C-Nav IALA Operating and maintenance manual

DGNSS Systems Hardware Guide
www.cnavgnss.com

Contact the C-Nav® office or dealer
nearest you:
C-Nav Regional Office and Regional Distributor Contacts:
North America:
Lafayette, LA (Head Office): [phone]
Houston, TX: [phone]
Bothell, WA: [phone]
Mexico: [phone]
South America:
Rio de Janeiro - Sales: [phone]
Rio de Janeiro - Support: [phone]
Peru: [phone]
Africa:
South Africa: [phone]
Angola: [phone]
Asia:
Singapore: [phone]
China: [phone]
India: [phone]
Indonesia: [phone]
Japan: [phone]
U.A.E.: [phone]
Vietnam: [phone]
Europe:
UK –Bury St. Edmunds: [phone]
Norway: [phone]
Russia: [phone]

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Contact Information
If you have a problem and cannot find the information you need during the installation or
operation of a C-Nav product, contact:
C-Nav Support:
Phone: [phone] (24/7 support)
Fax: [phone]
Phones are answered 24 hours, 7 days a week, with on-call technical support engineers
available.
E-mail: [e-mail]
Web: http://www.cnavgnss.com/
C-Nav Technical Support normal operational hours are 7am to 5pm, Monday through Friday
U.S. Central Standard Time. In addition, our regional offices can provide first line support for the
C-Nav DGNSS System.
Please reference your unit serial number (located on sticker on the front or side of the
DGNSS/DGPS receiver) when making any service calls.
Notices
C-Nav Hardware Reference Guide
Revision C
August 2011
© C&C Technologies, C-Nav World DGNSS, 2011.
Revision History
Rev. A (May 2009) Initial Release
Rev. B (October 2009) Added C-Nav3050 material
Rev. C (August 2011)
Updates to logos, contact information and
URL’s
Added C
2
Subscription Service details

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Table of Contents
Contact Information ..........................................................................................................................3
Notices...............................................................................................................................................3
Revision History................................................................................................................................3
Table of Contents..............................................................................................................................4
List of Tables.....................................................................................................................................5
List of Figures ...................................................................................................................................6
Chapter 1 Overview.................................................................................8
C-Nav and Global Navigation Satellite Systems..............................................................................8
Traditional Differential GNSS Positioning........................................................................................................8
Sources of GNSS Error..................................................................................................................................8
Measuring GNSS Accuracy..........................................................................................................................10
Common Values Used with GNSS ...............................................................................................................11
C-Nav Subscription Service..........................................................................................................................12
C-NavC2 Subscription Service .....................................................................................................................13
How to Access the C-Nav Subscription Service ............................................................................................14
L-band Correction Signal .............................................................................................................................15
Chapter 2 Installation Guide ................................................................17
C-Nav Antenna Installation Notice..................................................................................................17
Standard Antenna Installation........................................................................................................17
Antenna Location.........................................................................................................................................17
Antenna Installation .....................................................................................................................................19
Coaxial Cable...................................................................................................................................21
Cable Route................................................................................................................................................21
Coaxial Cable Installation.............................................................................................................................21
Lightning Protection .......................................................................................................................23
GNSS Receiver................................................................................................................................23
Chapter 3 C-Nav DGNSS Hardware Specifications...........................24
C-Nav3050........................................................................................................................................24
C-Nav3050 Receiver....................................................................................................................................24
C-Nav3050 Antennas...................................................................................................................................26
C-Nav1010........................................................................................................................................30
C-Nav1010 Receiver....................................................................................................................................30
C-Nav1010 Antennas...................................................................................................................................32
C-Nav2050........................................................................................................................................37
C-Nav2050 Receiver....................................................................................................................................37
C-Nav2050 Antennas...................................................................................................................................40
C-Nav1000........................................................................................................................................45
