Novatel OM-AD-0020 User Manual

Software Versions 4.52s3 (GPS/GEO) and 6.48s16 (GPS/GLONASS) OM-AD-0020 Rev 1

Test Bed Receiver

Addendum

to the

MiLLennium

Command Descriptions Manual

NovAtel Inc.

Test Bed Receiver Subsystem

Addendum

Publication Number: OM-AD-0020
Revision Level: 1 00/4/11
This manual reflects Test Bed firmware revision levels 4.52s3 (GPS/GEO) and 6.48s16 (GPS/GLONASS).

Proprietary Notice

Information in t his document is subject to change without not ice and does not represent a comm itment on the part of
NovAtel Inc. The software described in this document is furnished under a license 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 informat i on contained within this manual is believed t o be true and correct at the time of publication.



P-Code Delayed Correlation Technology, GPSAntenna, GPSCard, MEDLL
Correlator



are trademarks of NovAtel Inc.

Belden is a registered trademark of Belden Inc.

, MET, MiLLennium and Narrow

© 2000 NovAtel Inc. Al l ri ghts reserved
Unpublished rights reserved under I nt e rnat i onal copyright laws.
Printed in Canada on recycled paper. Recyclable.

ii Test Bed Receiver Subsystem Addendum – Rev 1

Table of Contents

TABLE OF CONTENTS

Foreword........................................................................................................................... vii

Scope........................................................................................................................................................................vii

Prerequisites.............................................................................................................................................................vii

1 Introduction ................................................................................................................ 8

The NovAtel Test Bed Receiver.................................................................................................................................8

Operational Overview.........................................................................................................................................9

GEO Processing...............................................................................................................................................9

Single Frequency GPS GLONASS................................................................................................................10

Dual Frequency GPS GEO............................................................................................................................10

Other Outputs & Inputs .................................................................................................................................10

2 Installation of Test Bed Receiver............................................................................ 11

Minimum Configuration...........................................................................................................................................11

Internal and External Oscillators..............................................................................................................................12

Connecting the External Frequency Reference.........................................................................................................13

Connecting Data Communications Equipment.........................................................................................................14

Connecting the GPS Antenna...................................................................................................................................14

Connecting the External Power Input.......................................................................................................................15

Using the 10 MHz Output Signal.............................................................................................................................15

Accessing the Strobe Signals....................................................................................................................................16

3 Operation .................................................................................................................. 17

Pre-Start Check List.................................................................................................................................................17

Serial Ports - Default Settings...........................................................................................................................17

Start-Up.............................................................................................................................................................17

Initial Communications with the Test Bed Receiver................................................................................................18

4 Update or Upgrade Your GPSCard......................................................................... 19

Upgrading Using the $AUTH Command.................................................................................................................19

Updating Using the LOADER Utility ......................................................................................................................20

Transferring Firmware Files..............................................................................................................................20

Using the LOADER Utility...............................................................................................................................21

APPENDICES

A WAAS Overview ....................................................................................................... 22

B GLONASS Overview................................................................................................. 23

GLONASS System Design.......................................................................................................................................24

The Space Segment...........................................................................................................................................24

The Control Segment........................................................................................................................................25

The User Segment.............................................................................................................................................25

Time..................................................................................................................................................................26

GLONASS Time vs. Local Receiver Time...................................................................................................26

Test Bed Receiver Subsystem Addendum – Rev 1 iii

Table of Contents

Datum............................................................................................................................................................26

MiLLennium-GLONASS GPSCard System.....................................................................................................27

GPS/GLONASS Antenna..................................................................................................................................28

Radio Frequency (RF) Section..........................................................................................................................28

Digital Electronics Section ................................................................................................................................28

C WAAS Commands and Logs ...................................................................................30

Commands................................................................................................................................................................30

CONFIG............................................................................................................................................................30

IONOMODEL...................................................................................................................................................31

WAASCORRECTION......................................................................................................................................32

Logs..........................................................................................................................................................................33

RCCA Receiver Configuration......................................................................................................................33

D GLONASS Commands and Logs.............................................................................34

GLONASS-Specific Commands..............................................................................................................................34

DGLOTIMEOUT.............................................................................................................................................. 34

PZ90TOWGS84................................................................................................................................................35

GLONASS-Specific Logs........................................................................................................................................36

CALA/B CALIBRATION INFORMATION....................................................................................................36

GALA/B ALMANAC INFORMATION..........................................................................................................39

GCLA/B CLOCK INFORMATION.................................................................................................................41

GEPA/B EPHEMERIS INFORMATION......................................................................................................... 43

Other NovAtel Logs.................................................................................................................................................47

RCCA Receiver Configuration......................................................................................................................47

E Test Bed Receiver - Technical Specifications........................................................48

INDEX.................................................................................................................................51

iv Test Bed Receiver Subsystem Addendum –
Rev 1

Table of Contents

FIGURES

Figure 1 The NovAtel Test Bed Receiver......................................................................................................................8

Figure 2 Test Bed Receiver Functional Block Diagram.................................................................................................9

Figure 3 Test Bed Minimum System Configuration....................................................................................................11

Figure 4 Rear Panel of Test Bed Receiver...................................................................................................................12

Figure 5 10 MHz In (External Frequency Reference) - Test Bed................................................................................13

Figure 6 Lights on Front Panel of Test Bed Receiver..................................................................................................13

Figure 7 Pinout for GPS GLONASS and GPS GEO Ports - Test Bed.........................................................................14

Figure 8 Antenna Inputs - Test Bed .............................................................................................................................14

Figure 9 External Power Connections - Test Bed........................................................................................................15

Figure 10 10 MHz Output – Test Bed............................................................................................................................15

Figure 11 Strobe 9-pin D-Connector Pinout - Test Bed.................................................................................................16

Figure 12 Main Screen of LOADER Program...............................................................................................................21

Figure 13 The WAAS Concept......................................................................................................................................22

Figure 14 View of GLONASS Satellite Orbit Arrangement..........................................................................................25

TABLES

Table 1Positioning Modes of Operation .............................................................................................................................23

Table 2Time Status.............................................................................................................................................................42

Table 3GLONASS Ephemeris Flags Coding......................................................................................................................46

Test Bed Receiver Subsystem Addendum – Rev 1 v

Foreword

FOREWORD

SCOPE

The Test Bed Receiver Subsystem Addendum is written for users of the Test Bed Receiver Subsystem and contains
information specific to the TESTBEDW and TESTBEDGLO software models.

This manual describes the NovAtel Test Bed Receiver Subsystem in sufficient detail to allow effective integration and
operation. The manual is organized into sections, which allow easy access to appropriate information.

It is beyond the scope of t his manua l to provi de servi ce or r epair deta ils. Plea se contact your NovAtel Servic e Center for
any customer service inquiries.

PREREQUISITES

The Test Bed Receiver is a stand-alone fully functional GPS and Test Bed Receiver. Refer to Chapter 2, Installation of
Test Bed Receiver for more informat ion on installation requir ements and considerat ions.

The NovAtel Test Bed Receiver module utilizes a comprehensive user interface command structure, which requires
communications through its serial (COM ) ports. To utilize the built-in command structure to its fullest potential, it is
recommended that some time be taken to review and become familiar with commands and logs in the MiLLennium
Command Descriptions Manual before operating the Test Bed Receiver.

Test Bed Receiver Subsystem Addendum – Rev 1 vii

1 - Introduction

1 INTRODUCTION

The Test Bed Receiver is based on a Wide Area Augmentation System receiver (NovAtel WAAS). See Appendix A,
Page 22 for an overview of the WAAS system.

THE NOVATEL TEST BED RECEIVER

Figure 1 The NovAtel Test Bed Receiver

The Test Bed Receiver consists of two NovAtel Millennium receivers packaged along with associated support circuitry in
a NovAtel WAAS Receiver style enclosure (a 4U high 19” sub rack). The first Millennium receiver (GPS GEO) tracks

12 GPS L1/L2 satellites with narrow correlator spacing, or 10 GPS L1/L2 satellites with narrow correlator spacing and 1
WAAS satellite with wide correlator spacing or 8 GPS L1/L2 satellites with narrow correlator spacing and 2 WAAS
satellites with wide correlator spacing. The second Millennium receiver (GPS GLONASS) tracks 12 GPS L1 satellites
with narrow correlator spacing and 6 GLONASS L1 satellites with narrow correlator spacing. Refer to Default Channel
Assignments in Appendix E, Page 50 for more details on the channel configurations. Data output rates will be nominally
at one hertz.

It is possible to upgrade this configuration in the future to become a full EGNOS RIMS-C, WAAS or MSAS receiver, by
the addition of several MEDLL receiver cards and replacement of the GPS GLONASS card with a second GPS GEO
card.

The GPS GLONASS card uses Narrow Correlator tracking technology to track the L1 GPS satellite signals. This
enhances the accuracy of the pseudorange measurements as well as mitigating the effects of multipath.

The GPS GEO card will tra ck GEO satellite s that transmit using the RT CA/DO-229A WAAS signal structure . The GEO
satellites are tracked using standard correlator spacing. This configuration is chosen based on the signal bandwidth of the
IMMARSAT GEO satellites, which is constrained to 2.2 MHz. The GPS GEO card can track two C/A code GEOs on L1.

The Test Bed Receiver incorporates a L1/L2 GPSCards, which uses NovAtel’s P-Code Delayed Correlati on Technol ogy,
providing superior performance even in the presence of P-code encryption. Each GPSCard is an independent GPS
receiver.

The Test Bed Receiver is packaged in a standard 4U x 19” sub-rack. The rear panel’s 9-pin D connectors as we ll as the
antenna and external oscillator connectors provide easy I/O access.

8 Test Bed Receiver Subsystem Addendum – Rev 1

1 - Introduction

L1/L2-II

OPERATIONAL OVERVIEW

The NovAtel Test Bed Receiver has two functional blocks (see Figure 2):

• Single Frequency GPS GLONASS

• Dua l Frequency GPS GEO

Figure 2 Test Bed Receiver Functional Block Diagram

Serial Ports Strobe Port

BACKPLANE: Communication and Time Synchronization

CLK/STATUS

GEO Processing

CARD

10 MHz
OCXO

10 MHz

Int. Osc.

Output

External
Jumper

L1/L2 G PS

GLONASS

L1/L2-I

RF/IF

Digitizing

10 MHz
Ext. Osc.

Input

L1/L2 GPS

L1 GEO

RF/IF

Digitizing

RF/IF

Digitizing

Antenna

Input

5 VDC

+/- 12 VDC

POWER

SUPPLY

22-30 VDC

Power

Specific channels on the GPS GEO card have the capability to receive and process the GEO WAAS signal. The signal is
in-band at L1 and is ident ified with WAAS- specific PRN num bers. The WAAS m essage is decoded a nd separated into
its various components. The WAAS message and associated pseudorange is provided as an output.

