Novatel SMART7 Betriebsanleitung

OM-20000181 0C October 2018

SMART7

Installation and Operation

User Manual

SMART7 Installation and Operation User Manual 0C 2

SMART7 Installation and Operation User Manual

Publication Number: OM-20000181

Revision Level: 0C

Revision Date: October 2018

Firmware Version: 7.05.01 / OA7CR0501RN0000

Warranty

NovAtel Inc. warrants that its GNSS products are free from defects in materials and work-

manship, subject to the conditions set forth on our web site: www.nova-

tel.com/products/warranty/ and for the following time periods:

OEM7®Receivers One (1) Year

GNSS Antenna Series One (1) Year

Cables and Accessories Ninety (90) Days

Software Warranty One (1) Year

Return instructions

To return products, refer to the instructions found at: www.novatel.com/warranty-return.

Proprietary Notice

Information in this document is subject to change without notice and does not represent a com-

mitment on the part of NovAtel Inc. The software described in this document is furnished under

a licence agreement or non-disclosure agreement. The software may be used or copied only in

accordance with the terms of the agreement. It is against the law to copy the software on any

medium except as specifically allowed in the license or non-disclosure agreement.

No part of this manual may be reproduced or transmitted in any form or by any means, elec-

tronic or mechanical, including photocopying and recording, for any purpose without the express

written permission of a duly authorized representative of NovAtel Inc.

The information contained within this manual is believed to be true and correct at the time of

publication.

NovAtel, ALIGN, GLIDE, GrafNav/GrafNet, Inertial Explorer, NovAtel CORRECT, OEM7, PwrPak7,

RELAY, SPAN, STEADYLINE, VEXXIS and Waypoint are registered trademarks of NovAtel Inc.

NovAtel Connect, OEM719, OEM729, OEM7500, OEM7600, OEM7700, OEM7720, SMART7 and RTK

ASSIST are trademarks of NovAtel Inc.

All other brand names are trademarks of their respective holders.

national copyright laws.