C-Nav1000 Receiver....................................................................................................................................45
C-Nav1000 Display......................................................................................................................................46
C-Nav1000 Antennas...................................................................................................................................47
C-Nav1000 Display Mounting Options..........................................................................................................48
IALA GPS System............................................................................................................................50

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IALA Receiver (MBX-3S, MBX-4).................................................................................................................50
IALA Whip Antenna Dimensions...................................................................................................................52
C-NaviGator II ..................................................................................................................................53
C-NaviGator II Control and Display Unit........................................................................................................53
C-NaviGator II Mounting Options..................................................................................................................55
C-NaviGator II LCD Touch-screen Care and Cleaning ..................................................................................62
Chapter 4 Hardware Accessories........................................................63
Huber + Suhner Lightning Protectors............................................................................................63
Model No. 3403.17.0045 Specifications........................................................................................................63
Model No. 3403.17.0045 Dimensions...........................................................................................................64
Model No. 3402.17.0070 Specifications........................................................................................................65
Model No. 3402.17.0070 Dimensions...........................................................................................................66
Huber + Suhner Lightning Protector Mounting Instructions............................................................................67
MOXA Converters............................................................................................................................69
TCC-80I......................................................................................................................................................69
TCC-80I Specifications ................................................................................................................................69
TCC-80I Dimensions....................................................................................................................................70
TCC-82.......................................................................................................................................................70
TCC-82 Specifications .................................................................................................................................71
TCC-82 Dimensions ....................................................................................................................................71
Times-Microwave LMR400 Coaxial Cable ......................................................................................72
LMR400 Specifications ................................................................................................................................72
LMR400 Connectors....................................................................................................................................73
Chapter 5 Technical Reference and Interface Guide ........................75
Coaxial Cable...................................................................................................................................75
Terminating Coaxial Cable (Times Microwave Systems) ...............................................................................75
Coax-Seal® Weather Sealant Installation.....................................................................................................79
Chapter 6 Glossary ...............................................................................83
Troubleshooting..............................................................................................................................83
Abbreviations..................................................................................................................................86
Definitions .......................................................................................................................................89
List of Tables
Table 1-1: Common Accuracy Measures Used with GPS ......................................................................................................................11
Table 1-2: L-band Correction Identifiers and Modes...............................................................................................................................16
Table 1-3: C-Nav3050 Satellites Firmware Version 1.0.1.5 and Earlier.................................................................................................16
Table 1-4: C-Nav3050 Satellites Firmware Version 2.0.22.0 and Later .................................................................................................16
Table 2-1: Acceptable Coaxial Cable Lengths ........................................................................................................................................23
Table 3-1: C-Nav3050 Physical and Environmental................................................................................................................................25
Table 3-2: C-Nav3050 I/O Messages.......................................................................................................................................................25
Table 3-3: C-Nav3050 Connector Assignments......................................................................................................................................25
Table 3-4: C-Nav3050 Standard, Base, and Airborne Antenna Specifications......................................................................................26
Table 3-7: C-Nav1010 Physical and Environmental................................................................................................................................31
