SMART6™ User Manual OM-20000150 Rev 0B September 2013
SMART6 User Manual Revision Level: Publication Number: Revision Date: Firmware Version: 0B OM-20000150 September 2013 6.220 (OEM060220RN0000) Warranty NovAtel® Inc. warrants that its GNSS products are free from defects in materials and workmanship, subject to the conditions set forth on our web site: www.novatel.com/products/warranty/.
Table of Contents Notice 7 Customer Service 9 1 Introduction 11 1.1 Features and Models ...................................................................................................................................................11 2 Installation and Setup 13 2.1 Additional Equipment Required ...................................................................................................................................13 2.1.1 SMART6 Setup ..................................................
Table of Contents A Technical Specifications 46 A.1 SMART6 Receiver Performance .................................................................................................................................46 A.2 SMART6 Specifications...............................................................................................................................................47 A.2.1 SMART6 Communication/Power Cable (01018999).............................................................................
Figures 1 2 3 4 3 5 6 7 8 9 10 11 12 13 14 15 16 3 4 5 6 7 8 9 10 11 12 13 14 17 18 SMART6 Receiver .....................................................................................................................................................11 SMART6 Connector ..................................................................................................................................................13 Simplified SMART6 Setup .....................................................................
Tables 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 SMART6 Models ........................................................................................................................................................11 SMART6 Connector Pin-Out ......................................................................................................................................13 SMART6 LED Status Indicators ......................................................................................................
Notice The following notices apply to the SMART6. Changes or modifications to this equipment not expressly approved by NovAtel Inc. could result in violation of FCC, Industry Canada and CE Marking rules and void the user’s authority to operate this equipment. FCC Notices This device complies with part 15 of the FCC Rules.
Notice CE The enclosures carry the CE mark. "Hereby, NovAtel Inc. declares that this SMART6 is in compliance with the essential requirements and other relevant provisions of the R&TTE Directive 1999/5/EC, the EMC Directive 4/108/EC and the RoHS Recast Directive 2011/65/EU." WEEE If you purchased your OEM6 family product in Europe, please return it to your dealer or supplier at the end of its life.
Customer Service NovAtel Knowledge Base If you have a technical issue, visit the NovAtel support website at www.novatel.com | Support | Helpdesk and Solutions | Knowledge and Forums. Through this page, you can search for general information about SMART® antennas and other technologies, information about NovAtel hardware, software, installation and operation issues. Before Contacting Customer Support Before you contact NovAtel Customer Support about a software problem perform the following steps: 1.
Customer Service Conventions Conventions used in this manual are the following: Note that provides information to supplement or clarify the accompanying text. Caution that a certain action, operation or configuration may result in incorrect or improper use of the product. Warning that a certain action, operation or configuration may result in regulatory noncompliance, safety issues or equipment damage.
Chapter 1 Introduction The SMART6 is a high performance GNSS receiver and antenna, capable of receiving and tracking different combinations of GNSS L1/L2 code and carrier signals on a maximum of 120 channels. SBAS (Satellite Based Augmentation Systems) support, which includes WAAS (North America), EGNOS (Europe) and MSAS (Japan) is standard. Refer to NovAtel’s GNSS Book for an overview of each of the above signal types.
Introduction Chapter 1 Contact NovAtel Sales at www.novatel.com/where-to-buy/contact-us for information regarding available models, upgrading a model to increase feature/functionality or go to www.novatel.com/support/firmwaresoftware-and-manuals/firmware-software-updates/ to obtain product updates. Refer to Chapter 4, NovAtel Firmware and Software on page 32 for details. Refer to the OEM6 Installation and Operation Manual for detailed information on receiver communications and operation.
Chapter 2 2.1 Installation and Setup Additional Equipment Required In order for the SMART6 to perform optimally, the following additional equipment is required: 2.1.