Test Bed Receiver Subsystem Addendum – Rev 1 9

1 - Introduction

Single Frequency GPS GLONASS

The GPS GLONASS is c onfigured to track 12 L1 C/A -code signals (Nar row Correlator tr acking technology), and 6 L1
GLONASS C/A-code signals. The output is used to compute ionospheric corr ections.

Dual Frequency GPS GEO

Within the GPS GEO group, up to 2 channels can be confi gured to track L1 C/A code GEOs
The L1 C/A code and L2 C/A code measurements are used to derive ionospheric corrections.

Other Outputs & Inputs

• A 10 MHz output is availabl e for use with an inte rnal clock.

• Tw o serial ports provide: - raw satellite measure ments (pseudorange, carr ier & time)

- receiver status data (communications & tracking)

- raw satellite data (ephemeris & almanac)

- fast code corrections for signal stability monitoring

• The receiver accepts an external input from a 10MHz atomic clock or its internal OCXO for synchronization.

10 Test Bed Receiver Subsystem Addendum – Rev 1

2 - Installation

2 INSTALLATION OF TEST BED RECEIVER

This chapter provides sufficient information to allow you to set up and prepare the T e st Bed Receiver for initial operation.

MINIMUM CONFIGURATION

In order for the Test Bed Receiver to function as a complete system, a minimum equipment configuration is required.
This is illustrated in Figure 3.

Figure 3 Test Bed Minimum System Configuration

Antenna (L1 & L2)

GPS & GLONASS
Antenna (L1)

GPS & GEO

Power Supp ly
22 - 30 V DC

Data processing
equipment

The recommended minimum configuration and required accessories are listed below:

• NovAtel Test Bed Receiver

• User-supplied L1/L2 GPS and L1 GLONASS antennas and LN A

• Us er-supplied power suppl y (+22 to +30 V DC, 5 A maximum)

• Opt ional (could use inter nal 10 MHz OCXO) user-supplied external frequency reference (10 MH z).

• User-supplied interface, such as a PC or other data communications equipment, capable of standard serial

communications (RS-232C).

• User-supplied data and RF c ables

Of course, your intended set-up may differ significantly from this minim um configuration. The Test Bed Receiver has
many features that would not be used in the minimum confi guration shown above. This section merely describes the
basic system configuration, which you can m odi fy to meet your specific situation.

Test Bed Receiver Subsystem Addendum – Rev 1 11

2 - Installation

For the minimum configuration, setting up the Test Bed Receiver involves the following steps:

1. Connect the user interface to the Test Bed Receiver (“GPS GLONASS” and/or “GPS GEO” connectors)

2. Install the GPS and GLONASS antennas and low-noise amplifier, and make the appropriate connections to the
Test Bed Receiver (“GPS GLONASS ANT” or “GPS GEO ANT” connector)

3. Supply power to the Test Bed Receiver (“22-30 VDC” connector)

The connections on the rear panel are shown in Figure 4 below:

Figure 4 Rear Panel of Test Bed Receiver

The information from each receiver subsection is accessed through individual RS –232 serial communi cation ports. The
two ports using DE9P connectors are located on the back panel of the receiver . Serial baud rates up to 115,200 bps are
usable selectable with 9600 bps set as the default configuration. The second serial port of each receiver subsection is used
internally and is therefore not available for user access.

The receivers communicate with each other across the backplane within the enclosure. The GPS GEO receiver is
considered the master as far as the time goes. The 1PPS output of the GPS GEO receiver is connected to the Mark In
input of the GPS GLONASS receiver. The time information associated with the 1PPS pulse is sent from the GPS GE O to
the GPS GLONASS across a high-speed (TLink) serial communication line on the backplane. The GPS GLONASS then
synchronizes its time to that of the GPS GEO.

INTERNAL AND EXTERNAL OSCILLATORS

A 10 MHz OCXO is provided within the enclosure. The internal OCXO is connected to a BNC connector on the back
panel of the receiver. Another BNC connector on the back panel routes the 10 MHz external oscillator signal through a
splitter to the two receiver subsections. If the receiver is to be operated from the internal 10 MHz OCXO then a jumper
cable is connected from the 10 MHz output BNC connector to the 10 MHz input BNC connector. I f the receiver is to be
operated from an external 10 MHz frequency source such as a Cesium or Rubidium oscillator then that frequency
reference will be connected to the 10 MHz IN port on the rear panel of the receiver. In that case the 10 MHz OUT port
should be terminated with a 50

Without an external oscillator the GPS GLONASS and GPS GEO will operate independently using their own on-board
TCXO after they are give n the appropriate software command. If a n external oscillator input is not supplied, the GPS
GLONASS card must be sent the comm and “SETTIMESYNC DISABLE”. The CLOCKADJUST command should also
be enabled so that both receivers will independently try to align their time to GPS time. If the CLOCKADJUST

Ω terminator.

12 Test Bed Receiver Subsystem Addendum – Rev 1

2 - Installation

command is disabled, or if the EXTERNAL clock command is disabled, then the two receivers will drift away from each
other in time. The normal mode of operation is to use either the internal OCXO or a highly stable external oscillator.

The 10 MHz OCXO is mounted within the enclosure on the Clock/Status card. This card has bi-colored LEDs that
visually indicate when the receiver is powered and also reflect whether the receiver has passed its power on self-test. The
lower LED will monitor the signal power of the internal 10 MHz OCXO. If it turns from green to off a failure of the
OCXO or its power supply would be indicated. Only the first, second and third LED from the bottom are used. The
others are only active when the enclosure is populated as a WAAS, MSAS, or EGNOS RIMS-C receiver.

CONNECTING THE EXTERNAL FREQUENCY REFERENCE

The Test Bed Receiver can be used with an exter nal, user-supplied frequency reference; this would typically take the
form of a high-accuracy oscillator. Please refer to Appendix B for the recommended specifications of this devic e.

The frequency reference is connected to the 10 MHz BNC female connector on the rear panel of the Test Bed Receiver.
Refer to Figure 5 below.

Figure 5 10 MHz In (External Frequency Reference) - Test Bed

th

The 11

(bottom) LED on t he front pa nel indica tes the sta tus of the inte rnal cl ock refe rence. A clear LED indicates that

no internal reference is present. Green indicates that the clock is present. Refer to Figure 6 below.

Figure 6 Lights on Front Panel of Test Bed Receiver

Test Bed Receiver Subsystem Addendum – Rev 1 13

2 - Installation

CONNECTING DATA COMMUNICATIONS EQUIPMENT

There are two serial ports on the back panel of the Test Bed Receiver; both are configured for RS-232 pr otocol. These
ports make it possibl e f or ext er nal data com m unica ti ons e quipm ent - suc h as a per sona l com pute r - t o com muni ca te wit h
the Test Bed Receiver. Each of these ports has a DE9P connector.

The GPS GLONASS and GPS GEO ports (see Figure 7) allow two-way c ommunica tions. Eac h is configur ed as COM1
if you attempt to communicate directly with it. They are each connected to a GPSCard within the Test Bed Receiver unit.
Each of these ports can be addressed inde pendently of the other.

Figure 7 Pinout for GPS GLONASS and GPS GEO Ports - Test Bed

DCD RXD TXD DTR GND

DSR RTS CTS NC

CONNECTING THE GPS ANTENNA

Selecting and installing an appropriate antenna system is crucial to the proper operation of the Test Bed Receiver.
The antenna connectors for both GPS and GLONASS are located on the back panel of the enclosure and are type TNC.

Antenna power is provi ded to the cente r pin of these c onnector s. T he power is 5 V DC with a c urre nt up to 100 m A. The
power supply for the antenna originates from each r eceiver card in this enclosur e and its status is re flected in the Antenna
Status bit of either receiver subsystem.

Keep these points in mind when installing the antenna system:

• Ideally, select an antenna location with a clear view of the sky to the horizon so that each satellite above the horizon

can be tracked without obstruction.

• E nsure that the antenna is mounted on a secure, stable structure ca pable of withstanding re levant environmenta l

loading forces ( e.g. due to wind or ice).

Use high-quality coaxial cables to minimize signal attenuation. The gain of the LNA must be sufficient to compensate for
the cabling loss.

The antenna ports on the Test Bed Receiver have TNC female connectors, as shown in Figure 8.

Figure 8 Antenna Inputs - Test Bed

14 Test Bed Receiver Subsystem Addendum – Rev 1

2 - Installation

CONNECTING THE EXTERNAL POWER INPUT

The Test Bed Receiver requires one source of external regulated power . The input can be in the +22 to +30 V DC range.
The receiver draws up to 3 A at start-up, but the steady-state requirement is approximately 1.5 A.

Five and twelve volt powe r supplies are insta lled internally w ithin the enclosure. The 5-volt supply is used to power the
two receivers and the antenna. The 12-volt supply is used for OCXO power. Both of these supplies receive their power
from a connector on the enclosure back panel and accept DC power within a voltage range of +22 to +30 volts.

The power-input connector on the Test Bed Receiver is a 3-position chassis jack. It mates to a 3-position inline plug
supplied with the Test Bed Receiver. Pin 1 (+22 to +30 V DC), and Pin 2 (GND) connect to the Test Bed Receiver’s
internal power supply, which performs filtering and voltage regulation functions. Pin 3 serves as ground connection
protection. Refer to Figure 9.

Figure 9 External Power Connections - Test Bed

Notch

Pin 2

Pin 3

Pin 1

USING THE 10 MHz OUTPUT SIGNAL

The 10 MHz output provides a high-stability reference clock to the Test Bed Receiver. It permits the synchronization of
the two receiver subsystems in the Test Bed Receiver. See Internal and External Oscillators on Page 12 for more
information.

If the receiver is to be operated from the internal 10 MHz OCXO then a jumper cable is connected from the 10 MHz
output BNC connector to the 10 MHz input BNC connector (see Fi gure 10). If the receiver is to be operated from an
external 10 MHz frequency source such as a Cesium or Rubidium oscillator then that frequency reference will be
connected to the 10 MHz IN port on the rear panel of the receiver. In that case the 10 MHz OUT port should be
terminated with a 50

Ω terminator.

Figure 10 10 MHz Output – Test Bed

Test Bed Receiver Subsystem Addendum – Rev 1 15

2 - Installation

ACCESSING THE STROBE SIGNALS

A strobe port is located on the enclosure back panel. This is a diagnostic connector and is in the form of a DE9S
connector (see Figure 11). The 1PPS and Measurement pulse from both receiver subsystems are available on this
connector for verifying synchronization using an oscilloscope. These are the only strobe signals made available from the
two receiver subsystems. The specifications and electrical characteristics of these signals are described in Appendix B.

