure 9,
WinLoad’s Open Dialog on Page 47.

Figure 9: WinLoad’s Open Dialog

Once you have selected your file, the name should appear in the main display area and in the title bar,
see Figure 10 below.

Figure 10: Open File in WinLoad

Communications Settings

To set the communications port and baud rate, select COM Settings from the Settings menu. Choose
the port on your PC from the Com Port dropdown list and the baud rate from the Download Baudrate
dropdown list. The baud rate should be as high as possible (the default of 115200 is preferred).

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Chapter 4 PC Utilities

Figure 11: COM Port Setup

Downloading firmware

To download firmware follow these steps:

1. Set up the communications port as described in Communications Settings above.

2. Select the file to download, see Open a File to Download on Page 47.

3. Make sure the file path and file name are displayed in main display area, see Figure 10, Open File
in WinLoad on Page 47.

4. Click on the Write Flash button to download the firmware.

5. Power down and then power up the receiver when “Searching for card” appears in the main dis­play, see Figure 12.

Figure 12: Searching for Card

6. When the Authorization Code dialog opens, see Figure 13, enter the auth code and select OK

Figure 13: Authorization Code Dialog

7. The receiver should finish downloading and reset. The process is complete when “Done.” is dis­played in the main display area, see Figure 14.

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PC Utilities Chapter 4

Figure 14: Upgrade Process Complete

8. Close WinLoad.

This completes the procedure required to upgrade an OEMV family receiver.

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Appendix A Technical Specifications

Standalone:

L1 1.8 m RMS
SBAS

b

0.6 m RMS

DGPS 0.45 m RMS
RT-20 0.20 m RMS
Post Processed 5 mm + 1 ppm RMS

Time To First Fix

Hot: 35 s

(Almanac and recent ephemeris saved and approximate position)

Warm: 40 s (Almanac, approximate position and time, no recent ephemeris)
Cold: 65 s

(No almanac or ephemeris and no approximate position or time)

Reacquisition

0.5 s L1 (typical)

Data Rates

Raw
Measurements: 20 Hz

Computed

Position: 20 Hz

Time Accuracy

a c

20 ns RMS

Velocity Accuracy

0.03 m/s RMS

Measurement Precision

C/A code phase 6 cm RMS

L1 carrier phase:
Differential 0.75 mm RMS

Dynamics

Velocity 515 m/s

d

a. Typical values. Performance specifications are subject to GPS system characteristics, U.S. DOD operational degradation,

ionospheric and tropospheric conditions, satellite geometry, baseline length and multipath effects.

b. GPS-only
c. Time accuracy does not include biases due to RF or antenna delay.
d. In accordance with export licensing.

A.1 Smart-AG Receiver Performance

PERFORMANCE (Subject To GPS System Characteristics)

Position Accuracy

a

50 SMART-AG User Manual Rev 2

Technical Specifications Appendix A

A.2 SMART-AG Specifications

INPUT/OUTPUT CONNECTORS

SMART-AG COM/PWR

Serial Com Ports RS-232 F Compliant (Rx and Tx signals only)

CAN SAE J1939/ ISO 11783/ ISO 11898 Compliant

Emulated Radar Output High= Supply Voltage -0.5V Minimum

PPS Output 3.3 V CMOS Logic Compatible

MKI Input 3.3V CMOS Logic/ 5V Tolerant

+8 to +36 V DC at 2.5 W (typical while logging)
For the cable pinouts and drawings, see Section A.2.1, SMART-AG

Power/Communications Development kit Cable starting on Page 53

Low= 0.5V Minimum
Load= 3K Ohm Minimum

INPUT/ OUTPUT CONNECTOR PROTECTION

a

Electrical Conducted/
Coupled disturbance
tolerance

ISO 7637:2002 (Survives all pulse types)

LED INDICATORS

More details can also be found in Section 2.2.2, Status Indicators starting on Page 23

PHYSICAL

Size

Weight 495 g maximum

155.3 x 66.8 x

φ155 mm

b

ENVIRONMENTAL

Operating Temperature -40°C to +75°C

Storage Temperature -55°C to +90°C

Humidity Not to exceed 95% non-condensing

Vibration

c

Random MIL-STD-810F Method 514.5 C17
Sinusoidal IEC 68-2-6 ASAE EP455, 5.15.2 Level 1
Shock MIL-STD-810 F Method 516.5

a. When tracking GPS satellites.
b. φ denotes diameter, here and in the Dimensions graphic on Page 52.
c. See also the Notice section of this manual starting on Page 13.