SMART7 Installation and Operation User Manual 0C 3

Table of Contents

Figures

Tables

SMART7 Notices

Customer Support

Chapter 1 SMART7 Overview

1.1 Features and Models 16

1.2 SMART7 Connectors Overview 17

1.3 SMART7 LEDs 18

1.4 Related Documents and Information 20

1.5 SMART7 Emulated Radar 20

1.5.1 Emulated Radar (ER) 20

Chapter 2 SMART7 Installation Overview

2.1 Power Supply Requirements for the SMART7 22

2.2 Mounting and Orienting the SMART7 22

2.2.1 Mounting 22

2.2.2 Orienting 23

2.2.3 SMART7 and SMART6 Mounting Hole Locations 23

2.3 Connect the SMART7 to Data Communication Equipment 24

2.3.1 Serial Ports 24

2.3.2 Wi-Fi 25

2.3.3 Ethernet Port 25

2.3.4 CAN Bus Port 26

2.4 Connect I/OSignals to the SMART7 26

2.5 Connect Power to the SMART7 26

2.5.1 Fuse for the Power Supply 26

2.6 Check that the SMART7 is Working 27

2.7 SMART7 Additional Equipment Required 28

SMART7 Operation

3.1 Communications with the Receiver 30

3.1.1 Serial Port Communications 30

3.1.2 Ethernet Communications 32

3.1.3 ICOM Communications 32

3.1.4 CAN Bus Communications 33

3.2 Getting Started 33

3.2.1 Communicating with the Receiver 33

3.3 Transmitting and Receiving Corrections 34

3.3.1 Defining Antenna and Base Antenna 36

3.3.2 Base Station Configuration 36

3.3.3 Rover Station Configuration 37

3.3.4 Configuration Notes 37

3.4 ALIGN Heading Master and Remote Configurations 38

3.4.1 Automatic Set Up for Direct-Wire Connection between Master and Rover via

COM2 38

3.4.2 Manual Set Up via COM2 39

3.5 GLIDE 39

SMART7 Installation and Operation User Manual 0C 4

3.5.1 Dual-Frequency GLIDE 39

3.5.2 PDP and GLIDE Configurations 40

3.6 STEADYLINE 40

3.6.1 Maintain 41

3.6.2 Transition 41

3.6.3 Prefer Accuracy 41

3.6.4 UAL 42

3.7 Enabling SBAS Positioning 43

3.8 Enabling NovAtel CORRECT with PPP 43

3.8.1 TerraStar Subscriptions 44

3.8.2 Veripos Subscriptions 45

3.9 RTK ASSIST 45

3.10 Logging Using NovAtel Connect 46

3.10.1 Selecting the Logs to Collect 47

3.10.2 Modify the Logging Parameters 47

3.10.3 Start Collecting Logs 48

3.10.4 Stop Collecting Logs 48

3.10.5 Change the Log File Settings 48

SMART7 with SPAN Operation

4.1 Fundamentals of GNSS+INS 50

4.2 Definition of Reference Frames Within SPAN 51

4.2.1 The Local-Level Frame (ENU) 51

4.2.2 The IMU Body Frame 52

4.2.3 The Vehicle Frame 52

4.2.4 The User Output Frame 53

4.3 SPAN Translations and Rotations 53

4.3.1 Translational Offsets 54

4.3.2 Rotational Offsets 56

4.3.3 Importance of RBV Calibration 61

4.4 Software Configuration 62

4.4.1 Minimum Recommended Configuration 62

4.4.2 GNSS Configuration 63

4.4.3 SPAN Configuration 63

4.5 Real-Time Operation 64

4.5.1 System Start-Up and Alignment Techniques 66

4.5.2 INSSeed / Fast INS Initialization 67

4.5.3 Navigation Mode 70

4.5.4 Data Collection 70

4.5.5 Body to Vehicle Frame Rotation Calibration Routine 71

4.5.6 Multi-Line Body to Vehicle Frame Rotation Calibration Routine 72

4.6 Azimuth Sources on a SPAN System 74

4.6.1 Course Over Ground 74

4.6.2 Inertial Azimuth 75

4.6.3 ALIGN Azimuth 75

4.7 Data Collection for Post Processing 76

Chapter 5 Built-In Status Tests

5.1 RXSTATUSEVENT Log 77

5.2 RXSTATUS Log 77

5.2.1 Status Word 77

5.2.2 Error Word 78

5.2.3 Status Code Arrays 79

5.2.4 Receiver Status Code 79

SMART7 Installation and Operation User Manual 0C 5

5.2.5 Auxiliary Status Codes 79

5.2.6 Set and Clear Mask for all Status Code Arrays 80

SMART7-I and SMART7-W Wi-Fi Configuration Overview

5.3 Wi-Fi Modes 81

5.3.1 Access Point (AP) 81

5.3.2 Client 81

5.3.3 Concurrent 81

5.4 SMART7-I and SMART7-W Wi-Fi Modes 82

5.4.1 Enable the Wi-Fi Access Point 82

5.4.2 Enable the Wi-Fi Client 83

5.4.3 Enable the Wi-Fi Concurrent 84

5.5 SMART7-I and SMART7-W Wi-Fi Changes 85

5.5.1 Change the Wi-Fi Passkey 85

5.5.2 Change the SSID 86

5.5.3 Change the Wi-Fi Channel 86

5.5.4 Change the Wi-Fi IPAddress 86

5.5.5 Disable Wi-Fi 86

5.6 SMART7-I and SMART7-W ALIGN Over Wi-Fi Overview 87

5.6.1 SMART7-I and SMART7-W Automatic Wi-Fi ALIGN Corrections 87

5.6.2 SMART7-I and SMART7-W Manual Set Up for Wi-Fi Connection between Master

and Rover via ICOM1 88

Chapter 6 Ethernet Configuration

6.1 Required Hardware 91

6.2 Static IP Address Configuration 91