The GPS GLONASS and GPS GEO ports are each connected to a GPS receiver within the Test Bed Receiver unit.

Figure 11 Strobe 9-pin D-Connector Pinout - Test Bed

MSR GPS/GLONASS

MSR GPS/GEO

1 PPS GPS/GLONASS

GND

GND

GND

1 PPS GPS/GEO

16 Test Bed Receiver Subsystem Addendum – Rev 1

3 - Operation

3 OPERATION

Before operating the Te st Bed Receiver for the first time, ensure that you have followed the installation instr uctions in
Chapter 2.

From here on, it will be assumed that testing and operation of the Test Bed Receiver will be performed while using a
personal computer (PC); this will allow the greatest ease and versatility.

PRE-START CHECK LIST

Before turning on power to the Test Bed Receiver, ensure that all of the following conditions have been met:

• T he antenna(s) is (are) properly inst alled and connected.

• T he PC is pr operly conne cted using a null-m odem cabl e, and its com munications pr otocol has been set up to match

that of the Test Bed Receiver.

• T he optional external frequency reference is properly installed, connecte d, powered-up, and stabilized.

Supply power to the Test Bed Receiver only after all of the above checks have been made. Note that the warm-up
process may take se veral minutes, de pending on ambient tempe rature.

SERIAL PORTS - DEFAULT SETTINGS

Because the Test Bed Receiver communicates with the user’s PC via serial ports, both units require the same port
settings. The communications settings of the PC should match these on the receiver:

• RS- 232 protocol

• 9600 bit s per second (bps)

• No parity

• 8 data bits

• 1 stop bi t

• No handshaking

• E cho off

Once initial communications are established, the port settings for the Test Bed Receiver can be changed using the COMn
command, which i s described in the MiLLennium Command Descriptions Manual.

START-UP

The Test Bed Receiver’s firmware resides in non-volatile memory. Supply power to the unit, wa it a few moments for
self-boot, and the Test Bed Receiver will be ready for comm and input.

There are two initial start-up indicators to let you know that the Test Bed Receiver’s serial ports are ready to
communicate:

1. Status lights on the Test Bed Receiver’s front panel (lower thre e L ED s) should turn from red to green to indicate that
all cards are healthy. If any one of the LEDs does not tur n green, then t he system should be considere d unreliable. If
this situation occurs, contact NovAtel Customer Service for assistance.

2. Your external terminal screen will display one of the following prompts:

Com1> if you are connected to the GPS GLONASS or GPS GEO serial port.

The Test Bed Receiver is now ready for command input from either of the two COM1 ports.

Test Bed Receiver Subsystem Addendum – Rev 1 17

3 - Operation

INITIAL COMMUNICATIONS WITH THE TEST BED RECEI VER

Communicating with the Test Bed Receiver is a straightforward process and is accomplished by issuing desired
commands to the COM1 ports from an external serial communications device. For your initial testing and
communications, you will probably be using either a remote te rmina l or a per sonal compute r that is dir ectly connec ted to
a Test Bed Receiver’s serial port by means of a null modem cable.

To change the defa ult comm unicati on settings, such as bit rate , use the COMn command, see the MiLLennium Command
Descriptions Manual.

When the Test Bed Receiver is first powered up, no activity information is transmitted from the COMn ports except for
the COM1> prompt described in the Start-Up section above.

Commands are directly input to Test Bed Receiver using the exter nal terminal. It should be noted that most commands
do not echo a re sponse to a com m and i nput. Retur n of the COM1> prompt indic at es t hat t he c omm a nd has a ctua ll y bee n
accepted from the Test Bed Receiver. Note that VERSION is the only command that does provide an echo response other
than the port prompt .

Examples:

1. If you type VERSION <Enter> from a ter minal, this will cause the Test Bed Receiver to echo the firmwar e version
information.

2. An example of a no-echo response to an input command is the FIX POSIT ION command. It can be input as follows:

COM1>fix position 51.113 - 114.043 1060 <Enter>

This example illustrates command input to the COM1 port that sets the Test Bed Receiver’s position. However, your
only confirmation that the command was actually accepted is the return of the COM1> prompt.

If a command is erroneously input, the Test Bed Receiver will respond with the “Invalid Comma nd Option” response
followed by the COM1> prompt.

18 Test Bed Receiver Subsystem Addendum – Rev 1

4 - Update or Upgrade

4 UPDATE OR UPGRADE YOUR GPSCARD

The MiLLennium stores its progra m firmwar e in non-volatile mem ory, which allows you to perform firmware upgrades
and updates without having to return the MiLLennium to the distributor. New firmware can be transferred to the
MiLLennium through a serial port, and the unit will immedia t ely 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 specif ic GPS ne eds. If your needs are still unresolved after seeing your deale r then
you can contact NovAte l direc tly through any of the met hods describe d in the Software Support section, a t the beginning
of the MiLLennium Command Descriptions Manual.

When you call, be sure t o have available your MiL Lennium model number , serial number, a nd program revision level.
This informati on is printed on the ori ginal shipping box as well a s on the back side of the MiLLennium itself. You can
also verify the inf ormation by issuing the 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 with an authorization code (auth-code). The auth-code is required to unlock the new
features according to your authorized upgrade/update model type.

There are two procedures to choose from, depending on the type of upgrade/update you require:

1. If you are upgrading to a higher performance model at the sam e firmware revision level ( e.g. upgrading from a

MiLLennium Standard rev. 4.50, to a MiLLennium RT-2 rev. 4.50), you can use the $AUTH special command.

2. If you are updating to a higher firmwar e revision level of the sa me model (e.g. updat ing a MiLLennium Standar d

rev. 4.45 to a higher revision level of the same model, such a s MiLLennium Standard rev. 4.50), you will need to
transfer new pr ogram firmware to the M iLLennium using the Loader utility program. As the Loader and update
programs are generally provided in a com pressed f ile forma t, you will also be given a file decompr ession password.
The Loader a nd update files c an be found on NovAte l’s FTP site at http:\\www.novatel.ca, or can be sent to you on
floppy disk or by e-mail.

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

UPGRADING USING THE $AUTH COMMAND

The $AUTH command is a special input command which authorizes the enabling or unlocking of the various model
features. Use this command when upgr ading to a higher performance MiLLennium model a vailable within the same
revision level as your current model (e.g., upgr ading from a MiLLennium Standard rev. 4.50, to a MiLLennium RT-2
rev. 4.50). This command will only function in conjunction with a valid auth-code assigned by GPS Customer Service.

The upgrade can be pe rformed directly fr om Loader’s built-in terminal emulator, GPSolution’s Comm and Line Screen,
or from any other communications program. The proc edure is as follows:

1) Power-up the MiLLennium and establish communications over a se rial port (see Chapt er 3, Operation on Page 17).

2) Issue the VERSION command to verify the c urrent firmware model number , revision level, and serial number.

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

Syntax:

$auth auth-code

Test Bed Receiver Subsystem Addendum – Rev 1 19

4 - Update or Upgrade

where

$auth is a special com mand which allows program model upgrades

auth-code is the upgrade authori zation code, expr essed 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,millenrt2

Once the $AUTH command has been exec uted, the MiLLennium will reboot itself. Issuing the VE RSION command
will confirm the new upgrade model type and version number.

UPDATING USING THE LOADER UTILITY

Loader is required ( instead of the $A UTH comm and) when updati ng previously rel eased fir mware wi th a newer ver sion
of program and model firmw are (e .g., updat ing a MiLL ennium Standa rd rev. 4.45 to a higher revi sion level of the same
model, such as MiL Lennium Standard rev. 4.50) . Loader is a DOS utility program designed to facilitate program and
model updates. Once Loader is installed and running, it will allow you to sele ct a host PC serial port, bit rate, director y
path, and file name of the new program firmware to be transferred to the MiLLennium.

TRANSFERRING FIRMWARE FILES

To proceed with your program update, you must first acquire the latest firmware revision. You will need a file with a
name such as OEMXYZ.EXE (where XYZ is the firm ware revision level). This file is available from NovAtel’s FTP
site (http:\\www.novatel.ca
you on floppy disk. For more i nformation on how to contact NovAt el Customer Se rvice please see the Sof tware Support
section at the beginning of the MiLLe nnium Command Descriptions Manual.

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 (e.g., C:\GPS\LOADER).

The file is available in a compressed format with password protection; Customer Service will provide you with the
required password. After copyi ng the file to your computer, i t must be decom pressed. The synt ax for decompression is
as follows:

Syntax:

[filename] -s[password]

where

filename is the name of the compressed file (but not including the .EXE extension)

-s is the password command switch

password is the password requi red to allow decompression

Example:

oem442 -s12345678

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

), or via e-m ail (support@novat el.ca). If tr ansferr ing is not possible, the file can be ma iled to

• LOADER.EXE Loader utility program

• LOADER.TXT Instructions on how to use the Loader utility

• XYZ.BIN Firmware version update file, where XYZ = pr ogram version level (e.g. 442.BIN)

20 Test Bed Receiver Subsystem Addendum – Rev 1

4 - Update or Upgrade

USING THE LOADER UTILITY

The Loader utility can operate from a ny DOS directory or drive on your PC. The program is compri sed of three parts:
Program Card (authoriza tion procedure) , Setup (comm unications configur ation) and Terminal (terminal emulator). The
main screen is shown in Figure 12.

Figure 12 Main Screen of LOADE R Program

If you are running Loader for the first time, be sure to access the Setup menu (step 3 below) before proceeding to
Program Card (step 4 below) ; otherwise, you can skip st ep 3. The procedure i s as follows:

1. Turn off power to the MiLLennium .

2. Start the Loader program.

3. From the main menu screen, select Setup to configure the serial port over which communication will occur

(default: COM1) , and the data transf er rates for both pr ogramming (default: 115 200 bits pe r second) and termina l
emulation (default: 9600 bps). To m inimize the time r equired, select the highest serial bit rate your PC can reliably
support. Loader will verify and save your selections in a file name d LOADER.SET, and return to the main menu
screen.

4. From the main screen, select Program Card.

5. Sel ect the disk dr ive ( e. g., A, B, C, D) in whi ch the updat e f ile (e .g. 442.BIN) is located. Select the path where the

update program file is loc ated

(e.g., C:\GPS\LOADER); the directory from w hich you sta rted Loader is the default

path. Select the required update file (e.g. 442.BIN).