Installation and Setup Chapter 2 3. Connect the NovAtel cable or custom wiring harness to a DB-9 serial port on a computer or other data storage device. 4. Connect the NovAtel cable or custom wiring harness to the power supply and turn on the power supply to the SMART6 (the SMART6 cable is also a power cable). The power LED on the receiver glows red when the SMART6 is properly powered. Fuse/holder recommendations can be found in Table 7, Recommended Fuse and Fuse Holders on Page 51.
Installation and Setup 2.1.2 Chapter 2 Power Supply Requirements The SMART6 requires +8 to +36 VDC input power (refer to SMART6 Specifications on page 47 for additional power supply specifications). The SMART6 cable provides power in (BATT+) and power ground (BATT-) bare wires for connecting the SMART6 to a vehicular power system (or equivalent). 2.1.3 The SMART6 power source must be protected by a 5 A Fast Blow Fuse or damage to wiring may result (not covered by warranty).
Installation and Setup Chapter 2 Figure 3: SMART6 Pole Mounting Plate All dimensions are in inches To install the pole mounting plate: 1. Use four M4 screws to connect the mounting plate to the SMART6. 2. Screw the mounting plate onto a mount, such as a range pole, tribrach, or tripod, with a 1" x 14 thread. A 5/8” to 1” bushing adaptor is available (part number 12023275).
Installation and Setup 2.1.4 Chapter 2 Mounting the SMART6 Mount the SMART6 on a secure, stable structure capable of safe operation in the specific environment. • If installing on a vehicle, mount the SMART6 on the vehicle roof, ideally close to the pivot point of the vehicle. The SMART6 must be mounted with the connector facing the rear of the vehicle (see Figure 5, SMART6 Orientation). Figure 5: SMART6 Orientation Route cable toward back of vehicle • 2.1.
Installation and Setup 2.2 Chapter 2 Additional Features and Information This section contains information on the additional features of the SMART6, which may affect the overall design of the receiver system. 2.2.1 Status Indicators LED indicators on the SMART6 provide the status of the receiver. The table below shows the meaning of the LEDs. Table 3: SMART6 LED Status Indicators Red Yellow Green Condition Off Off Off Power is not available.
Installation and Setup 2.2.3 Chapter 2 Emulated Radar (ER) The SMART6 outputs an emulated RADAR signal via the bare wires labeled ER GND and ER_OUT on the SMART6 cable. See Table 5, SMART6 Communication/Power Cable Pinouts on page 50 for the pin-out details of this cable. The ER outputs a logic high of supply voltage minus 0.5 V minimum and logic low of 0.5 V maximum with a rise and fall time of less than 1 ms.
Installation and Setup Chapter 2 Figure 6: SMART6 Installation SMART6 The SMART6 must be mounted with the connector facing the rear of the vehicle, as shown in Figure 7, SMART6 Orientation: Figure 7: SMART6 Orientation Route cable toward back of vehicle Orient toward the front of vehicle The SMART6 must be rigidly secured to the vehicle to minimize errors due to vibration and motion. 2.2.5.
Installation and Setup Chapter 2 The vehicle must be parked on flat ground when the level command is sent to the SMART6. Refer to Section B.6, $PMDT Configure Tilt Compensation on page 61 for instructions on how to send the level command. After the tilt sensor has been leveled, the data must be saved to non-volatile memory using the save command. Instructions on using the save command are outlined in Section B.6, $PMDT Configure Tilt Compensation on page 61.
Chapter 3 Operation Before operating the SMART6 for the first time, ensure the installation instructions in Chapter 2, Installation and Setup were followed. It is assumed that a computer is used during initial operation and testing for greater ease and versatility. 3.1 Communications with the Receiver Communication with the receiver typically consists of issuing commands through the communication ports from an external serial communications device.
Operation 3.2 Chapter 3 Getting Started 3.2.1 Starting the Receiver When first powered, the SMART6 undergoes a complete self-test. The results of this test can be viewed by connecting to the receiver and requesting the RXSTATUS log. Refer to the OEM6 Family Firmware Reference manual for details. If a persistent error develops, contact your local NovAtel dealer first. If the problem remains unresolved, contact NovAtel directly through any of the methods listed in the Customer Service section on page 9.