Table 3-8: C-Nav1010 I/O Messages.......................................................................................................................................................31
Table 3-9: C-Nav1010 Connector Assignments......................................................................................................................................31
Table 3-10: C-Nav1010 Standard Antenna Specifications......................................................................................................................32
Table 3-11: C-Nav1010 L-band Antenna Specifications (45° - 25°) .......................................................................................................33
Table 3-12: C-Nav1010 L-band Antenna Specifications (<25°)..............................................................................................................35

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Table 3-13: C-Nav2050 Physical and Environmental..............................................................................................................................38
Table 3-14: C-Nav2050 I/O Messages ....................................................................................................................................................38
Table 3-15: C-Nav2050 Connector Assignments....................................................................................................................................38
Table 3-16: C-Nav2050 Standard Antenna .............................................................................................................................................40
Table 3-17: C-Nav2050 Airborne Antenna ..............................................................................................................................................40
Table 3-18: C-Nav2050R Antenna...........................................................................................................................................................43
Table 4-1: Coax-Seal Product Specifications ..........................................................................................................................................82
List of Figures
Figure 1-1: C-Nav Corrections Service Network Coverage....................................................................................................................15
Figure 2-1: C-Nav3050 Antenna Properly Installed on Mast ..................................................................................................................18
Figure 2-2: C-Nav3050 Antenna on Mast – Hose Clamp Installation ....................................................................................................19
Figure 2-3: C-Nav Antenna Mounting Pole Dimensions.........................................................................................................................20
Figure 2-4: C-Nav3050 Antenna TNC Connector...................................................................................................................................22
Figure 2-5: C-Nav3050 Antenna and Coaxial Cable...............................................................................................................................22
Figure 3-1: C-Nav3050 Base Plate Dimensions Without Mounting Brackets ........................................................................................24
Figure 3-2: C-Nav3050 Base Plate Dimensions With Mounting Brackets .............................................................................................24
Figure 3-3: C-Nav3050 Standard GNSS Antenna Offset .......................................................................................................................27
Figure 3-4: C-Nav3050 Standard (P/N NAV82-001020-3001) Antenna Dimensions............................................................................27
Figure 3-5: C-Nav3050 Airborne (P/N NAV82-001022-3001LF) Antenna Dimensions.........................................................................28
Figure 3-6: C-Nav3050 Base (P/N NAV82-001021-3001LF) Antenna Dimensions ..............................................................................28
Figure 3-7: C-Nav3050 Standard & Airborne Antenna Radiation Pattern..............................................................................................29
Figure 3-8: C-Nav3050 Base Antenna Radiation Pattern.......................................................................................................................29
Figure 3-9: C-Nav1010 Receiver without Mounting Brackets ................................................................................................................30
Figure 3-10: C-Nav1010 Receiver with Mounting Brackets....................................................................................................................30
Figure 3-11: C-Nav1010 Power Supply...................................................................................................................................................32
Figure 3-12: C-Nav1010 Standard Antenna Dimensions .......................................................................................................................33
Figure 3-13: C-Nav1010 Standard Antenna Radiation Pattern..............................................................................................................33
Figure 3-14: C-Nav1010 L-band Antenna Dimensions (45° - 25°).........................................................................................................34
Figure 3-15: C-Nav1010 NAV82-001018-0001LF Antenna Mounting (45° - 25°) .................................................................................34
Figure 3-16: C-Nav1010 NAV82-001018-0001LF Radiation Pattern (45° - 25°)...................................................................................35
Figure 3-17: C-Nav1010 NAV82-001003-0001LF Antenna and Mounts (<25°) ....................................................................................36
Figure 3-18: C-Nav1010 NAV82-001003-0001LF Radiation Pattern (<25°)..........................................................................................36
Figure 3-19: C-Nav2050 Front View........................................................................................................................................................37
Figure 3-20: C-Nav2050 Top View ..........................................................................................................................................................37
Figure 3-21: C-Nav2050 Power Supply...................................................................................................................................................39
Figure 3-22: C-Nav2050 RS-232 to DP RS-422 MOXA Converter (MOXTCC-801).............................................................................39
Figure 3-23: C-Nav2050 Isolation Mount Adaptor...................................................................................................................................39