6.2.1 Static IP Address Configuration—Receiver 92

6.2.2 Static IP Address Configuration—Windows 7 93

6.2.3 Confirming Ethernet Setup 93

6.3 Dynamic IP Address Configuration 94

6.4 Base/Rover Configuration through Ethernet Connectivity 94

6.5 Large Ethernet Port Data Throughput 96

6.6 NTRIP Configuration 96

Chapter 7 CAN Bus

7.1 Default Configuration 100

7.2 Configuring the CAN Bus 100

7.2.1 Configuration Notes 100

7.2.2 Example of Enabling the CAN Bus 101

7.2.3 Example of Modifying the CAN Bus Parameters 101

7.2.4 Example of Detecting an Address Claim Failure and Reconfiguring 101

7.2.5 Address Claim Procedure 102

7.3 NMEA2000 Logging 102

7.3.1 Example of NMEA2000 Log Configuration 103

7.3.2 Example of Custom PGN Configuration 103

7.4 Corrections Over CAN 103

7.4.1 Example for Receiving Corrections from Any Source 104

7.4.2 Example for Transmitting Corrections to 0x1C Node 104

7.5 NovAtel Messages Over CAN 104

7.6 Configuring OEM7 Receivers to Use OEM6 CAN Settings 104

7.6.1 Configuration on OEM6 105

7.6.2 Configuration on OEM7 105

SMART7 Installation and Operation User Manual 0C 6

Chapter 8 Troubleshooting

8.1 Examining the RXSTATUS Log 107

8.2 Examining the AUX1 Status Word 110

8.3 High Temperature Environments 111

8.3.1 Indicators of an Error State 111

8.3.2 Recovering from a Temperature Status Error 112

8.3.3 Mitigating High Receiver Temperature 112

8.3.4 Monitoring the Receiver Temperature 112

8.4 Safe Mode 113

8.4.1 Reset Loop Detection 113

8.4.2 Recovery Steps 113

Chapter 9 NovAtel Firmware and Software

9.1 Firmware Updates and Model Upgrades 115

9.1.1 Firmware Updates 115

9.1.2 Model Upgrades 115

9.2 Authorization Code 116

9.3 Updating or Upgrading Using the WinLoad Utility 117

9.3.1 Transferring Firmware Files 117

9.3.2 Using the WinLoad Utility 117

9.4 Updating Using SoftLoad Commands 119

9.4.1 SoftLoad Commands and Logs 119

9.4.2 Working With S-Records 120

9.4.3 Sending Firmware Data 121

9.4.4 SoftLoad Update Method 122

9.4.5 SoftLoad Errors 125

9.5 Upgrading Using the AUTH Command 125

9.5.1 Upgrade Procedure 125

APPENDIX A SMART7 Technical Specifications

A.1 SMART7 Performance Specifications 128

A.2 SMART7 Mechanical Specifications 131

A.3 SMART7 Environmental and Electrical Specifications 133

A.4 SMART7 Data Communication Specifications 134

A.5 SMART7 Strobe Specifications 134

A.6 SMART7 Interface Cable (Optional Accessory) 136

A.0.1 SMART7 Custom Cable Recommendation 137

A.7 SMART7 Mounting Plate Specifications 138

APPENDIX B SMART7 Accessories and Replacement Parts

Figures

SMART7 Installation and Operation User Manual 0C 7

Figures

Figure 1: SMART7 with Ethernet Model (Back) 17

Figure 2: SMART7 Interface Connector 17

Figure 3: SMART7 Ethernet Connector (model dependent) 17

Figure 4: SMART7 LEDs Location 18

Figure 5: SMART7 Installation 21

Figure 6: SMART7 Magnetic Mounting Plate 23

Figure 7: SMART7 Orientation 23

Figure 8: SMART7 and SMART6 Mounting Hole Locations 24

Figure 9: Basic Differential Setup 35

Figure 10: Positioning Change Without STEADYLINE 40

Figure 11: STEADYLINE Maintain 41

Figure 12: STEADYLINE Transition 41

Figure 13: STEADYLINE Prefer Accuracy 42

Figure 14: STEADYLINE UAL- Warning Limit Example 42

Figure 15: STEADYLINE UAL - Out of Bounds Example 43

Figure 16: Local-Level Frame (ENU) 52

Figure 17: Vehicle Frame 53

Figure 18: ALIGN Translation Offset 55

Figure 19: SMART7-S IMU Body Frame 57

Figure 20: SMART7-S IMU Body Frame with Factory Configured Rotation 58

Figure 21: SMART7-S Installed with Orientation Not Aligned with Vehicle Frame 59

Figure 22: Rear view of SMART7 on a Vehicle – Roof Camber 61

Figure 23: Side View of SMART7 on a Vehicle – Roof Tilt 61

Figure 24: Top View of SMART7 on a Vehicle – SMART7 Misalignment 62

Figure 25: Multi-Line IMU Body to Vehicle Calibration 73

Figure 26: Location of Receiver Status Word 77

Figure 27: Reading the Bits in the Receiver Status Word 78

Figure 28: Location of Receiver Error Word 78

Figure 29: Reading the Bits in the Receiver Error Word 78

Figure 30: Status Code Arrays 79

Figure 31: Cross-Over Ethernet Cable Configuration—OEM7 Receiver 92

Figure 32: Dynamic IP Address Configuration through a DHCP Server—OEM7 Receiver 94