6. At the prompt, e nter your update auth-code (e.g. 17b2,32df,6ba0,92b5,e5b9,millenrt2).

7. When prompted by the program, turn on power to the MiLLennium. Loader will automatically establish

communications with the MiLLennium. The time required to transfer the new program data will depend on the bit
rate, which was selected earlier.

8. When the transfer is complete, use a terminal emulator such as that in Loader (select Terminal) to issue the

VERSION command; this will verify your new program version number. When using the terminal emulator in
Loader, a prompt does not initially appear; you need to enter the command first, which then produces a r esponse,
after which a prompt will appear.

9. Exit Loader (select Quit).
This completes the procedure required for field- updating a MiLLennium.

Test Bed Receiver Subsystem Addendum – Rev 1 21

Appendices

A WAAS OVERVIEW

The Wide Area Augmentation System (WAAS) is a safety-critical system which is designed to enable the GPS to meet
the US Feder al Aviation Administration (FAA) na vigation performance requirem ents for domestic en route, terminal,
non-precision approa ch and precision approach phases of flight. The primary functions of WAAS include:

• data collection

• dete rmining ionospheric corrections, satellite orbits, satellite clock corrections and satellite integrity

• independent data verification

• WAAS message broadcas t and ranging

• syste m operations & mai nt enance

Figure 13 The WAAS Concept

As shown in Figure , the WAAS is made up of a serie s of Wide Area Refere nce Stations, Wide Area Master Stations,
Ground Uplink Stations and Geostationary Satellites (GEOs). The Wide Area Reference Stations, which are
geographically distributed, pick up GPS satellite data and route it to the Wide Area Master Stations where wide area
corrections are gener ated. These corr ections a re se nt to the G round Uplink St ations, w hich up-l ink them to the GEOs for
re-transmission on the GPS L1 frequency. These GEOs transmit signals which carry accuracy and integrity messages,
and which also provide additional ranging signals for added availability, continuity and accuracy. These GEO signals are
available over a wide area and can be received and processed by ordinary GPS receivers. GPS user receivers are thus
able to receive WAAS data in-band and use not only differential corrections, but also integrity, residual errors and
ionospheric information for each monitored satellite.

The signal broadcast vi a the WAAS GEOs to the WAAS use rs is designed to minimize m odifications to standard GPS
receivers. As such, the GPS L1 frequency (1575.42 MHz) is used, together with GPS-type modulation - e.g. a
Coarse/Acquisition (C/A) pse udorandom (PRN) code. In addition, the code phase timing is maintaine d c l ose to GPS time
to provide a ranging capability.

22 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

B GLONASS OVERVIEW

MILLENNIUM-GLONASS GPSCARD

The MiLLennium-GLONASS GPSCard can receive L1 signals from combined GPS/GLONASS satellites. This hybrid
receiver offers combined GPS/GLONASS position solutions.

An RTK version of the MiLLennium-GLONASS GPSCard performs significantly better when tracking GPS and
GLONASS satellites, than when tracking GPS satellites only. Faster floating-ambiguity solutions mean shorter
observations times.

The use of GLONASS in addition to GPS provides very significant advantages:

 increased satellite signal observations
 markedly increased spatial distribution of visible satellites
 reducti on in the Horizontal and Vertical Dilution of Precision factor
 no special precision degrading mode in GLONASS (unlike GPS Selective Availability mode)
 single frequency (L1) positioning accuracy is about 4 times better for GLONASS as compared to GPS single

frequency signals

 improve d RTK performance
 decreased occupation times result in faster surveying

The MiLLennium-G LONASS G PSCard is c apable of combined GPS/G LONA SS operati on. In orde r to tra ck GLON ASS
satellites the MiLLennium must track at least one GPS satellite to determine the GPS/GLONASS time offset. In order to
determine a position in GPS-Only mode the receiver must track a minimum of four satellites, representing the four
unknowns of 3-D position and time. In combined GPS/GLONASS mode the receiver must track five satellites,
representing the same four previous unknowns as well as the GPS/GLONASS time of fset.

With the availability of combined GPS/GLONASS receivers, users have access to a potential 48-satellite combined
system. With 48 sate llites, performance in urban canyons and other locations with re stricted visibility, such as forested
areas, is impr oved, as more satellites ar e visible in the non-blocked portions of the sky. A larger sate llite constellation
also improves real-time carrier-phase differential positioning performance. In addition, stand-alone position accuracies
improve with the combined system, and in the absence of deliberate accuracy degradation, differential GLONASS
requires a much l ower correcti on update rate.

Table 1 lists the two types of NovAtel MiLLennium-GLONASS GPSCards available, each capable of multiple
positioning modes of operation:

Table 1 Positioning Modes of Operation

Positioning Modes of Operation MiLLennium-GLONASS GPSCard
MiLLen-G MiLLen-G-RT10 TESTBEDGLO

Single Point
Waypoint Navigation
Pseudorange differential corrections (TX & RX)

√ √ √

√ √ √
√ √ √

RTK pseudorange & carrier-phase double differencing:
< 10 cm RMS accuracies (floating)

Test Bed Receiver Subsystem Addendum – Rev 1 23

X

√

X

Appendices

The NovAtel MiLLennium-GLONASS GPSCards can be applied in mining and machine control, robotics, flight
inspection, marine navigation, agriculture, military, direction finding and other custom OEM applications.

Some of the information used to create the Introduction was obtained from two sources.

1. Langley, Richard B. “GLONASS: Review and Update”. GPS World

2. Kleusberg, Alfred. “Comparing GPS and GLONASS”. GPS World

, July 1997. 46-51

, December 1990. 52-54

GLONASS SYSTEM DESIGN

As with GPS, the GLONASS system uses a satellite constellation to ideally provide a GLONASS receiver with six to
twelve satellites at most times. A minimum of four satellites in view allows a GLONASS receiver to compute its
position in three dimensions, as well as become synchronized to the system time.

The GLONASS system de si gn consists of three parts:

• The Space segment

• The Control segment

• The User segment

All these parts operate together to provide accurate three-dimensional positioning, timing and velocity data to users
worldwide.

The Space Segment

The Space Segment is the portion of the GLONASS system that is located in space, that is, the GLONASS satellites and
any ancillary spacecraft that provide GLONASS augmentation information (i.e., differential corrections, integrity
messages, etc.). This segment is composed of the GLONASS satellites which, when complete, will consist of 24
satellites in three orbital planes, with eight satellites per plane, see Figure 14, Page 25. Foll owing are points about the
GLONASS space segment.

• The orbit period o f each satellite is approximately 8/17 of a sidereal day such that, after eight

sidereal days, the GLONASS satellites have completed exactly 17 orbital revolutions. A sidereal
day is the rotation period of the earth and is equal to one calendar day minus four minutes.

• Because each orbital plane contains eight equally spaced satellites, one of the satellites will be at the

same spot in the sky at the same sidereal time each day.

• The satellites are placed into nominally circular orbits with target inclinations of 64.8 degrees and

an orbital height of about 19,123 km, which is about 1,060 km lower than GPS satellites.

• The GLONASS satellite signal identifies the satellite and provides:

the positioning, velocity and acceleration vectors at a reference epoch for computing satellite locations

o
o synchronization bits
o data age
o satellite health
o offset of GLONASS time
o almanacs of all other GLONASS satellites.

• The GLONASS satellites each transmit on different L1 and L2 frequencies, with the P code on both

L1 and L2, and with the C/A code, at present, only on L1. L1 is currently centered at 1602 - 1615.5
MHz.

• Some of the GLONASS transmissions initially caused interference to radio astronomers and mobile

communication service providers. The Russians consequently agreed to reduce the number of

24 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

frequencies used by the satellites and to gradually change the L1 frequencies to 1598.0625 -

1609.3125 MHz. Eventually the system will only use 12 primary frequency channels (plus two
additional channels for testing purposes).

• System operation (24 satellites and only 12 channels) can be accomplished by having antipodal

satellites, satellites in the same orbit plane separated by 180 degrees in argument of latitude,
transmit on the same frequency. This is possible because the paired satellites will never appear at the
same time in your view. Already, eight pairs of satellites share frequencies.

Unlike GPS satellites, all GLONASS satellites transmit the same codes. They derive signal timing and frequencies from
one of three onboar d ce sium atom ic c locks opera ting a t 5 MHz . The si gnals ar e ri ght-hand c ircul arly pol ariz ed, li ke GPS
signals, and have comparable signal strengt h.

Figure 14 View of GLONASS Satellite Orbit Arrangement

The Control Segment

The Control Segment consi sts of the system control cente r and a network of command tracking stations acr oss Russia.
The GLONASS control segment, similar to GPS, must monitor the status of satellites, determine the ephemerides and
satellite clock offsets with respect to GLONASS time and UTC (SU) tim e, and twice a day upload the navigation data to
the satellites.

The User Segment

The User Segment consists of equipment (such as a NovAtel MiLLennium-GLONASS GPSCard receiver) which tracks
and receives the satellite signals. This equipment must be capable of simultaneously processing the signals from a
minimum of four satellites to obtain accurate position, velocity and timing measurements. Like GPS, GLONASS is a dual
military/civilian-use system. Selective availability, however, will not be implemented on GLONASS C/A code. The
system’s potential civil applications are many and mirror that of GPS.

Test Bed Receiver Subsystem Addendum – Rev 1 25

Appendices

TIME

The GLONASS satellites broadcast their time within their satellite messages. NovAtel’s MiLLennium GLONASS
GPSCard is able to receive and record both time references as well as report the offset information between GPS and
GLONASS time (see the GCLA/B log on Page 41). Although similar, GPS and GL ONASS have several differences in
the way they report time. Please see the following sections for information of GLONASS time.

GLONASS TIME VS. LOCAL RECEIVER TIME

GLONASS time is based on an atomic time scale similar to GPS. This time scale is Universal Time Coordinated as
maintained by the former Soviet Union (UTC (SU)).

Unlike GPS, the GLONA SS time scale is not conti nuous and must be adjusted for per iodic leap seconds. Leap seconds
are applied to all UTC time references about every other year as speci fied by the International Earth Rotation Servic e
(IERS). Leap seconds are necessary because the orbit of the earth is not unifor m and not as accurate as the atomic time
references.

GLONASS time is maintained within 1 ms of UTC (SU) by the control segment with the remaining portion of the offset
broadcast in t he navigation me ssage. As well, t he GLONASS time is of fset from UTC ( SU) by plus three hours due to
control segment specific issues. The GCLA/B log (see Page 41) contains the offset information between GPS and
GLONASS time.

DATUM

Because a consistent transforma tion between WGS84 and the Parametry Zemli 1990 (PZ 90) or, in English translation,
Parameters of the Earth 1990 geodetic datum has not been defined, we have allowed for a new command,
PZ90TOWGS84, and a new parameter, PZ90, for the DATUM command.