Figure 3-24: C-Nav2050 Standard Antenna Phase Center Dimensions................................................................................................41
Figure 3-25: C-Nav2050 Antenna Dimensions [inches (mm)]................................................................................................................41
Figure 3-26: C-Nav2050 Airborne Antenna Dimensions ........................................................................................................................41
Figure 3-27: C-Nav2050 Standard & Airborne Antenna Radiation Patterns..........................................................................................42
Figure 3-28: C-Nav2050 Antenna Mounting Pole Adaptor Dimensions.................................................................................................42
Figure 3-29: C-Nav2050R Antenna Dimensions and Mounts ................................................................................................................43
Figure 3-30: C-Nav2050R Antenna Radiation Pattern............................................................................................................................44
Figure 3-31: C-Nav2050R Antenna LNA Wide-band Response ...........................................................................................................44
Figure 3-32: C-Nav1000 Receiver Front View (mm)...............................................................................................................................45
Figure 3-33: C-Nav1000 Receiver Top View (mm).................................................................................................................................45
Figure 3-34: C-Nav1000 Receiver Clearance Area ................................................................................................................................45
Figure 3-35: C-Nav1000 RS-422 to DP RS-232 MOXA Converter (MOXTCC-801) .............................................................................46
Figure 3-36: C-Nav1000 Display Front View (mm).................................................................................................................................46
Figure 3-37: C-Nav1000 Display Top View (mm) ...................................................................................................................................46
Figure 3-38: MGL-4 (H-field) Antenna.....................................................................................................................................................47
Figure 3-39: MGL-3 Antenna and Mounting Pole ...................................................................................................................................47
Figure 3-40: Gimbal Mount Clearance Area............................................................................................................................................48
Figure 3-41: Panel Mount Frame Dimensions (mm)...............................................................................................................................48
Figure 3-42: Clearance Distance Behind the Display (Panel Mount).....................................................................................................48
Figure 3-43: Panel Mount Hole Dimensions (mm)..................................................................................................................................49
Figure 3-44: Panel Mounting C-Nav1000 Display...................................................................................................................................49
Figure 3-45: C-Nav1000 Display Panel Mounted....................................................................................................................................49
Figure 3-46: MBX-4 Receiver with Mounting Bracket (Top Mounted)...................................................................................................51
Figure 3-47: Bottom-view MBX-4 With Mounting Bracket (Bottom Mounted)........................................................................................51
Figure 3-48: IALA Receiver Mounting Bracket Dimensions....................................................................................................................51
Figure 3-49: C-NaviGator II Display (Front View) ...................................................................................................................................53

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Figure 3-50: C-NaviGator II Side-panel Connectors...............................................................................................................................53
Figure 3-51: C-NaviGator II Power Supply..............................................................................................................................................53
Figure 3-52: RAM 100 75 VESA Base (w/ Steel Reinforce) / RAM-D-246U-IN1...................................................................................55
Figure 3-53: RAM Double Socket Arms ..................................................................................................................................................55
Figure 3-54: RAM 11" X 3" Base (w/ Steel Reinforce) / RAM-D-111B-IN1U (left) &.............................................................................55
Figure 3-55: Flat Screen Table Stand (for C-NaviGator II) / CHIFSB018BLK.......................................................................................56
Figure 3-56: Tilting VESA Wall Mount (for C-NaviGator II) / PEEST630...............................................................................................56
Figure 3-57: Front Mount Kit (for C-NaviGator II) / SYNIWO-6710-7CRBR2........................................................................................57
Figure 3-58: 19” Mounting Kit (for C-NaviGator II) / SYNIWO-6710-7CBR9.........................................................................................58
Figure 3-59: C-NaviGator II (side USB-port model) Outline Diagram (mm)...........................................................................................59
Figure 3-60: C-NaviGator II Cut-out Diagram (mm)................................................................................................................................60
Figure 3-61: C-NaviGator II rev. A (front USB-port model) Outline Diagram (mm) ...............................................................................61
Figure 4-1: Huber + Suhner Model No. 3403.17.0045............................................................................................................................64
Figure 4-2: Huber + Suhner Model No. 3402.17.0070............................................................................................................................66