Operation Chapter 3 Commands are typed at the interfacing computing device’s keypad and executed after issuing a carriage return command which is usually the same as pressing the key. An example of a response to an input command is the FIX POSITION command. It can be as: [COM2] FIX POSITION 51.11635 -114.0383 1048.2 [Carriage Return] key.
Operation Chapter 3 Figure 9: Basic Differential Setup 4 1 Rover Base COM1 7 5 1 COM2 5 2 COM3 6 COM1 3 4 COM2 7 2 6 Reference COM3 3 Description 1 SMART6 receiver 2 User supplied 5 A fast blow fuse 3 User supplied power supply, for example a battery 4 User supplied device to COM1 5 User supplied device to COM2 6 User supplied device to COM3 7 User supplied cable or NovAtel 01018999 Communication/Power cable The configuration shown in Figure 9, Basic Differential Setup
Operation 3.3.1 Chapter 3 Base Station Configuration At the base station, enter the following commands: COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses] fix position latitude longitude height log port message [trigger [period]] Examples of these commands include the following: RTCA com com2 9600 N 8 1 N off interfacemode com2 none rtca off fix position 51.11358042 -114.04358013 1059.
Operation 3.3.2 Chapter 3 Rover Station Configuration At the rover station, enter: COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses] For example: RTCA interfacemode com2 rtca none off RTCM interfacemode com2 rtcm none off RTCMV3 interfacemode com2 rtcmv3 none off CMR+ interfacemode com2 cmr none off CMR interfacemode com2 cmr none off 3.3.
Operation 3.3.4 Chapter 3 Configuration Notes For compatibility with other GNSS receivers and to minimize message size, it is recommended using the standard form of RTCA, RTCM, RTCMV3 or CMR corrections as shown in the base and rover examples above. This requires using the INTERFACEMODE command to dedicate one direction of a serial port to only that message type. When the INTERFACEMODE command is used to change the mode from the default, NOVATEL, you can no longer use NovAtel format messages.
Operation 3.4 Chapter 3 GLIDE SMART6 contains NovAtel’s GLIDE which is a positioning algorithm for single-frequency GPS and GPS/ GLONASS applications. GLIDE produces a smooth position output tuned for applications where time relative accuracy (pass-to-pass) is more important than absolute accuracy. Because of this, it is well suited for agricultural applications. Multipath signals tend to induce time varying biases and increase the measurement noise on the L1/L2 pseudorange measurements.
Operation 3.6 Chapter 3 Tilt Compensation The SMART6 Tilt Compensation feature corrects for errors in position caused by tilting of the vehicle. The SMART6 senses the vehicle’s roll angle and, with the user-entered “height above ground”, compensates the position output to give the position under the vehicle rather than at the antenna.
Operation 3.7 Chapter 3 Recommended Configuration The following command is recommended to enable CAN: setcanname 305 2 0 0 23 0 0 28 can2 The following command is recommended to enable SBAS (WAAS/GNOS/MSAS) corrections: sbascontrol enable The following commands are recommended to enable GLIDE: pdpfilter enable pdpmode relative auto NovAtel has registered manufactured ID code 305 with J1939. When complete, configuration can be saved with the SAVECONFIG command.
Chapter 4 NovAtel Firmware and Software Download the most recent versions of the NovAtel firmware and receiver software from the NovAtel website at www.novatel.com Support/Firmware/Software and Manuals. OEM6 Firmware and Software Refer to Section 4.3.1, Transferring Firmware Files on page 34 for descriptions of the Update and OEM versions.
NovAtel Firmware and Software 4.1.2 Chapter 4 Model Upgrades Model upgrades enable purchased receiver features. Contact a local NovAtel dealer to assist in selecting the upgrade options that best suit your GNSS needs at www.novatel.com/where-to-buy. Contact NovAtel Customer Support www.novatel.com/support or NovAtel Sales to request a temporary upgrade authorization code for trial purposes.