Figure 33: Base/Rover Ethernet Setup—OEM7 Receiver 95

Figure 34: NTRIP System 97

Figure 35: WinLoad’s Open Window 118

Figure 36: Open File in WinLoad 118

Figure 37: COM Port Setup 119

Figure 38: SMART7 Dimensions 131

Figure 39: SMART7-S Center of Navigation 132

Figures

SMART7 Installation and Operation User Manual 0C 8

Figure 40: SMART7 Interface Cable 136

Figure 41: SMART7 Mounting Plate Dimensions (Optional) 138

Tables

SMART7 Installation and Operation User Manual 0C 9

Tables

Table 1: Model Variants 16

Table 2: Ethernet Connector Pin Outs 17

Table 3: SMART7 Status Indicators 18

Table 4: Wi-Fi LED 18

Table 5: Ethernet LED 19

Table 6: Status LED 19

Table 7: SMART7 Serial Port Protocol 24

Table 8: SMART7 Recommended Fuse and Fuse Holders 28

Table 9: Serial Ports Supported 31

Table 10: Inertial Solution Status 65

Table 11: NVM Seed Indication 69

Table 12: Solution Parameters 70

Table 13: Logs with Azimuth Data 75

Table 14: Wi-Fi Default Configuration 82

Table 15: Default NAME 100

Table 16: Troubleshooting Based on Symptoms 106

Table 17: Resolving a Receiver Error Word 108

Table 18: Resolving an Error in the Receiver Status Word 109

Table 19: Resolving an Error in the AUX1 Status Word 110

Table 20: SMART7 Physical Description 127

Table 21: SMART7 Receiver Performance 128

Table 22: SMART7-S IMU Performance 130

Table 23: SMART7 Environmental Specifications 133

Table 24: SMART7 Power Requirements 133

Table 25: Data Communications Interfaces 134

Table 26: SMART7 Strobes Description 135

Table 27: SMART7 Connector Pin Out 136

Table 28: 14-Pin Interface Connector 137

Table 29: I/O Connector 137

Table 30: SMART7 Products 139

SMART7 Notices

SMART7 Installation and Operation User Manual 0C 10

SMART7 Notices

The following notices apply to the SMART7 device.

Changes or modifications to this equipment, not expressly approved by NovAtel Inc.,

could void the user’s authority to operate this equipment.

FCC

This device complies with part 15 of the FCC Rules. Operation is subject to the following two con-

ditions: (1) this device may not cause harmful interference, and (2) this device must accept any

interference received, including interference that may cause undesired operation.

SMART7 has been tested and found to comply with the radiated and conducted emission limits

for a Class B digital device. The Class B limits are designed to provide reasonable protection

against harmful interference in a residential installation.

The equipment listed generates, uses and can radiate radio frequency energy and, if not

installed and used in accordance with the instructions, may cause harmful interference to radio

communications. However, there is no guarantee that interference will not occur in a particular

installation. If this equipment does cause harmful interference to radio or television reception,

which can be determined by turning the equipment off and on, the user is encouraged to try to

correct the interference by one or more of the following measures:

lRe-orient or relocate the SMART7

lIncrease the separation between the equipment and the SMART7

lConnect the equipment to an outlet on a circuit different from that to which the SMART7 is

connected

lConsult the dealer or an experienced radio/TV technician for help

The SMART7 has been authorized for use in Mobile applications. At least 20 cm (8

inches) of separation between the SMART7 and the User must be maintained at all

times.

Wi-Fi

SMART7 contains a Wi-Fi radio with the following approvals:

lFCC ID: UTU-01019715

Innovation, Science and Economic Development (ISED) Canada

SMART7 Class B digital device complies with Canadian ICES-003.

SMART7 appareil numérique de la classe B est conforme à la norme NMB-003 du Canada.

This device complies with ISED license-exempt RSS-GEN and RSS-247. Operation is subject to

the following two conditions: (1) this device may not cause interference and (2) this device must

accept any interference, including interference that may cause undesired operation of the

device.

Cet appareil est conforme à la norme ISED RSS-GEN et RSS-247. Son fonctionnement est sou-

mis aux deux conditions suivantes: (1) cet appareil ne doit pas provoquer d'interférences et (2)

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