SMART-AG User Manual Rev 2 51

Appendix A Technical Specifications

155.0

155.3

66.8

26.94

21.85

26.94

26.94

26.94

31.21

#8-32 THR EAD ED
INSERT (4 PL.)

Back of SMART-AG unit

Front of SMART-AG unit

DIMENSIONS

a

a. All dimension are in millimeters, please use the Unit Conversion section of the GPS+

Reference Manual for conversion to other measurements.

52 SMART-AG User Manual Rev 2

Technical Specifications Appendix A

J2

J3

J1

0.500SCALE

SEE DETAIL A

SEE DETAIL B

RED,
BATT +

BLACK
BATT-

STRIP INSU LATION FROM

12 WIRES AND CRIMP AMP/TYCO

TERMINAL # 770520-3 OR 770854-3

PER TYCO APPLICATION SPEC

114-16016

1.000SCALE

ADETAIL

BLUE,
ER_OUT

WHT-BLK,

ER GND

WHITE, MKI

WHT-BLK,
MKI GND

ORANGE, PPS

WHT BLK,
PPS GND

YELLOW,

CAN1+

GREEN,

CAN1-

1.000SCALE

BDETAIL

PIN 1

PIN 2

PIN 6

PIN 9

PIN 10

PIN 14

SEE DETAIL C

1.000SCALE

CDETAIL

PIN 5

PIN 1

PIN 9

PIN 6

COM 1

COM 2

5A Fast Blow Fuse
(User Supplied)

A.2.1 SMART-AG Power/Communications Development kit Cable

The SMART-AG cable that accompanies the SMART-AG, see Figure 15 below, provides a means of
supplying power from a battery while operating in the field. The exposed wires (red for positive and
black for negative) can then be connected to a 12 or 24V vehicular power circuit (or equivalent)
protected by a 5A fast blow fuse (user supplied). The cable also has two DB-9 connectors. One can
accommodate a PC/laptop serial (RS-232) communication port and the other can connect to a modem
or radio transmitter to propagate differential corrections (please refer to your user-supplied modem or
radio transmitter user guide for more information on its connectors).

In addition, there are a number of bare wires where the outer insulation is cut away but the wires
beneath are intact. See Table 7 on Page 54 for their pinouts. For more information on mating
connectors and part numbers, see Table 8 on Page 55.

This cable is RoHS compliant and its part number is 01018256.

Figure 15: SMART-AG Development Kit Cable

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Appendix A Technical Specifications

Table 7: SMART-AG Cable Pinouts

Colour Signal Name J1 J2 J3 Label

Red COM1_TXD 1 2

White COM1_RXD 2 3

Red COM2_TXD 3 2

White COM2_RXD 4 3

Black COM1 GND 5 5

Black COM2 GND 5 5

White-Black MKI GND 5 MKI GND

White-Black ER GND 5 ER GND

White-Black PPS GND 5 PULSE PER

SECOND
GND

Yellow CANI+ 6 CANI +

Green CANI- 7 CANI -

- RESERVED 8

Black PWR RET (GND) 9 BATT -

Blue EMULATED

RADAR OUT

White EVENT MARK IN 11 MKI

Orange PPS 12 PPS

- RESERVED 13

Red PWR INPUT 14 BATT +

10 ER_OUT

A.2.2 SMART-AG Connector and Cable Requirements

Custom cables for installing your SMART-AG can be created using he following guidelines:

• Wire size: must be 0.5 mm-1.25 mm (20-16 AWG)

• Batt + connection must be protected by 5A fast blow fuse

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Technical Specifications Appendix A

• Serial data signals (TxD, RxD, signal ground) must be run in shielded cable.
Connect shields to ground at SMART-AG end only

• CAN signal conductors must be twisted (40 twists/m, 12 twists/ft)

• Use only the recommended mating connectors listed below. Use only gold plated
pins

WARNING: Failure to observe the given cable construction guidelines in this section will

result in damage to the wiring (not covered by warranty).

The connector used in the SMART-AG is an “AMPSEAL” dust and water type produced by Tyco.
The following part numbers pertain to the mating connector required to make connections to the
SMART-AG. These numbers are provided for information only and are not available from NovAtel as
seperate parts.