The PZ90TOWGS84 command (see Page 35) is intended to define the PZ90 transform for transferring GLONASS
satellite coordinates to WGS84. However, it can also be used, in conjunction with the DATUM PZ90 command (see the
DATUM command in the MiLLennium Command Desc riptions Manual), to allow for posi tion output in a user-defined
PZ90 frame. The PZ90TOWGS84 command will override the default values for the DATUM PZ90 command and set
them to the user-defined values. If the PZ90TOWGS84 command is not issued, the DATUM PZ90 command will use the
default PZ90 values (see the PZ90TOWGS84 command on Page 35) for the output position parameters. The PZ90
transform par ameters can be saved in user-configurable memory for immediate use on power up.

26 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

FUNCTIONAL OVERVIEW

MILLENNIUM-GLONASS GPSCARD SYSTEM

The MiLLennium-GLONASS GPSCard consists of a radio frequency (RF) and a digital electronics section. Prior to
operation, a GPS/GLONASS antenna, power supply, and data and signal interfaces must be connected. The overall
system is represented in Figure 15. A brief description of each section follows.

Figure 15 MiLLennium-GLONASS GPSCard System Functional Diagram

1

3

21

13

6

16 17

19

7

8

9
10
11
12

23

18

4

2

22

14 15

20

19

5

Reference Description Reference Description

1 MiLLennium-GLONASS GPSCard 11 Input timing strobe

2 RF section 12 Output timing strobe
3 Digital section 13 VCTCXO
4 Antenna capable of receiving L1 signal 14 RF - IF sections, NovAtel

GPS/GLONASS antenna or user-supplied 15 Signal Processor

5 Optional user-supplied LNA power 16 32-bit CPU

(0 - 30 VDC) 17 System I/O
6 User-supplied power (5 VDC) 18 LNA
7 Optional external oscillator (5 or 10 MHz) 19 Clock signals
8 User-supplied data and signal processing 20 AGC signals

equipment 21 Control signals
9 COM1 22 RF and power connectors
10 COM2 23 Primary antenna feed

Test Bed Receiver Subsystem Addendum – Rev 1 27

Appendices

GPS/GLONASS ANTENNA

The purpose of the GPS/GLONASS antenna is to convert the electromagnetic waves transmitted by the combined
GPS/GLONASS satellites at the L1 frequency (1575.42 MHz for GPS and 1602 - 1615.5 M Hz for GLONASS) into RF
signals. The MiLLennium-GLONASS GPSCard will function best with an active GPS/GLONASS antenna; there is a
hardware provision to select an internal or external DC power supply for an active GPS/GLONASS antenna. Note that
the antenna self-test will return a “fail” condition if a passive antenna i s used (for furthe r information on se lf-test stat us
codes, please see the RVSA/B log in the MiLLennium Command Descriptions Manual. NovAtel active antennas are
recommended.

NovAtel offers the 504 and 514 model antennas to work with your MiLLennium-GLONASS GPSCard system. Both
antennas use low-profile microstrip technology and include band-pass filtering and an LNA. The GPS/GLONASS
antenna you choose will depend on your particular application. The NovAtel antennas available to work with your
MiLLennium-GLONASS GPSCard system are single-frequency models, and each of these models offers exceptional
phase-center stability as well as a significant measure of immunity against multipath interference. Both models have an
environmentally-sealed radome.

NovAtel also offers high-quality c oaxial cable in standard 5 (Model C005), 15 (Mode l C015) and 30 m (Model C030)
lengths. These come with a TNC male connector at each end. Should your application require the use of cable longer than
30 m you will find the application note Extended Length A ntenna Cable Runs at our website, http://www.novatel.ca
you may obtain it from NovAtel Customer Service directly, see the Software Support section at the beginni ng of the
MiLLennium Command Descriptions Manual for contact information.

, or

While there may be other coaxial cables and antennas on the market that may also serve the purpose, please note that the
performance spe cifications of t he MiLLennium- GLONASS GPSCard a re warrante d only when it is used with NovAte l­supplied accessories.

RADIO FREQUENCY (RF) SECTION

The MiLLennium-GLONASS GPSCard receives partially filtered and amplified GPS and GLONASS signals from the
antenna via the coaxial cable. The RF section does the following:

• filters the RF signals to reduce noise and interference

• down-converts (with further band-limiting) the RF signals to intermediate frequencies (IFs) that are

suitable for the analog-to-digital (A/D) converter in the digital electronics section

• amplifies the signals to a level suitable for the A/D converter in the digital electronics section

• receives an automatic gain control (AGC) input from the digital signal processor (DSP) to maintain

the IF signals at a constant level

• supplie s power to the active antenna through the coaxial cable while maintaining isolation between

the DC and RF paths. A hardware jumper configuration is provided to select an internal or external
DC power supply for the active GPS/GLONASS antenna.

The RF section can reject a high level of potential interference (e.g., MSAT, Inmarsat, cellular phone, and TV sub­harmonic signals) .

DIGITAL ELECTRONICS SECTION

The digital section of the MiLLennium-GLONASS GPSCard receives down-converted, amplified combined GPS/
GLONASS signals which i t digitizes and processes to obtain a G PS solution (position, speed, direction and time). The
digital section consists of an analog-to-digital converter, a 32-bit 25 MHz system processor, memory, control and
configuration logi c, signal processing ci rcuitry, serial per ipheral devices, and supporting ci rcuitry. I/O data and tim ing
strobe signals are r oute d to a nd fr om the boa rd vi a a 64-pi n DI N 41612 Type B male connect or. Two EI A RS-232C seri al

28 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

communications ports support user-selectable bit rates of 300 - 115,200 bps, with a default of 9600 bps. The digital
section does the following:

• converts the IF analog signals to a digital format

• tracks the C/A codes and carrier phases of the satellites in use

• performs channel and loop control

• performs position computation

• executes na vigation software

• performs database management

• monitors self-test system status

• controls diagnostic LEDs: a red one which only lights up to indicate an error condition, and a green

one (the “heartbeat”) which blinks on and off at approximately 1 Hz to indicate normal operation.

• controls I/O functions

You configure the MiLLennium-GLONASS GPSCard using special com mands (see Appendix D GLONASS Commands
and Logs on Page 34). In turn, the MiLLennium- GLONASS GPSCard present s information to you in the form of pre-
defined logs in a number of formats. In addition, when a MiLLennium-GLONASS GPSCard is linked to a NovAtel
GPSCard receiver or second MiLLennium-GLONASS GPSCard for differential positioning, they can communicate
directly through thei r serial ports.

Test Bed Receiver Subsystem Addendum – Rev 1 29

Appendices

C WAAS COMMANDS AND LOGS

These comma nds and logs dif fer from the ver sions desc ribed i n the MiL Lennium Comm and Desc ripti ons Manual for the
Test Bed Receiver at the time of this publication.

COMMANDS

CONFIG

This command switches the cha nnel configuration of the GPSCard betw een pre-defi ned configurations. When invoked,
this command loads a new satellite channel-configuration and forces the GPSCard to reset. The types of configurations
possible are listed by entering this command:

HELP CONFIG

In some applications, only the standar d (defa ult) configur ation will be listed in r esponse. The standard configura tion of a
MiLLennium GPSCard consists of 12 L1/L2 channel pairs.

Syntax:

CONFIG

cfgtype

Command

CONFIG Command

cfgtype (none) Displays present channel configuration

Option Description Defa ult

WF2L1L2 for TESTBEDW

configuration
name

Loads new configuration, resets GPSCard:
TESTBEDW WF2L1L2 8 L1/L2 + 2 WAAS FEC

WF1L1L2 10 L1/L2 + 1 WAAS FEC
L1L2 12 L1/L2

MiLLen-STD STANDARD 12 GPS

WAASCORR 10 GPS + 1 WAAS
WAASCORR2 8 GPS + 2 WAAS

STANDARD for MiLLen-STD

30 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

IONOMODEL

This command allow s the user to influe nce what ionospher ic cor rect ions the c ard uses . This c omma nd curr ently doe s not
effect the ionospheric model that is used whe n the card is operating in RT K mode. Additional range va lues are rese rved
for future use.

The MiLLenni um by default compute s ionospheric correcti ons by attempting to use L1 & L2 signals f irst. To use the
ionospheric corrections issued by the WAAS GE O satellite as a first choice, you need to issue the IONOMODE L WAAS
command.

Syntax:

IONOMODEL

Syntax

IONOMODEL
keyword

[keyword]

Range Value

­WAAS

L1L2

KLOBUCHAR

AUTO

Description

Command
Card will use ionospheric corrections from WAAS broadcast

messages as a first choice
You must verify that the CONFIG command is set to either

WF1L1L2 or WF2L1L2 for this command to work, see Page 30.

Card will use ionospheric corrections derived from L1 and L2 GPS
measurements as a first choice. Card must have L2 observations
in order for this setting to be effective.

1

Card will use ionospheric corrections as calculated by the
broadcast klobuchar model parameters as a first choice.

Card will decide which ionospheric corrections to use based on
availability. (default)

Note: You cannot change GPSCard modes on the fly because once a CONFIG command is issued, the card resets itself

and starts the new m ode requested.

1

Please refer to ICD-GPS-200 for a description of the Kl obuchar model and its paramet ers. To obtain copies of ICD-GPS-200

from the ARINC Research Corporation, contact them at the address given in Appendix F of the MiLLennium Command
Descriptions Manual.

Test Bed Receiver Subsystem Addendum – Rev 1 31

Appendices

WAASCORRECTION

This command allows you to have an affect on how the card handles WAAS corrections. The card will switch
automatically to Pseudorange Diffe rential (RTCM or RTCA) or RTK if the appr opriate corrections are being received,
regardless of the c urrent setting.

The ability to incorporate the WAAS corrections into the position solution is not the default mode. First enter the
following comma nd to put the card in WAAS mode:

config waascorr

Note: You cannot change GPSCard m odes on the fly because once a CONFIG comm and is issued the card r esets itself

and starts the newly requested mode.

To enable the position solution corrections, you must issue the WAASCORRECTION ENABLE command.

Syntax:

WAASCORRECTION

keyword

[PRN] [mode]

Syntax

WAASCORRECTION
keyword

[PRN] 120-138 - Card will use WAAS corrections from this PRN.

[mode] NONE

Range Value

­ENABLE

DISABLE

WAASTESTMODE

EGNOSTESTMODE

Description

Command

- Card will use the WAAS corrections it receives.

- Card will not use the WAAS corrections that it receives.

- If no PRN is specified, the receiver will automatically select the
best PRN (with the highest elevation and with a lock time greater
than 134 seconds) to use when multiple GEOs are being tracked.