NovAtel Firmware and Software Chapter 4 The new download package includes a signed firmware file type that uses an extension designated as “.shex” (example OEM060200RN0000.shex), as well as the latest Winload utility and What’s New file containing firmware update change details. 4.3 Prior to firmware version OEM060200RN0000, authorization codes depended on the software model, the firmware version and the serial number of the receiver. The authorization code changed if any of the three items changed.
NovAtel Firmware and Software 4.3.2 Chapter 4 Using the WinLoad Utility If opening WinLoad for the first time, ensure the file and communications settings are correct. Open a File to Download Select File |Open. Navigate to the file to open (Figure 11). Figure 11: WinLoad’s Open Window When a file is selected, the filename appears in the main WinLoad display area and in the title bar (Figure 12).
NovAtel Firmware and Software Chapter 4 Figure 14: Searching for Card 5. If the Authorization Code window appears, enter the auth-code and click OK. See Section 4.2, Authorization Code on page 33 for further information about the Authorization Code. Figure 15: Authorization Code Window 6. The receiver finishes the download and then resets. The process is complete when Done appears in the main display area. Figure 16: Upgrade Process Complete 7. Close WinLoad. 4.
NovAtel Firmware and Software Chapter 4 5. Send each line of the *.shex file to the receiver in a SOFTLOADSREC command. The S-Records must be enclosed by quotation marks: SOFTLOADSREC "" To significantly decrease data transfer time, NovAtel recommends creating a batch file to automatically send each line of SOFTLOADSREC. Contact NovAtel Customer Support for assistance creating SoftLoad batch files. 6. Send the SOFTLOADCOMMIT command. 7.
NovAtel Firmware and Software 4.5 Chapter 4 Upgrading Using the AUTH Command The AUTH command authorizes the enabling (unlocking) of model features. The AUTH command is used to upgrade a new OEM6 family model, available with the same firmware version as the current model. This command only functions with a valid auth-code assigned by NovAtel Customer Support. The upgrade can be performed directly through the NovAtel Connect command line or from any other communications program. 4.5.
Chapter 5 Bluetooth Configuration Bluetooth is a wireless radio communication standard designed for use over short ranges (within 10 m). This chapter describes how to use the Bluetooth interface on the SMART6. 5.1 Bluetooth Wireless Technology on the SMART6 receiver Bluetooth wireless technology is configured on the SMART6’s internal COM3 port. After your computer is configured for Bluetooth operation, use HyperTerminal or NovAtel Connect to communicate through COM3.
Bluetooth Configuration Chapter 5 Figure 4: Bluetooth Devices Window 3. On the Bluetooth Devices window, click the Add a device button. The Add a device window appears. The computer searches for any Bluetooth device in range and displays the devices found on the window, see Figure 5 on page 40.
Bluetooth Configuration Chapter 5 4. Select the SMART6 system and click the Next button. The Select a pairing option window appears, see Figure 6 on page 41. Figure 6: Add a device - Select a pairing option 5. Click the Enter the device’s pairing code button. The Enter the pairing code for the device window appears, see Figure 7 on page 41. Figure 7: Add a device - Enter pairing code 6. Type the SMART6 pairing code, 0000, and click the Next button.
Bluetooth Configuration Chapter 5 Figure 8: Bluetooth Link Serial Port Figure 9: Add a device - Successful On some operating systems, the SMART6 must be re-paired every time it is restarted. To re-pair in Windows 7, click the Bluetooth icon in the notification area and enter the pairing code when prompted. For instructions on re-pairing in other operating systems, see the user documentation that came with the operating system. 5.
Bluetooth Configuration Chapter 5 Figure 11: Bluetooth Devices Window 2. In the Bluetooth Devices window, right-click the SMART6 device and select Properties, see Figure 12 on page 44. The Properties window for the SMART6 appears, see Figure 13 on page 44.