Table 8: SMART-AG Mating Connectors

Product Part Description Company Part Number

SMART-AG mating connector
(Figure 15 on Page 53)

SMART-AG mating connector
(Figure 15 on Page 53)

SMART-AG mating connector
(Figure 15 on Page 53)

SMART-AG mating connector
(Figure 15 on Page 53)

Gold plated pins for SMART-AG
connector/loose

Gold plated pins for SMART-AG
connector/strip

14-pin sealed
receptacle housing­black

14-pin sealed
receptacle housing­natural

14-pin sealed
receptacle housing­grey

14-pin sealed
receptacle housing­blue

Pins, loose piece Tyco/AMP 770854-3

Pins, strip (reel) Tyco/AMP 770520-3

Tyco/AMP 776273-1

Tyco/AMP 776273-2

Tyco/AMP 776273-4

Tyco/AMP 776273-5

Tab l e 9 details the part numbers for recommended fuses and fuse holders. These numbers are provided
for information only and are not available from NovAtel as seperate parts.

SMART-AG User Manual Rev 2 55

Appendix A Technical Specifications

Table 9: Recommended Fuse and Fuse Holders

Fuse Recommended Fuse/Fuse Holder

12 V Fuse (standard size blade) ATO Blade Fuse 5A Littelfuse 0257005

Or Equivalent

12 V Fuse (mini size blade) Mini Blade Fuse 5A Littelfuse 0297005

Or Equivalent

24V Fuse (standard size blade) TAC ATO Blade

Fuse 5A

24V Fuse (mini size blade) Mini Blade Fuse

58V 5A

Fuse Holder (standard size blade) In-line ATO fuse

holder

Fuse Holder (mini size blade) In-line mini fuse

holder

Littelfuse 142.6185.450

Or Equivalent

Littelfuse 0997005

Or Equivalent

Littelfuse FHAC0001

Or Equivalent

Littelfuse 0FHM0001

Or Equivalent

56 SMART-AG User Manual Rev 2

Appendix B Commands

The SMART-AG firmware implements the commands in Tab le 1 0, in addition to the OEMV family
command set. The LOG command is available to all OEMV receivers but is an essential command to
do any logging. It is included in this appendix for your convenience.

Table 10: SMART-AG Commands in Alphabetical Order

ASCII Command Message ID Description

freset 20 Factory reset (Existing OEMV Command extended to

log 1 Request logs from the receiver (Existing OEMV Command

radarcfg 8192 Configure the ER signal output (New SMART-AG command)

reset 18 Perform a hardware reset (Existing OEMV Command

The arguments for each of these commands are described in the following sections.

For a complete listing and description of the other commands that the SMART-AG, an OEMV-1G­based receiver, is capable of processing, refer to the OEMV Family Firmware Reference Manual.

SMART-AG)

extended to SMART-AG)

extended to SMART-AG)

B.1 SYNTAX CONVENTIONS

The following rules apply when entering commands, at the command prompt, from a keyboard.

1. Courier font is used to illustrate program output or user input.

2. References to other commands, logs or any of their fields are shown in italics.

3. The commands are not case sensitive. For example, you could type either RESET or reset.

4. Except where noted, either a space or a comma can separate commands and their required entries.

For example, you could type either fix position 51.11358042 -114.04358013

1059.4105 or fix position 51.11358042, -114.04358013, 1059.4105.

5. At the end of a command, a carriage return is required. For example, press <Enter> or <Return>

on your keyboard.

6. Responses are provided to indicate whether or not an entered command was accepted. The format

of the response depends on the format of the command. Refer to the OEMV Family Firmware
Reference Manual for more information.

7. Optional parameters are indicated by square brackets ( [ ] ). For commands that contain

optional parameters, the value used if the optional parameter is not specified is given in the syntax
table for the command.

8. Data format definitions, as specified in the “Format” field, are detailed in the OEMV Family

Firmware Reference Manual. Note that all binary data is little-endian byte-ordered.

SMART-AG User Manual Rev 2 57

Appendix B Commands

B.2 FRESET Clear Selected Data from NVM and Reset

The OEMV freset command is extended to include SMART-AG features. An additional target field,
userdata (value = 10), resets only the SMART-AG user data NVM, thereby resetting all parameters

indicated in this document as “Stored in NVM” to factory defaults. Issuing the freset command with
the “target” field set to standard, resets the userdata NVM as well as OEMV parameters as indicated
in the OEMV Family Firmware Reference Manual.

 If you issue the FRESET command without any parameters, it is the same as issuing a FRESET

STANDARD command.

Field

1FRESET

2 target See Table 11 Data to be reset by the receiver Enum 4 H

Field
Type

header

ASCII
Value

- - This field contains the command name

Binary

Value

Description

or the message header depending on
whether the command is abbreviated
ASCII, ASCII or binary, respectively.

Binary

Format

-H0

Binary

Bytes

Table 11: FRESET Target

Binary ASCII Description

0 STANDARD Resets commands, ephemeris, and almanac (default). Also resets all L-

band related data except for subscription information.