If no GEO has a lock time of more than 134 seconds, the GEO

with the highest amount of lock time is selected.

- Default. Card will interpret Type 0 messages as they are
intended (as do not use).

- Card will interperet Type 0 messages as Type 2.

- Card will ignore the usual interpretation of Type 0 messages
(as do not use) and continue.

Example:

waascorrection enable 122 waastestmode

32 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

LOGS

RCCA RECEIVER CONFIGURATION

This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the
GPSCard configuration se ttings. See RCCA in the MiLLennium Command Descriptions Manual for the RCCA default
list.

The following are the default parameters, for the TESTBEDW receiver, that are different than the standard Millenium
WAAS receiver configuration:

CLOCKADJUST DISABLE
EXTERNALCLOCK OCXO
LOG CONSOLE TM1A ONTIME 10 HOLD*

* The logging of the TM1A log is done in order to time synchronize the TESTBEDGLO receiver to the

TESTBEDW receiver.

The following are the default parameters, for the TESTBEDGLO receiver, that are different than the standard Millenium
Glonass receiver configuration:

CLOCKADJUST DISABLE
EXTERNALCLOCK OCXO
SETTIMESYNC ENABLE*

* The SETTIMESYNC ENABLE allows the TESTBEDGLO receiver to accept the TM1A logs from the

TESTBEDW receiver for time synchronization.

Test Bed Receiver Subsystem Addendum – Rev 1 33

Appendices

D GLONASS COMMANDS AND LOGS

GLONASS-SPECIFIC COMMANDS

This chapter describes MiLLennium-GLONASS GPSCard commands important to GLONASS.
GLONASS-specific commands are generated by using information obtained from the GLONASS satellite system. Please

see the following sections for definitions of t hese commands.

DGLOTIMEOUT

The differential GLONASS time out (DGLOTIMEOUT) command’s function is to set the maximum age of differential
data that will be accepted when operating as a remote station. Differential data received that is older than the specified
time will be ignored.

The ephemeris del ay of the r efe rence station is the same as for GPS and ca n be set using the DGPSTI MEO UT comm and
(refer to the MiLLennium Command Descriptions Manual for inf ormation on this command).

Since there is no Selective Availability (SA) on the GLONASS correction the degradation over time is considerably less.
It could be useful to allow a longer timeout for GLONASS than GPS.

Syntax:

Options:

DGLOTIMEOUT delay

delay: 2 - 1000 (seconds) (default 60)

34 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

tive sign for counter clockwise direction and a negative sign for

axis [arcsec]. A positive sign for counter clockwise direction and a negative sign

PZ90TOWGS84

This command allows the user to input the Helmert transforma tion relating the GLONASS PZ90 reference fr ame to the
GPS WGS-84 reference frame. In this case, (x,y,z) is the desired WGS-84 coordinate set and (u,v,w) is the given
coordinate set i n PZ90. The tr ansf orm a tion is def ine d by an or igin of fs et (
of small angle rot ations (
those published by Misra et al. (ION GPS 96, pg 307) .

ε,φ,ω), given in radians, around the u,v and w axes respectively. By default, the values are set to

There are a numbe r of di fferent transform ations that have been published but the majority of them are optimized f or the
particular region of the planet that the data was collected in. One of the objectives of the current International Glonass
Experiment (IGE) is to accurately determine a PZ90 to WGS-84 transformation that is consistent on a global scale.

The PZ90TOWGS84 c omm a nd can be used i n conjunc tion w ith t he D AT UM PZ90 c omm and ( se e D atum on P age 26) to
allow for position output in a user-defined PZ90 frame.

The relevant parameters for the PZ90 ellipsoid are from the GLONASS Interface Control Document (ICD) version 4.0,
1998 Coordination Scientific Information Center (CSIC). Please see the following table for the reference ellipsoid
constants.

ELLIPSOID a (metres) 1/f f

∆x,∆y,∆z), a linear scale factor (δs) and a series

Parameters of Earth 1990

6378136.0 298.257839303 0.00335280374302

Syntax:

PZ90TOWGS84 option [∆x] [∆y] [∆z] [δs] [ε] [φ] [ω]

Options:

ARGUMENT DESCRIPTION

DEFAULT

SET Set to user specified values (all must be specified, see the following secti on of this table)

PARAMETER DESCRIPTION

∆x
∆y Origin offset in y direction [m]
∆z Origin offset in z direction [m]

δs Scale factor given in parts per million (ppm), final linear scale factor given as (1 + δs*10-6)

ε

φ

ω

Set to default Helmert transformation parameters

Origin offset in x direction [m]

Small angle rotation around u axis [arcsec]. A posi
clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.
Small angle rotation around v axis [arcsec]. A positive sign for counter clockwise direction and a negative sign for
clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.
Small angle rotation around w
for clockwise direction taking into consideration that the trasformation is going from PZ90 to WGS84.

Example:

PZ90TOWGS84 DEFAULT
PZ90TOWGS84 SET 0.1,0.4,-0.3,6,0,0,4

NOTE: T he format and sign c onventions in this comm and are set up to conf orm to the given re ference and diffe r from

the NovAtel USERDATUM command.

Test Bed Receiver Subsystem Addendum – Rev 1 35

Appendices

UNIMPLEMENTED COMMANDS

Currently, the ability to set satellite health, and the ability to de-weight the range of a satellite in the solution
computations, is not enabled for GLONASS. Because of this, the following commands will not work with the
MiLLennium-GLONASS GPSCard for GLONASS satellites.

• SETHEALTH

• RESETHEALTH

• RESETHEALTHALL

• LOCKOUT

NOTE: The unimplemented commands are disabled for GLONASS satellites only. These commands can still be used

with GPS satellites.

If, by mistake, you issue an unimplemented command to the MiLLennium-GLONASS GPSCard for a GLONASS
satellite, the MiLLennium-GLONASS GPSCard will simply inform you that the PRN is invalid. The MiLLennium­GLONASS GPSCard is unable to accept a GLONASS PRN as an argument.

For further information on these commands, please consult t he MiLLennium Command Descriptions Manual.

GLONASS-SPECIFIC LOGS

GLONASS-specific logs provide data by using information obtained from the GLONASS satellite system. Following are
the descriptions of MiLLennium-GLONASS GPSCa rd’s CALA/B, GALA/B, GCLA/B and GEPA/B logs. The syntax
and fields are as described below.

CALA/B CALIBRATION INFORMATION

GPS satellites all broadcast on the same frequency but broadcast different codes. GLONASS satellites broadcast on
different frequencies but use the same code. The former technique is known as Code Division Multiple Access (CDMA)
while the latter is known as Frequency Division Multiple Access (FDMA).

Frequency dependent characteristic s of the hardware r esult in small biases in the GLONASS pseudoranges. You can enter
calibration numbers for the various frequencies which will be subtr acted from each pseudorange with the CALA/ B input.
The numbers can a lso be output as a log, CALA /B.

CALA

Structure:

$CALA week

bias 1
...

bias 32 std. dev. bias 32

[CR][LF] *xx

sec reserved reserved

std. dev. bias 1

36 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

Field #

1

2 Week GPS week number 992

3 Sec GPS time into week, in seconds 453075

4 Reserved for future use

5 Reserved for future use

6,7
8, 9,

10, 11,
...,

50, 51,
52, 53,
54, 55,
...,

68, 69,

$CALA Log Header $CALA

Bias 1, Std. Dev. Bias 1
Bias 2, Std Dev Bias 2
Bias 3, Std Dev Bias 3
...,
Bias 23, Std Dev Bias 23
Bias 24, Std Dev Bias 24
Bias 25, Std Dev Bias 25
...,

Bias 32, Std Dev Bias 32

Field

Description Example

Pseudorange bias for frequency, Std Dev of bias in meters -0.491, 0.050

1.070,0.041

1.029,0.041
...

-1.999,0.500,

-2.813,0.500,

0.000,5.000
...

0.000,5.000

70 * xx Checksum *03

71 [CR][LF] Sentence terminator [CR][LF]

Example:

$CALA,4,480377,2,FFFFFF00,1.070,0.041,1.029,0.041,1.054,0.043,0.646,0.041,0.
735,0.041,0.526,0.040,0.456,0.039,

0.520,0.040,0.148,0.040,0.469,0.039,0.156,0.040,0.000,0.000,0.115,0.039,

-0.281,0.040,-0.269,0.039,-0.246,0.039,

-0.685,0.039,-0.391,0.039,-0.661,0.039,-0.967,0.040,-1.121,0.500,

-1.471,0.500,-1.999,0.500,

-

2.813,0.500,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.000,5.000,0.00
0,5.000,0.000,5.000,

0.000,5.000*2A[CR][LF]

Test Bed Receiver Subsystem Addendum – Rev 1 37

Appendices

CALB

Format: Message ID = 87 Message byte count = 32 + (16 * 32)

Field # Data

1

2 Week number 4 integer weeks 12

3 Seconds of week 8 double seconds 16

4 Reserved for future use

5 Reserved for future use

6 GloBias (*32)

Sync 3 char

Checksum 1 char

Message Id 4 integer

Message byte count 4 integer bytes 8

dBias
dStdev

Bytes Format Units Offset

8

double

8

double

meters

meters

0

3

4

32

38 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

GALA/B ALMANAC INFORMATION

The GLONASS almanac reference time and week are in GPS time coordinates. GLONASS ephemeris information is
available through the GEPA/B log.