Bluetooth Configuration Chapter 5 Figure 12: Bluetooth Devices Window - Device Menu Figure 13: Bluetooth Devices Window - Properties SMART6 User Manual Rev 0B 44
Bluetooth Configuration Chapter 5 3. Click the Services tab. The Services tab displays the serial port information about the Bluetooth link to the SMART6. See Figure 14 on page 45. Figure 14: Properties - Services Tab 5.4 Communicate with the SMART6 Using Bluetooth Wireless Technology 1. Open a terminal program (HyperTerminal, for example) and configure it to the serial port assigned to the Bluetooth link. If you do not know the serial port information, see Section 5.
Appendix A A.1 Technical Specifications SMART6 Receiver Performance PERFORMANCEa 120 Channels can be configured to track: L1 GPS L2 GPS (optional) L2C GPS (optional) L1 GLONASS (optional) L2 GLONASS (optional) Galileo E1 (optional) BeiDou B1 (optional) SBASb Channel Configuration Horizontal Position Accuracy (RMS) c Single Point 1.5 m Single Point L1/L2 1.2 m c 0.6 m DGPS 0.4 m RT-2™ 1 cm + 1 ppm SBAS GPS GLO 4 cm 8 cm 0.
A.2 SMART6 Specifications INPUT/OUTPUT CONNECTORS +8 to +36 V DC at 2.9 W a SMART6 Communication/Power For the cable pinouts and drawings, see Section A.2.1, SMART6 Communication/Power Cable (01018999) on page 49 Serial Com Ports RS-232 F Compliant (Rx and Tx signals only) CAN SAE J1939/ ISO 11783/ ISO 11898 Compatible Emulated Radar Output High = Supply Voltage -0.5V Minimum Low = 0.5V Maximum Load = 3K Ohm Minimum PPS Output 3.3 V CMOS Logic Compatible MKI Input 3.
Figure 17: SMART6 Dimensions 155.2 Ø155.00 9.5 13.7 80.9 9.0 x2 31.5 77.3 17.9 x 2 Neodymium Rare Earth Maget x2 53.9 M4 x 0.7 10 DEEP x 4 26.9 89.0 53.9 58.2 5.3 Antenna 48.
A.2.1 SMART6 Communication/Power Cable (01018999) The SMART6 cable (refer to Figure 18, SMART6 Communication/Power Cable), provides a means of supplying power from a battery while operating in the field. The exposed wires (red for positive and black for negative) can then be connected to a vehicular power circuit (or equivalent) protected by a 5 A fast blow fuse (user supplied).
Table 5: SMART6 Communication/Power Cable Pinouts Signal Name J1 J2 COM1_TXD 1 2 COM1_RXD 2 3 COM2_TXD 3 2 COM2_RXD 4 3 COM3_TXD 8 2 COM3_RXD 13 3 COM1 GND J3 MKI GND A.2.
Table 6: SMART6 Mating Connectors Product Part Description Company Part Number SMART6 mating connector (J1 - Figure 18 on page 49) 14-pin sealed receptacle Tyco/AMP housing-black 776273-1 Gold plated pins (20-16 AWG) for (J1) SMART6 connector Gold plated pins for SMART6 connector/strip Pins, loose piece Tyco/AMP 770854-3 Pins, strip (reel) Tyco/AMP 770520-3 Tyco/AMP 770678-1 Seal Plug for unused pins on mating connector.
Appendix B Commands The SMART6 firmware implements the OEM6 family command set, documented in the OEM6 Family Firmware Reference Manual. Commonly used SMART6 commands are summarized in Table 8, SMART6 Commands and documented in this appendix. Table 8: SMART6 Commands ASCII Command Message ID Description BTCONTROL 8205 Enable or disable Bluetooth wireless technology. COM 4 Configure the receiver serial port.
B.2 BTCONTROL Enable/Disable Bluetooth wireless technology The BTCONTROL command enables or disables the Bluetooth module. To ensure no possibility of interference, when the module is disabled it is completely powered down. Message ID: 8205 Abbreviated ASCII Syntax: BTCONTROL switch Factory Default: The Bluetooth module is enabled by default.