1 COMMAND Resets the stored commands (saved configuration)

2 GPSALMANAC Resets the stored GPS almanac

3 GPSEPHEM Resets the stored GPS ephemeris

4 GLOEPHEM Resets the stored GLONASS ephemeris

5 MODEL Resets the currently selected model

10 USERDATA Reset SMART-AG-only commands

Binary

Offset

11 CLKCALIBRATION Resets the parameters entered using the CLOCKCALIBRATE command

20 SBASALMANAC Resets the stored SBAS almanac

21 LAST_POSITION Resets the position using the last stored position

31 GLOALMANAC Resets the stored GLONASS almanac

58 SMART-AG User Manual Rev 2

Commands Appendix B

B.3 LOG Request Logs from the Receiver

Many different types of data can be logged using several different methods of triggering the log
events. Every log element can be directed to any combination of the three COM ports and three USB
ports. The ONTIME trigger option requires the addition of the period parameter. See the OEMV
Firmware Reference Manual and the SMART-AG Firmware Reference Manual for further information
and a complete list of data log structures. The LOG command tables in this section show the ASCII
command format.

The optional parameter [hold] prevents a log from being removed when the UNLOGALL command,
with its defaults, is issued. To remove a log which was invoked using the [hold] parameter requires the
specific use of the UNLOG command. To remove all logs that have the [hold] parameter, use the
UNLOGALL command with the held field set to 1.

The [port] parameter is optional. If [port] is not specified, [port] is defaulted to the port that the com­mand was received on.

 1. The OEMV family of receivers can handle 30 logs at a time. If you attempt to log more

than 30 logs at a time, the receiver responds with an Insufficient Resources error. Each
COM port (serial and USB) already has RXSTATUSEVENT log associated with it. This
means that with 3 serial ports and 3 USB ports, 6 logs are already accounted for. See the
example on the next page.

2. Maximum flexibility for logging data is provided to the user by these logs. The user is
cautioned, however, to recognize that each log requested requires additional CPU time and
memory buffer space. Too many logs may result in lost data and degraded CPU performance.
Receiver overload can be monitored using the idle-time field and buffer overload bits of the
Receiver Status in any log header.

3. Polled log types do not allow fractional offsets or ONTIME rates faster than 1Hz.

4. Use the ONNEW trigger with the MARKTIME, MARK2TIME, MARKPOS or
MARK2POS logs.

5. Only the MARKPOS, MARK2POS, MARKTIME or MARK2TIME logs, and ‘polled’ log
types are generated ‘on the fly’ at the exact time of the mark. Synchronous and asynchronous
logs output the most recently available data.

6. If you do use the ONTIME trigger with asynchronous logs, the time stamp in the log does not
necessarily represent the time the data was generated, but rather the time when the log is
being transmitted.

SMART-AG User Manual Rev 2 59

Appendix B Commands

Abbreviated ASCII Syntax:Message ID: 1

LOG [port] message [trigger [period [offset [hold]]]]

Factory Default:

log com1 rxstatuseventa onnew 0 0 hold

log com2 rxstatuseventa onnew 0 0 hold

log com3 rxstatuseventa onnew 0 0 hold

log aux rxstatuseventa onnew 0 0 hold

log usb1 rxstatuseventa onnew 0 0 hold

log usb2 rxstatuseventa onnew 0 0 hold

log usb3 rxstatuseventa onnew 0 0 hold

Abbreviated ASCII Example 1:

log com1 bestpos ontime 7 0.5 hold

The above example shows BESTPOS logging to COM port 1 at 7 second intervals and offset by 0.5
seconds (output at 0.5, 7.5, 14.5 seconds and so on). The [hold] parameter is set so that logging is not
disrupted by the UNLOGALL command.

To send a log only one time, the trigger option can be ignored.

Abbreviated ASCII Example 2:

log com1 bestpos once 0.000000 0.000000 nohold

Refer to the Command Formats section of the OEMV Firmware Reference Manual for additional
examples.

 1. In CDU there are two ways to initiate data logging to the receiver's serial ports. You can

either enter the LOG command in the Console window, or use the interface provided in
the Logging Control window. Ensure the Power Settings on your PC are not set to go into
Hibernate or Standby modes. Data is lost if one of these modes occurs during a logging
session.

2. Only the ASCII/Abbreviated ASCII log table is included in this manual. Please refer to the
LOG command in the OEMV Family Firmware Reference Manual for binary log details.