Figure 4-3: Moxa TCC-80I Converter Dimensions..................................................................................................................................70
Figure 4-4: TCC-82 Converter Dimensions.............................................................................................................................................71
Figure 4-5: LMR400 Attenuation vs. Frequency Graph..........................................................................................................................73
Figure 4-6: LMR400 Connectors..............................................................................................................................................................73
Figure 5-1: Components for Termination of Coaxial Cable ....................................................................................................................75
Figure 5-2: Prep/Strip Tool (large end)....................................................................................................................................................75
Figure 5-3: Duburring Tool.......................................................................................................................................................................76
Figure 5-4: Prep/Strip Tool (smaller end)................................................................................................................................................76
Figure 5-5: RMA Flux Application............................................................................................................................................................77
Figure 5-6: Soldering................................................................................................................................................................................77
Figure 5-7: Connector Installation............................................................................................................................................................78
Figure 5-8: Ferrule Crimping....................................................................................................................................................................78
Figure 5-9: RG-59U Coaxial Cable..........................................................................................................................................................79
Figure 5-10: Coaxial cable with Barrel Connector...................................................................................................................................79
Figure 5-11: Coax-seal Roll .....................................................................................................................................................................80
Figure 5-12: Coax-seal Application..........................................................................................................................................................80
Figure 5-13: Coaxial Cable Fully Sealed.................................................................................................................................................81
Figure 5-14: Coax-seal Cross-section .....................................................................................................................................................81
Figure 6-1: DTE to DCE RS-232 Pin Assignments.................................................................................................................................92

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Chapter 1 ....................................................................... Overview
C-Nav and Global Navigation Satellite Systems
Traditional Differential GNSS Positioning
Traditional Differential GNSS (DGNSS ) relies on the concept that errors in position at one
location are similar to those for all locations within a given (local) area. By recording GNSS
measurements at a point with known coordinates, the local GNSS observation errors can be
quantified and one pseudorange correction for each GNSS satellite observation can be
computed. By transmitting these pseudorange corrections to remote mobile users and applying
them in real-time, the remote mobile user accuracy of GNSS for instantaneous horizontal
positioning is reduced to less than 5 meters (and even sub-meter with modern commercial
survey grade GPS receivers) 95% of the time.
In traditional DGNSS, pseudorange corrections are generated at a reference station. By
transmitting these individual corrections for satellites all-in-view, the mobile user can apply the
pseudorange corrections for the common in-view satellites observed at the mobile location.
In order to minimize any errors that may be introduced, it is imperative that the reference station
and the mobile user are able to track the same GNSS satellites and thus the maximum baseline
distance is one limiting factor with traditional DGNSS. Another is that the accuracy of the mobile
user’s position will be degraded as the baseline distance separation between the reference
station and the mobile user increases. This is due to geographic spatial de-correlation errors
introduced by the different ionospheric delays and GNSS satellite orbit biases between the
DGNSS reference site and each individual mobile DGNSS user. The reference station (or
network) computes not only a pseudorange correction (PRC) for each satellite, but also a range
rate correction (RRC). Thus, the mobile user is able to model the time varying characteristics of
the pseudorange corrections over the time intervals in which they are periodically generated at
the reference station and applied at the mobile location (age of correction). DGNSS
pseudorange corrections combine together all errors produced by the GNSS satellite;
ephemeris, clock, and atmospheric delays, at one time for the reference station position.
Sources of GNSS Error
GNSS user range error and bias sources can be identified as follows:
Ephemeris Data: Errors in the tracked location of a GNSS satellite in its orbit
Satellite Clock: Errors in a satellite’s atomic clock signal
Ionosphere:Errors caused by ionospheric path delay
Troposphere: Errors caused by tropospheric path delay
Multipath: Errors caused by reflected signals received by the GNSS antenna
Receiver: Errors in the measurement of time/range caused by thermal noise, computation
accuracy, and inter-channel biases

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Ephemeris error occurs when the broadcast GNSS message for the satellite’s orbital location
is inaccurate. It is typical that the radial component of this error is the smallest; the along-track
and cross-track errors are larger by an order of magnitude. The ‘line of sight’ projections of the
GNSS satellite positioning error affect each GNSS observation differently. Ephemeris errors
reflect a position prediction and tend to grow with time from the last GNSS Ground Control
Segment station upload.