GALA

Structure:

$GALA week

LambadN

deltal ecc argperig deltaT deltaTD tau *xx [CR][LF]

Field #

Field

1 $GALA Log Header $GALA
2 Week GPS Week, in weeks 991
3 Seconds GPS Time, in seconds 496470.59

seconds week tim e SVID freq health TlambdaN

Description Example

4 Week GPS Week for almanac reference time (GLONASS time in GPS

991

format), in weeks

5 Time GPS Time for almanac reference time (GLONASS time in GPS

374232.88

format), in seconds
6 SVID Slot number for satellite, ordinal 16
7 Freq Frequency for satellite, ordinal 22
8 Health Ephemeris Health (1 = GOOD, 0 = BAD) 1
9 TlambdaN GLONASS Time of asce ndi ng node equator crossing, in seconds 3.94199E+004

10 LambdaN Longitude of ascending node equator crossing (PZ90), in radians -9.2257260E-001
11 Deltal Correction to nom inal inclination, in radians 3.02841363E-002
12 Ecc Eccentricity 1.49440765E-003
13 ArgPerig Argument of per igee (PZ90), in radians 1.04694189E-001
14 DeltaT Offset to nominal orbital per iod, in seconds -2.6561113E+003
15 DeltaTD Rate of orbital period, in seconds per or bital period 3.66210937E-004
16 Tau Clock offset, in seconds -2.0217896E-004*38

Example:

$GALA,991,496470.59,991,374232.88,16,22,1,3.94199E+004,-9.2257260E-001

3.02841363E-002,1.49440765E-003,1.04694189E-001,-2.6561113E+003,

3.66210937E-004,-2.0217896E-004*38

Test Bed Receiver Subsystem Addendum – Rev 1 39

Appendices

GALB

Format: Message ID = 78 Message byte count = 112

Field # Data

1

2 Week number 4 integer weeks 12

3 Seconds of week 8 double seconds 16

4 Reference week (GLONASS time in GPS format) 4 integer weeks 24

5 Reference time (GLONASS time in GPS format) 8 double seconds 28

6 Slot number 4 integer ordinal 36

7 Frequency 4 integer ordinal 40

8 Health 4 integer - 44

9 Ascending node time 8 double seconds 48

10 Ascending node longitude 8 double rad 56

Sync 3 char

Checksum 1 char

Message Id 4 integer

Message byte count 4 integer bytes 8

Bytes Format Units Offset

0

3

4

11 Inclination correction 8 double rad 64

12 Eccentricit y 8 double - 72

13 Argument of perigree 8 double rad 80

14 Orbital period correction 8 double seconds 88

15 Orbital period rate 8 double s/orbit 96

16 Clock offset to UTC 8 double seconds 104

40 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

GLONASS time scale

GCLA/B CLOCK INFORMATION

This log contains the time difference information between GPS and GLONASS time as well as status flags. The status
flags are used to indicate the type of time processing used in the least squares adjustment. GPS and GLONASS time are
both based on the Universal Time Coordi nated (UTC) time sca le with some adjustments. GPS tim e is continuous and
does not include any of the leap second adjustments to UTC appli ed since 1980. The result is that G PS time currently
leads UTC time by 13 seconds.

GLONASS time applies leap seconds but is also three hours ahead to represent Moscow time. The nominal offset
between GPS and GLON ASS time is therefor e due to the three hour of fset minus the leap sec ond offset. Currently this
value is at 10787 seconds with GLONASS leading. As well as the nominal offset, there is a residual offset on the order of
nanoseconds which must be estimated in the least squares adjustment. The GLONASS- M satellites will broadcast this
difference i n t he navigation message.

This log will also contain information from the GLONASS navigation data relating GLONASS time to UTC.

GCLA

Structure:

$GCLA week

sec nominal offset residual offset

NA

τc # GPS sv # GLONASS sv time status

Field # Field

Description Example

residual offset variance

*xx [CR][LF]

1

2 Week GPS week number 994

3 Sec GPS time into week 149871.00

4 Nominal Offset Nominal offset between GPS and GLONASS time

5 Residual Offset Residual offset estimated in filter, in meters 10.62179349

6 Residual Offset Variance Variance of residual offset, in meters 167.82950123

7 NA Calendar day number within four year period beginning

8

$GCLA Log Header $GCLA

10787

references, in seconds

1121

since the leap year, in days

τc From GLONASS almanac -

-3.0544738044739E-007

correctio n to UT C( SU) give n at be ginning of d ay NA,

in seconds

9 # GPS sv Number of good GPS sv tracked 9

10 # GLONASS sv Number of good GLONASS sv tracked 4

11 Time Status

12 * xx Checksum *7B

Time status (

see below)

00000000

13 [CR][LF] Sentence terminator [CR][LF]

Test Bed Receiver Subsystem Addendum – Rev 1 41

Appendices

Table 2 Time Status

Value Description

0

1 GLONASS time fixed

GLONASS time floating

Example:

$GCLA,994,149871.00,10787,10.62179349,167.82950123,1121,

-3.0544738044739E-007,9,4,00000000*7B,[CR][LF]GCLB

GCLB

Format: Message ID = 88 Message byte count = 68

Field # Data

1

Sync 3 char

Checksum 1 char

Message Id 4 integer

Message byte count 4 integer bytes 8

2 Week number 4 integer weeks 12

3 Seconds of week 8 double seconds 16

Bytes Format Units Offset

0

3

4

4 Leap seconds plus three hour Moscow time offset 4 integer seconds 24

5 Fractional offset calculated by filter 8 double meters 28

6 Variance of fractional offset 8 double metres2 36

7 Calendar day number within four year period beginning since the leap

year

8 F rom GLONASS almanac - GLONASS time scale correction to UTC

(SU) given at beginning of day NA

9 Number of GPS satellites 4 integer 56

10 Number of GLONASS satellites 4 integer 60

11 Status flags 4 integer -

4 integer day 44

8 double seconds 48

64

42 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

GEPA/B EPHEMERIS INFORMATION

GLONASS ephemerides are r ef erenced to the Par am etry Z emli 1990 ( PZ- 90) geodetic datum , and GLONASS ephem eris
information is available through the GEPA/B log. GLONASS coordinates are reconciled internally through a position
filter and output to WGS84. Refer to the SVDA/B log in the

MiLLennium Command Descriptions Manual for information

on WGS84.

GEPA

Structure:

$GEPA week

seconds ephweek ephtime time offset

svid

freq issue health posX posY posZ

velX

velY velZ LSAccX LSAccY LSAccZ tau

gamma

tk age flags *xx [CR][LF]

Field #

1

2 Week GPS Week of log output 991

3 Seconds GPS Time of log output 496487

4 EphWeek Reference week of ephemeris (in GPS time) 991

5 EphTime Reference time of ephemeris (in GPS time) 495913

6 Time

7 SVID Slot number for satellite 4

Field

$GEPA Log Header $GEPA

Integer seconds between GPS and GLONASS Time + implies GLONASS

offset

ahead of GPS

Description Example

107871

8 Freq Frequency number for satellite 12

9 Issue 15-minute interval number corresponding to ephemeris reference time 83

10 Health Ephemeris Health (0 = GOOD, 1 = BAD) 0

11 PosX X coordinate for satellite at reference time (PZ90), in meters -2.102581933593754E+007

12 PosY Y coordinate for satellite at reference time (PZ90), in meters -1.216645166015627E+007

13 PosZ Z coordinate for satellite at reference time (PZ90), in meters 7.7982763671875110E+006

14 VelX X coordinate for satellite velocity at reference time (PZ90), in meters/s -9.655075073242192E+002

15 VelY Y coordinate for satellite velocity at reference time (PZ90), in meters/s -5.014476776123048E+002

Test Bed Receiver Subsystem Addendum – Rev 1 43

Appendices

16 VelZ Z coordinate for satellite velocity at reference time (PZ90), in meters/s -3.387468338012698E+003

17 LSAccX X coordinate for lunisolar acceleration at reference time (PZ90), in meters/s/s -1.862645149230957E-006

18 LSAccY Y coordinate for lunisolar acceleration at reference time (PZ90), in meters/s/s 9.3132257461547851E-007

19 LSAccZ Z coordinate for luniso l ar accel erat ion at reference time (PZ90), in meters/s/s -9.313225746154785E-007

20 Tau Clock offset from GLONASS time, in seconds -3.913920372724533E-004

21 Gamma Frequency Correction, in seconds/second 7.2759576141834267E-012

22 Tk Time of frame start (since start of GLONASS day), in seconds 73800

23 Age Age of data, in days 0

24 Flags Information flags (see Table 3, Page 46) 13

25 *xx Checksum *49

26 [CR][LF] Sentence Terminator [CR][LF]

NOTE: 1 Time offset = 3 hours + GPS UTC offset. See Page 26 for more information on GLONASS time.

Example:

$GEPA,991,496487.00,991,495913.00,10787,4,12,83,0,-2.102581933593754E+007

-1.216645166015627E+007,7.7982763671875110E+006,-9.655075073242192E+002

-5.014476776123048E+002,-3.387468338012698E+003,-1.862645149230957E-006

9.3132257461547851E-007,-9.313225746154785E-007,-3.913920372724533E-004

7.2759576141834267E-012,73800,0,13,*49,[CR][LF]

44 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

GEPB

Format:

Message ID = 77 Message byte count = 156

Field #

1

2 GPS week of log output 4 integer weeks 12
3 GPS time of log output 8 double seconds 16
4 Reference week of ephemeris (in GPS time) 4 integer weeks 24
5 Reference time of ephemeris (in GPS time) 8 double seconds 28
6 GLONASS time - GPS time 4 integer seconds 36
7 Slot number 4 integer ordinal 40
8 Frequency 4 integer ordinal 44
9 Issue 15 min. reference 4 integer 900s 48
10 Health 4 integer - 52
11 X position (PZ90) 8 double meters 56
12 Y position (PZ90) 8 double meters 64

Sync 3 char
Checksum 1 char
Message Id 4 integer
Message byte count 4 integer bytes 8

Data Bytes Format Units Offset

0
3
4

13 Z position (PZ90) 8 double meters 72
14 X velocity (PZ90) 8 double meters/s 80
15 Y velocity (PZ90) 8 double meters/s 88
16 Z velocity (PZ90) 8 double meters/s 96
17 X lunisolar acceleration (PZ90) 8 double meters/s/s 104
18 Y lunisolar acceleration (P Z 90) 8 double meters/s/s 112
19 Z lunisolar acceleration (PZ90) 8 double meters/s/s 120
20 Tau 8 double seconds 128
21 Gamma 8 double seconds/second 136
22 Time of frame start 4 long seconds 144
23 Age of data 4 integer days 148
24 F lags (See Table 3 following) 4 integer - 152

Test Bed Receiver Subsystem Addendum – Rev 1 45

Appendices

Table 3 GLONASS Ephemeris Flags Coding

N 7 N 6 N 5 N 4 N 3 N 2 N 1 N 0 <- <- Nibble Number

31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit Description Range Values Hex Value

lsb =

0 P1 FLAG - TIME INTERVAL BETWEEN ADJACENT iISSUE (tb) VALUES See Table below 00000001

1 00000002

2 P2 FLAG - ODDNESS OR EVENNESS OF iISSUE (tb) VALUE 0 = even, 1 = odd 00000004

P3 FLAG - NUMBER OF SATELLITES WITH ALMANAC INFORMATION WITHIN CURRENT

3

SUBFRAME 0 = five, 1 = f our 00000008

4

: RESERVED

31

Table 3, Bits 0 - 1: P1 Flag Range Values

State Description

00 0 minutes
01 30 minutes
10 45 minutes
11 60 minutes

46 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

OTHER NOVATEL LOGS

RCCA RECEIVER CONFIGURATION

This log outputs a list of all current GPSCard command settings. Observing this log is a good way to monitor the
GPSCard configuration se ttings. See RCCA in the MiLLennium Command Descriptions Manual for the RCCA default
list.