60 SMART-AG User Manual Rev 2

Commands Appendix B

Field

1 LOG

2 port See Table 12, Detailed

3 message Any valid message name,

4 trigger ONNEW Output when the message is updated (not

Field

Name

- This field contains the command name or the
(ASCII)
header

Serial Port Identifiers on
Page 62

with an optional A or B
suffix.

ONCHANGED Output when the message is changed

ONTIME Output on a time interval

ONNEXT Output only the next message

ONCE Output only the current message. (default)

ASCII
Value

Description

message header depending on whether the
command is abbreviated ASCII or ASCII
respectively.

Output port
(default = THISPORT)

Message name of log to output Char [ ]

necessarily changed)

Field
Type

-

Enum

Enum

ONMARK Output when a pulse is detected on the mark 1

input, MK1I

5 period Any positive double value

larger than the receiver’s
minimum raw
measurement period

6 offset Any positive double value

smaller than the period.

7 hold NOHOLD Allow log to be removed by the UNLOGALL

HOLD Prevent log from being removed by the

Log period (for ONTIME trigger) in seconds
(default = 0)

Offset for period (ONTIME trigger) in seconds. If
you wished to log data at 1 second after every
minute you would set the period to 60 and the
offset to 1 (default = 0)

command (default)

UNLOGALL command

Double

Double

Enum

SMART-AG User Manual Rev 2 61

Appendix B Commands

Table 12: Detailed Serial Port Identifiers

ASCII Port

Name

Hex Port

Value

NO_PORTS 0 0 No ports specified

COM1_ALL 1 1 All virtual ports for COM port 1

COM2_ALL 2 2 All virtual ports for COM port 2

COM3_ALL 3 3 All virtual ports for COM port 3

THISPORT_ALL 6 6 All virtual ports for the current port

ALL_PORTS 8 8 All virtual ports for all ports

XCOM1_ALL 9 9 All virtual COM1 ports

XCOM2_ALL 10 10 All virtual COM2 ports

USB1_ALL d 13 All virtual ports for USB port 1

USB2_ALL e 14 All virtual ports for USB port 2

USB3_ALL f 15 All virtual ports for USB port 3

AUX_ALL 10 16

XCOM3_ALL 11 17 All virtual COM3 ports

Decimal Port

Value

a

Description

All virtual ports for the AUX port

b

COM1 20 32 COM port 1, virtual port 0

COM1_1 21 33 COM port 1, virtual port 1

. . .

COM1_31 3f 63 COM port 1, virtual port 31

COM2 40 64 COM port 2, virtual port 0

. . .

COM2_31 5f 95 COM port 2, virtual port 31

COM3 60 96 COM port 3, virtual port 0

. . .

COM3_31 7f 127 COM port 3, virtual port 31

USB 80 128 USB port, virtual port 0

. . .

USB_31 9f 159 USB port, virtual port 31

SPECIAL a0 160 Unknown port, virtual port 0

. . .

SPECIAL_31 bf 191 Unknown port, virtual port 31

THISPORT c0 192 Current COM port, virtual port 0

. . .

Continued on Page 63

62 SMART-AG User Manual Rev 2

Commands Appendix B

ASCII Port

Name

Hex Port

Value

Decimal Port

Value

a

Description

THISPORT_31 df 223 Current COM port, virtual port 31

FILE

FILE_1

c

c

e0

e1

c

c

224

225

c

c

User-specified file destination, 0

User-specified file destination, 1

. . .

FILE_31

c

c

ff

255

c

User-specified file destination, 31

XCOM1 1a0 416 Virtual COM1 port, virtual port 0

XCOM1_1 1a1 417 Virtual COM1 port, virtual port 1
. . .

XCOM1_31 1bf 447 Virtual COM1 port, virtual port 31

XCOM2 2a0 672 Virtual COM2 port, virtual port 0

XCOM2_1 2a1 673 Virtual COM2 port, virtual port 1
. . .

XCOM2_31 2bf 703 Virtual COM2 port, virtual port 31

USB1 5a0 1440 USB port 1, virtual port 0

USB1_1 5a1 1441 USB port 1, virtual port 1
. . .

USB1_31 5bf 1471 USB port 1, virtual port 31

USB2 6a0 1696 USB port 2, virtual port 0
. . .

USB2_31 6bf 1727 USB port 2, virtual port 31

USB3 7a0 1952 USB port 3, virtual port 0
. . .

USB3_31 7bf 1983 USB port 3, virtual port 31

AUX

c

8a0

c

2208

c

AUX port, virtual port 0

b

. . .