B.3 COM Configure COM Port This command is used to configure the receiver’s serial ports. The current COM port configuration can be reset to the default state at any time by sending two hardware break signals of 250 milliseconds each, spaced by fifteen hundred milliseconds (1.5 seconds), with a pause of at least 250 milliseconds following the second break. This will: • Stop the logging of data on the current port (see UNLOGALL command in the OEM6 Family Firmware Reference Manual).
Field Field Type Binary Value ASCII Value Binary Format Description Binary Bytes Binary Offset 1 COM header - - This field contains the command name or the message header depending on whether the command is abbreviated ASCII, ASCII or binary.
B.4 FRESET Clear Selected Data from NVM and Reset This command clears data that is stored in non-volatile memory. Such data includes the almanac, ephemeris and any user specific configurations. The commands, ephemeris and almanac related data can be cleared by using the STANDARD target. The model can only be cleared by using the MODEL target. The receiver is forced to hardware reset. In addition, values entered using the CLOCKCALIBRATE command can only be cleared by using the CLKCALIBRATION target.
Table 9: FRESET Target Binary ASCII Description 0 STANDARD Resets commands, ephemeris and almanac (default).
B.5 LOG Request Logs from the Receiver Many different types of data can be logged using several different methods of triggering the log events. Every log element can be directed to any combination of the three COM ports. The ONTIME trigger option requires the addition of the period parameter. See the OEM6 Family Firmware Reference Manual for further information and a complete list of data log structures. The LOG command tables in this section show the ASCII command format.
Factory Default: LOG COM1 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM2 RXSTATUSEVENTA ONNEW 0 0 HOLD LOG COM3 RXSTATUSEVENTA ONNEW 0 0 HOLD Field Field Name ASCII Value Field Type Description 1 LOG (ASCII) header - This field contains the command name or the message header depending on whether the command is abbreviated ASCII or ASCII respectively - 2 port See Table 10, Detailed Serial Port Identifiers on page 60 Output port (default = THISPORT) Enum 3 message Any valid message name, with an opt
Table 10: Detailed Serial Port Identifiers ASCII Port Name Decimal Port Value a Hex Port Value Description NO_PORTS 0 0 No ports specified COM1_ALL 1 1 All virtual ports for COM port 1 COM2_ALL 2 2 All virtual ports for COM port 2 COM3_ALL 3 3 All virtual ports for COM port 3 THISPORT_ALL 6 6 All virtual ports for the current port ALL_PORTS 8 8 All virtual ports for all ports XCOM1_ALL 9 9 All virtual COM1 ports XCOM2_ALL 10 10 All virtual COM2 ports XCOM3_ALL 11 17 Al
B.6 $PMDT Configure Tilt Compensation Use this NMEA command to configure the Tilt Compensation function. Syntax $PMDT,[command],[parameters]*cksum Host ua b Description Command Format Tilt Sensor Response Set GPS Sensor To set the GNSS sensor height in feet and Height inches: $PMDT,u,,ff,ii*cksum crlf Example: To set the GNSS sensor height to 12 ft 6 in, the command is: $PMDT,u,,12,6*40 Note: Feet and inches are entered as integers. You can enter feet and inches, but not feet, inches and metres.
B.7 RADARCFG Configure the ER Output Use this command to configure the Emulated Radar (ER) output. ER is available through the SMART6 interface cable, see Table 5, SMART6 Communication/Power Cable Pinouts on page 50 for pin-out details. Message ID: 8192 Syntax radarcfg switch freq_step update_rate resp_mode threshold Field Data Description Bytes Format Units Offset - - 0 4 Enum none H Frequency step per kilometer per hour. Range: 26.11, 28.12 or 36.11 (default = 36.
B.8 SETCANNAME Sets the CAN name fields This command sets the CAN device name fields.