The following are the default parameters, for the TESTBEDW receiver, that are different than the standard Millenium
WAAS receiver configuration:

CLOCKADJUST DISABLE
EXTERNALCLOCK OCXO
LOG CONSOLE TM1A ONTIME 10 HOLD*

* The logging of the TM1A log is done in order to time synchronize the TESTBEDGLO receiver to the

TESTBEDW receiver.

The following are the default parameters, for the TESTBEDGLO receiver, that are different than the standard Millenium
Glonass receiver configuration:

CLOCKADJUST DISABLE
EXTERNALCLOCK OCXO
SETTIMESYNC ENABLE*

* The SETTIMESYNC ENABLE allows the TESTBEDGLO receiver to accept the TM1A logs from the

TESTBEDW receiver for time synchronization.

Test Bed Receiver Subsystem Addendum – Rev 1 47

Appendices

E TEST BED RECEIVER - TECHNICAL SPECIFICATIONS

PHYSICAL

Size
Weight

Operating Temperature
Storage Temperature
Humidity
Altitude

Connector
Voltage
Current

TEST BED RECEIVER SUBSYSTEM PERFORMANCE (Subject To GPS System Characteristics)

Frequency
Code tracked

Satellite Tracking

Channels
Position Accuracy Stand-alone
Time Accuracy (relative) 50 nanoseconds (SA off)

Pseudorange
Measurement
Accuracy

Single Channel
Phase Accuracy

Raw Data
Availability Rate

Time to First Fix

Re-acquisition

Height Measurements

GPS GEO

GPS GLONASS

L1 GLONASS (C/A, Narrow) 20 cm RMS, C/No > 44 dBHz, BW = 0.05
L1 GPS (C/A, Narrow) 10 cm RMS, C/No > 44 dBHz, BW = 0.05
L1 GPS (C/A, Wide) 1 m RMS, C/No > 44 dBHz, BW = 0.05

L2 GPS 50 cm RMS, C/No > 30 dBHz, BW = 0.05
L1 GLONASS 6 mm RMS, C/No > 44 dBHz, Loop BW = 15Hz

L1 GPS 3 mm RMS, C/No > 44 dBHz, Loop BW = 15Hz
L2 GPS 5 mm RMS, C/No > 30 dBHz, Loop BW = 0.2Hz
GPS GLONASS 1 phase and code measurements per second
GPS GEO 1 phase and code measurements per second
Almanac data < 15 minutes after reset

L1 GPS/GLONASS 5 seconds C/No = 44 dB-Hz, 10 seconds C/No = 38 dB-Hz
L2 GPS 45 seconds C/No = 41 dB-Hz, 60 seconds C/No = 35 dB-Hz
GEO 10 seconds C/No = 44 dB-Hz

448.8 x 361 x 183.5 mm (without the 19” mounting brackets)

10.2 kg

ENVIRONMENTAL

-25° C to +55° C with 1 m

-40° C to +85° C
10-80%
3,000 metres

[May operate above 3,000 m in a controlled environment, however is not certified as such.]

POWER INPUT

3-position chassis jack
22-30 V DC

1.5 A continuous; 3.0 A peak

GPS: L1(1575.42 MHz), L2 (1227.6 MHz) GLONASS: L1(1602 – 1615.5 MHz)
GPS L1-C/A Code, GPS L2 P Codeless, WAAS GEO C/A Code, GLONASS L1 C/A code, and

GEO SVN (PRN 120-138)
12 GPS L1-C/A (Narrow) / L2 (Codeless)
or 10 GPS L1/L2 and 1 GEO (Wide)
or 8 GPS L1/L2 and 2 GEO (Wide)
12 GPS L1-C/A (Narrow) and 6 GLONASS L1-C/A (Narrow)

40 metres CEP (SA on), GDOP < 2

250 nanoseconds (SA on)

100 seconds (95%) with stabilized internal and external oscillators.
15 minutes maximum from start of cold receiver. No initial time, almanac or position required.

Up to 18,288 metres (60,000 feet) maximum
[In accordance with export licensing, the card is restricted to less than 60,000 feet.]

3

/ minute air flow

48 Test Bed Receiver Subsystem Addendum – Rev 1

Appendices

INPUT/OUTPUT DATA INTERFACE

Serial

Bit rates: 300, 600,1200, 4800, 9600, 19200, 38400, 57600, 115200 bps, user selectable
Default: 9600 bps (GPS GLONASS, GPS GEO)

Connector
Electrical format

DE9P
RS-232C

OUTPUT STROBES

1PPS Output

A one-pulse-per-second Time Sync output. This is a normally high, active low pulse (1 ms )
where the falling edge is the reference.

Measure Out

1 - 10 pulses-per-second output, normally high, active low where the pulse width is 1 ms. The
falling edge is the receiver’s measurement strobe. (Rate is model-dependent.)

Connector

DE9S

The electrical specifications of the strobe signals are as follows:

Output

Voltage (High) > 2.0 VDC
(Low) < 0.55 VDC
Minimum load impedance 1 KΩ

ANTENNA INPUT

Connector
Frequency
LNA Power Output

TNC female
GPS: L1(1575.42 MHz), L2 (1227.6 MHz) GLONASS: L1(1602 – 1615.5 MHz)
Power to the LNA is supplied by the receiver (4.25 – 5.25 V DC @ 0 – 90 mA )

10 MHz INPUT

Connector
Sensitivity

RECOMMENDED EXTERNAL FREQUENCY REFERENCE SPECIFICATIONS

Frequency
Short Term Stability (Allen Variance)
Accuracy Over Operating Temp. Range
RF Output Power
Output Waveform

Harmonics:
Spurious:
Phase Noise @10 Hz:
@100 Hz:
@1 kHz:
RF Output Connector

BNC female
0 dBm to +15 dBm into 50 Ω

10.000 MHz

-11

2x10

, 1 second

-12

±5 x 10
+13 dBm into 50 Ω
Sine wave

-40 dBc

-80 dBc

-120 dBc/Hz

-140 dBc/Hz

-150 dBc/Hz
BNC Female

Test Bed Receiver Subsystem Addendum – Rev 1 49

Appendices

Default Channel Assignments

Config Channel SV Type Code DLL Type Fra

12 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic

1 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
2 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
3 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
4 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
5 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
6 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
7 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
8 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
9 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
10 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
11 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic

Port Channel SV Type Code DLL Type Fra

10 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
+ 1 GEO 1 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic

2 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
3 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
4 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
5 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
6 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
7 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
8 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
9 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
10 GEO L1 C/A Wide Corr. GEO GEO 500 Yes Automatic

Port Channel SV Type Code DLL Type Fra

8 L1/L2 0 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic

+ 2 GEO 1 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic

2 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
3 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
4 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
5 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
6 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
7 GPS L1 C/A, L2 P Narrow Corr. GPS GPS 50 No Automatic
8 GEO L1 C/A Wide Corr. GEO GEO 500 Yes Automatic
9 GEO L1 C/A Wide Corr. GEO GEO 500 Yes Automatic

Nav Type Symbol Rate FEC Sky Search

me

Nav Type Symbol Rate FEC Sky Search

me

Nav Type Symbol Rate FEC Sky Search

me

50 Test Bed Receiver Subsystem Addendum – Rev 1

Index

INDEX

10 mhz output, 12, 15
1pps, 12, 16

a/d, 28
accessories, 11
antenna, 11, 12, 17, 27, 28; active, 28; connector, 14;

installation, 14; model, 28; models, 28; passive, 28;

primary, 27; single-frequency, 28
ascii, 20
automatic gain control (agc), 27, 28

back panel, 14
backplane, 12
baud rate, 12, 17
bits per second (bps), 21

c/a code, 29
cable, 11, 12, 14, 15
carrier phase, 29
channel, 29
clock, 27; drift, 13; signal, 15
coaxial cable, 28
com port, 14, 17
com1, 21
commands, 19, 20, 21
communication, 17, 18, 19, 21
communications: port, 29
configuration, 21, 28; channel, 30; receiver, 33, 47
configure, 21, 29
control segment, 24
converter: a/d, 28
cpu, 27
customer service, 19, 20

data, 21
dc, 28
default, 21, 29
default channel assignments, 50
differential: positioning, 29
digital electronics, 27, 28
direction, 28
distributor, 19
dos, 20, 21
dsp, 28

echo response, 18
enclosure, 8, 12, 13, 14
extended cable lengths, 28

Test Bed Receiver Subsystem Addendum – Rev 1 51

external: frequency reference, 11, 13, 17; power input,

15

external oscillator, 27

filter, 28
front panel, 13, 17

geo, waas, 31
gps: geo, 16; glonass, 16
gpsolution, 19

IF, 27, 28
input, 19
installation, 11
ionospheric, 10

led, 13, 29
lna, 11, 12, 27, 28
loop control, 29

microstrip, 28
multipath, 28

narrow correlator tracking technology, 8, 10
navigation, 29
non-volatile memory, 17

operation, 17, 19
oscillator, 12, 13, 15, 27
output rate, 8

p-code, 8
personal computer (pc), 20, 21
port, 19, 29
position: solution, 13
power, 21
power supply, 11, 12, 13, 14, 15, 17, 27
processing, 27, 28

quick start, 29

radio frequency, 27, 28
rear panel, 12
receiver, 19
rf signal, 28
rs-232 serial communication, 12, 14
rt-2, 19

satellite, 28, 29

Index

segment, control, 24
segment, space, 24
segment, user, 24
self-test, 29
serial number, 19
serial port, 19, 20, 21
space segment, 24
speed, 28
strobe signal, 16
strobe signals, 28
support, 20, 21

technical specifications, 48, 49
terminator, 12, 15
time, 21; information, 12

transfer, 19, 21
two-way communication, 14

updating, 19, 20
upgrading, 1 9, 20
user: segment, 24

velocity, 24
version, 18
voltage range, 15

waas: corrections, 32; ionospheric model, 31
warm-up, 17
wide area augmentation system (waas), 8, 22

52 Test Bed Receiver Subsystem Addendum – Rev 1

Test Bed Receiver Subsystem Addendum – Rev 1 53

NovAtel Inc.

1120- 68 Avenue N.E.

Calgary, Alberta, Canada T2E 8S5

GPS Hotline: 1-800-NOVATEL (U.S. and Canada only)

Phone: [phone]

GPS Fax: [phone]

E-mail: [e-mail]

Web site: http://www.novatel.ca

Recyclable

Printed in Canada
on recycled paper

OM-AD-0020 Rev 1 00/04/11 Software Versions 4.52s3 (GPS/GEO) and 6.48s16 (GPS/GLONASS)