AUX_31

c

8bf

c

2239

c

AUX port, virtual port 31

b

c

c

c

XCOM3 9a0 2464 Virtual COM3 port, virtual port 0
. . .

XCOM3_31 9bf 2495 Virtual COM3 port, virtual port 31

a. Decimal port values 0 through 16 are only available to the UNLOGALL command and

cannot be used in the UNLOG command, or in the binary message header.

b. The AUX port is available on OEMV-2-based and OEMV-3-based products.

c. SMART-AG only. Refer to the SMART-AG Firmware Reference Manual and CDU’s Help

file.

SMART-AG User Manual Rev 2 63

Appendix B Commands

B.4 RADARCFG Configure the ER Output

Use this command to configure the Emulated Radar (ER) output. ER is available through the SMART­AG multi-cable, see Page 54 for pin-out details.

Syntax

radarcfg switch freq_step update_rate resp_mode threshold

Message ID = 8192

Field Data Description Bytes Format Units Offset

1 Header This field contains the command name or the

message header depending on whether the
command is abbreviated ASCII, ASCII or binary,
respectively.

2 switch Enable or disable radar emulation

0 = ENABLE
1 = DISABLE

(default = enable)

3 freq_step Frequency step per kilometer per hour.

Range: 26.11, 28.12 or 36.11

4 update_rate Specify how often to update radar output

5 resp_mode Specify the time, response mode, over which to

average velocity samples, see Table 13.
(Default = 300)

6 threshold The threshold is only applicable when the

response mode is set to 2. The response time is
1000 ms when the velocity is greater than this
value, otherwise, it is 500 ms.
Range: 2-50 kph (default = 5 kph)

(default = 26.11)

Range: 1, 2, 5, 10, 20 (default = 10)

a

a

4 Enum none H

8 Double Hz/

4 Integer Hz H+12

4 Integer none H+16

8 Double kph H+20

--0

kph

a. The number of samples used for smoothing depends on both the update_rate and resp_mode

parameters. For instance, if the update_rate is 5 Hz and the resp_mode is 200ms, the number of
samples used will be 10.

H+4

64 SMART-AG User Manual Rev 2

Commands Appendix B

Table 13: Response Modes

Mode Description

2000 2000 ms

1000 1000 ms

500 500 ms (default)

2 Automatically switches between 1000 and 500 ms

1 Performs no smoothing

The time period over which to smooth
velocity samples

Example 1 to disable radar emulation: radarcfg disable 26.11 1 1 2

Example 2 to set the frequency step to 36.11 Hz/kph: radarcfg enable 36.11 1 1 2

SMART-AG User Manual Rev 2 65

Appendix B Commands

B.5 RESET Perform a Hardware Reset

The OEMV reset command is extended to include SMART-AG features.

66 SMART-AG User Manual Rev 2

Appendix C Logs

The SMART-AG firmware generates the logs in Table 14, in addition to those of the OEMV Family
log set. Refer to the OEMV Family Firmware Reference Manual, which also contains procedures and
explanations related to data logging and is available from our website at:

http://www.novatel.com/support/docupdates.htm

Table 14: SMART-AG Logs in Alphabetical Order

Message ID ASCII Log Description

8193 RADARSIGNAL Radar signal and position information (New SMART-AG log)

37 VERSION Hardware versions, software versions, and serial numbers

(Existing OEMV log extended to SMART-AG)

SMART-AG User Manual Rev 2 67

Appendix C Logs

C.1 RADARSIGNAL ER Signal and Position Information

This log contains position and Emulated Radar (ER) signal information.

Message ID: 8193

Log Type: Asynch

Recommended Input:

log radarsignala onchanged

ASCII Example 1 (stationary SMART-AG):

#RADARSIGNALA,COM1,0,61.5,FINESTEERING,1501,248381.628,00000000,8a1c,3723;

SOL_COMPUTED,WAAS,0.0139,0.00,0.00*f0d580ca

ASCII Example 2 (moving SMART-AG):

#RADARSIGNALA,COM1,0,42.5,FINESTEERING,1428,206179.600,00000000,baa8,3349;

SOL_COMPUTED,WAAS,0.3315,2,0.3152,473.97,29.62*c1479c20

Field # Field type Data Description Format

1 RADAR-

SIGNAL
header

2 sol status Solution status, see Table 16, Solution Status on

3 vel type Velocity type, see Table 15, Position or Velocity

4 speed Speed over ground (m/s) Double 8 H+8

4 varf freq External VARF output frequency (Hz) Double 8 H+16

5 radar freq Radar signal frequency (Hz) as output by the

6 xxxx 32-bit CRC (ASCII and Binary only) Hex 4 H+32

7 [CR][LF] Sentence terminator (ASCII only) - - -

Log header H 0

Enum 4 H

Page 70

Enum 4 H+4

Type on Page 69

Double 8 H+24
Emulated Radar Out signal. See SMART-AG
Development Kit Cable starting on Page 53.