Appendix C C.1 Logs Position Logs C.1.1 NMEA Logs The NMEA logs (receiver outputs) supported by the SMART6 are summarized in Chapter 3 of the OEM6 Family Firmware Reference Manual in section "NMEA Standard Logs". The available logs include: • • GPGGA, which outputs a log of position system fix data and undulation.
C.1.2 NovAtel Position Logs In addition to NMEA logs, NovAtel supports a range of non-NMEA position logs, described in the OEM6 Family Firmware Reference Manual, including: C.2 • BESTPOS: This log contains the best available position computed by the receiver, for example: log bestposa ontime 0.
C.2.1 RADARSIGNAL ER Signal and Position Information This log contains position and Emulated Radar (ER) signal information. Message ID: 8193 Log Type: Asynch Recommended Input: log radarsignala onchanged ASCII Example 1 (stationary SMART6): #radarsignala,com1,0,61.5,finesteering,1501,248381.628,00000000,8a1c,3723 ;sol_computed,waas,0.0139,0.00,0.00*f0d580ca ASCII Example 2 (moving SMART6): #radarsignala,com1,0,42.5,finesteering,1428,206179.600,00000000,baa8,3349 ;sol_computed,waas,0.3315,2,0.3152,473.
Table 13: Position or Velocity Type Type (binary) Type (ASCII) Description 0 NONE No solution 1 FIXEDPOS Position has been fixed by the FIX POSITION command 2 FIXEDHEIGHT Position has been fixed by the FIX HEIGHT/AUTO command 8 DOPPLER_VELOCITY Velocity computed using instantaneous Doppler 16 SINGLE Single point position 17 PSRDIFF Pseudorange differential solution 18 WAAS Solution calculated using corrections from an SBAS 19 PROPAGATED Propagated by a Kalman filter without new obs
C.2.2 TILT Compensation Tilt Compensation affects existing logs as follows: C.2.3 • NovAtel logs that provide the Extended Solution Status field (BESTPOS and BESTXYZ, both documented in OEM6 Family Firmware Reference Manual) use the 0x80 bit to flag the fact that Tilt Compensation is being applied. • For NMEA GPGGA, GPGGARTK, and GPGGALONG logs, the precision of various fields indicates whether the Tilt Compensation is being applied.
Appendix D Replacement Parts The following are lists of the replacement parts available for the NovAtel SMART6 receiver. Should assistance be required or you need to order additional components, contact your local NovAtel dealer or Customer Service representative. D.1 SMART6 Table 16: SMART6 Product Part Description D.
Index Symbols $PMDT command 61, 63 A accuracy position 24, 46 velocity 46 almanac reset 56 antenna internal 11 specifications 47 AUTH command 38 authorization 38 AUX port 60 B base station 28 baseline 24 baud rate 22 baud rate, see bps BESTPOS log 65 BESTXYZ log 65 bidirectional communication 22 bit rate, see bps Bluetooth configuration 39 bps 55 break 54–55 BTCONTROL 53 buffer 22 C cable integrity 56 serial 22 CAN.
Index operation 24 serial cable 49 setup 25 directional communication 22 distance exceeded 67 E echo 55 Emulated Radar (ER) 62, 66 operation 31 enable Bluetooth 39 F factory default setting 54 features 11, 23, 33, 38 firmware updates 33–34, 38 FRESET command 58 G GL1DE 29 GPGGA log 64 GPVTG log 64 power 14, 18 light emitting diode (LED), see LED log 28, 58, 65 LOG command 58 logs tilt compensation 68 M memory non-volatile erase 56 message trigger 59 model 11 model upgrades 33–34 N NMEA logs 64 non-vol
Index pseudorange 28 R RADARCFG command 61, 63 RADARSIGNAL log 66 receiver outputs 64 replacement parts 69 reset FRESET command 23 hardware 56 RESET command 61, 63 revision, firmware 1 rover station 28 RTCA 28 RTCM 26, 28 RTCMV3 26, 28 S satellite 22 self-test 23 serial cable 22 number 33 port 28, 60 syntax 52 T technical specifications 46 terrain compensation.
OM-20000150 0B September 2013