Binary

Bytes

Binary

Offset

68 SMART-AG User Manual Rev 2

Logs Appendix C

Table 15: Position or Velocity Type

Type (binary) Type (ASCII) Description

0NONE No solution

1 FIXEDPOS Position has been fixed by the FIX POSITION command

2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT/AUTO

command

8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler

16 SINGLE Single point position

17 PSRDIFF Pseudorange differential solution

18 WAAS Solution calculated using corrections from an SBAS

19 PROPAGATED Propagated by a Kalman filter without new observations

32 L1_FLOAT Floating L1 ambiguity solution

33 IONOFREE_FLOAT Floating ionospheric-free ambiguity solution

34 NARROW_FLOAT Floating narrow-lane ambiguity solution

48 L1_INT Integer L1 ambiguity solution

49 WIDE_INT Integer wide-lane ambiguity solution

50 NARROW_INT Integer narrow-lane ambiguity solution

SMART-AG User Manual Rev 2 69

Appendix C Logs

Table 16: Solution Status

Solution Status

(Binary) (ASCII)

0

1

2

3

4

5

6

7

8

9

10

11

12

13

14-17

18

SOL_COMPUTED Solution computed

INSUFFICIENT_OBS Insufficient observations

NO_CONVERGENCE No convergence

SINGULARITY Singularity at parameters matrix

COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)

TEST_DIST Test distance exceeded (maximum of 3 rejections if

COLD_START Not yet converged from cold start

V_H_LIMIT Height or velocity limits exceeded (in accordance with

VARIANCE Variance exceeds limits

RESIDUALS Residuals are too large

DELTA_POS Delta position is too large

NEGATIVE_VAR Negative variance

Reserved

INTEGRITY_WARNING Large residuals make position unreliable

Reserved for SPAN-capable receivers

PENDING When a FIX POSITION command is entered, the

distance > 10 km)

export licensing restrictions)

receiver computes its own position and determines if
the fixed position is valid

Description

a

19

20

a. PENDING implies there are not enough satellites being tracked to verify if the FIX POSITION

entered into the receiver is valid. The receiver needs to be tracking two or more GPS satellites to
perform this check. Under normal conditions you should only see PENDING for a few seconds on
power up before the GPS receiver has locked onto its first few satellites. If your antenna is
obstructed (or not plugged in) and you have entered a FIX POSITION command, then you may see
PENDING indefinitely.

INVALID_FIX The fixed position, entered using the FIX POSITION

command, is not valid

UNAUTHORIZED Position type is unauthorized - HP or XP on a receiver

not authorized for it

70 SMART-AG User Manual Rev 2

Logs Appendix C

C.2 VERSION HW & SW Versions and Serial Numbers

The Component Type of the VERSION log, refer to the OEMV Family Firmware Reference Manual,
is extended to include SMART-AG information as in Table 17.

Table 17: Component Type

Binary Value

0 UNKNOWN Unknown Component

1 GPSCARD OEMV GPSCard Component

3 ENCLOSURE SMART-AG Receiver

8 USERINFO User-application information component

981073925
(0x3A7A0005)

a

ASCII Value Description

DB_USERAPPAUTO Auto-starting user-application firmware

a. Unused numbers are reserved for future use.

SMART-AG User Manual Rev 2 71

Appendix D Replacement Parts

The following are a list of the replacement parts available for your NovAtel SMART-AG receiver.
Should you require assistance, or need to order additional components, please contact your local
NovAtel dealer or Customer Service representative.

D.1 SMART-AG

Part Description NovAtel Part

SMART-AG 01018203

Cable: 14-pin socket to 2 DB-9 connectors, twisted CAN I/O pair, and other bare wire connectors
(see Section 15, SMART-AG Development Kit Cable starting on Page 53)

Mounting Plate 70023072

D.2 Accessories

Part Description NovAtel Part

OEMV Family Compact Disc with PC utilities including CDU 01018235

OEMV Family Installation and Operation User Manual OM-20000093

OEMV Family Firmware Reference Manual OM-20000094

 The accessories above are also available from www.novatel.com

01018256

72 SMART-AG User Manual Rev 2

Index

A

accuracy

position
velocity, 50

almanac, 58
antenna

internal
mounting, 23
single-frequency, 23

specifications, 51
ascii, 41
AUTH command, 44
authorization, 45
AUX port, 63

, 29, 50

, 18

B

base station, 33
baseline, 29
baud rate, 26
bidirectional communication, 27
Bluetooth, 21
buffer, 26, 59

C

cable

serial

, 26

warranty, 9
Caution, 26
CDU software, 35, 60, 72
CMR, 33
cold start, 50
COM port, 60
command, 57

CDU, 28

communication, 26

error message, 28

example, 28

in CDU, 39, 44

interface, 33

multiple, 34

note, 28

port, 26
pre-configure, 31
prompt, 28
RTK, 33

communication

bidirectional
CDU, 28
getting started, 27
notice, 13
operation, 26
PC/laptop, 27
physical, 20
port, 23, 26
remote terminal, 27

COMVOUT command, 58
configuration

additional equipment
base station, 31
CDU, 27
model, 18
port, 23, 26
rover station, 32
RTK, 33
typical hardware, 26

connector

input/output
mounting bracket, 22
specifications, 51

Controller Area Network Bus (CAN Bus),

23

Convert software, 41
copyright, 2
CPU, 59
Customer Service, 15, 44

, 27

, 20

, 51

D

data

collect

, 24

erase, 58
format, 57
L-band, 58
link, 30

SMART-AG User Manual Rev 2 73

Index

log, 59–60
NVM, 58
port, 23, 26
start, 27–28
storage device, 30
terminal, 27

Warning, 29
DC power, 51
dealer, 15, 44
default

factory

, 58

interface mode, 33

log, 60

offset, 61

period, 61

port, 23, 26, 59–61

reset, 58

trigger, 61
differential

configuration note

corrections, 29, 53

operation, 29

serial cable, 53

setup, 30
directional communication, 27
distance exceeded, 70

, 33

E

e-mail, 15
Emulated Radar (ER), 25, 64, 68

F

features, 18, 27, 44–45
firmware upgrades, 44–45
FRESET command, 58

G

GLONASS, 18, 42
GPSAntenna, 9
graphical user interface, 36

enclosure, 18
replace, 72
required, 20
reset, 66
setup, 21, 30

specifications, 52
header, 17
height limit, 70
hexadecimal, 17
hibernate mode, PC, 60
hold, 59, 61

I

identifier, serial port, 62
idle time, 26
input

command

connector, 51

differential, 31–32

mark, 61

power, 22

syntax, 57
install, 16
installation, 35
integration, 16
interface

base or rover

communication, 27

graphical, 22

serial, 26
introduction, 18

, 28

, 31–32

L

laptop power settings, 60
LED

front

, 18

power, 21, 23
light emitting diode (LED), see LED
log

, 33, 59–60, 67

LOG command, 59
logs in CDU, 40

H

handshaking, 26
hardware

connector

74 SMART-AG User Manual Rev 2

, 20

M

memory, 59
message trigger, 61
model, 18

Index

N

note, logging, 59
Notices, 13
NovAtel Inc., 2, 15

O

operation, 26
optionality, 17
output

connector
convention, 17
log, 59–61
status, 27–28
syntax, 57

overload, 59

, 51

P

parity, 26
PC power settings, 60
period, 59, 61
port

COM

, 20, 26, 28, 33

identifier, 62–63
interface mode, 31–32
log, 59–61
output, 61
prompt, 28
serial, 24, 26
settings, 26

position

accuracy
base, 29, 31
best, 68

command, 28, 33
power, 21–22
pseudorange, 33

, 29

R

RADARCFG command, 64
RADARSIGNAL log, 68
receiver status, 59
replacement parts, 72
reset

FRESET command

option, 58

, 28, 58

RESET command, 66

target, 58
RESET command, 64
revision, firmware, 1, 44
Rinex, 41
rover station, 33
RTCA, 33
RTCM, 31, 33
RTCMV3, 31, 33

S

satellite, 23, 26
self-test, 27, 59
serial

cable

, 26

number, 44

port, 33, 62
standby mode, PC, 60
status, receiver, 59
support, 9, 15
syntax, 57

T

technical specifications, 50
time, 59, 61
trigger, log, 59–60

U

upgrade firmware, 15, 44–45

V

velocity limit, 70
version, 45

W

Warning

CE

, 14

FCC, 13

voltage, 22
warranty, 9
website, 15
windows in CDU, 36–40
WinLoad, 45
WRITE command/log, 71

SMART-AG User Manual Rev 2 75

OM-20000123 Rev 2 2008/12/16