Satellite Clocks are fundamental to the GNSS system so that the one-way ranging
measurement process can be accomplished. Each satellite broadcasts it’s own clock
adjustment values to allow the user to develop accurate GNSS satellite clock predictability
models. These satellite clock errors affect both the C/A and P-code users in the same way,
which result in a residual clock error for each GNSS satellite. All GNSS observers receive an
identical satellite clock error.
Ionospheric errors or delays are unique to the local area for each GNSS observer, and are
introduced due to free electrons in the ionosphere. The modulation on the signal is delayed in
proportion to the number of free electrons encountered. The ionosphere is usually reasonably
well behaved and stable in the temperate zones; however, near the equator or magnetic poles it
can fluctuate considerably. This local error can be resolved by the use of dualfrequency, L1 and
L2, observations by the GNSS observer.
Survey-quality receivers will correct the raw pseudorange for the ionospheric delay. The
simplest correction employs an internal diurnal model of these delays. For Single Frequency (L1
only) GNSS users, the parameters can be updated using information in the GNSS correction
'communications message'. The effective accuracy of this modeling is about 2-5 meters in
ranging for users in the temperate zones.
A second technique for dual-frequency P-code receivers is to measure the signal at both
frequencies and directly solve for the delay. The difference between L1 and L2 arrival times
allows a direct solution. This dual-frequency technique typically provides 1 meter or better in
ranging accuracy, due to the ionosphere, for a well-calibrated receiver.
A third technique relies on a real-time ionospheric model providing corrections with accuracy of
1-2 meters or better in temperate zones.
Note: The solar 11-year activity cycle also affects the ionosphere and causes 'scintillation'
effects, which are problematical along the geo-magnetic equator when the solar cycle is at its
peak.
Tropospheric errors are deviations in the velocity of the GNSS signal as it passes through the
troposphere, and are unique to the local area for each GNSS observer. Variations in
temperature, pressure, and humidity all contribute to variations in the speed of radio waves.
Both the code and carrier will show the same delays, and use of a reliable model can reduce
most of this error. For most users and circumstances, a simple model should be effectively
accurate to about 1 meter or better.
Multipath Errors are caused by reflected signals entering the antenna of the GNSS receiver
and masking the real correlation peak. These effects tend to be more pronounced in a static

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receiver near large reflecting surfaces. The first line of defense is to use the combination of
antenna cut-off angle and antenna location in order to minimize the problem. A second
approach is to utilize software algorithms within the receiver to minimize the impact of multipath
on range tracking accuracy. With proper location and antenna selection, the net impact to a
moving user should be less than 1 meter under most circumstances.
Receiver Errors vary from GNSS unit to GNSS unit. Initially most commercial GPS receivers
were 'sequential', in that one or two tracking channels shared the burden of locking on to four or
more satellites. As chip technology improved, it was common to place three or more tracking
channels on a single chip. As the size and cost have decreased, techniques have improved and
'parallel' multi-channel receivers are common. Most modern GNSS receivers use an all-digital
design allowing very low signal noise and phase tracking solutions. This produces a precision of
better than 0.3 meter. Inter-channel bias is minimized with digital sampling and all-digital
designs. The net result is that survey-quality GNSS receivers now contribute less than 0.5-
meter error in bias and less than 0.2 meters in noise.
Measuring GNSS Accuracy
The fundamental and basic requirement of comparing geographic locations and coordinates is
that the reference coordinate system and datum transformation are known. The GPS system
functions within the Earth-Centered, Earth-Fixed World Geodetic System 1984 (WGS84)
ellipsoid and Cartesian coordinate system. GNSS receivers internally transform the Cartesian
data into degrees (Latitude and Longitude) with the vertical height expressed in meters above
the reference ellipsoid. Therefore, when comparing coordinate values for any location in the
world, such as a map position or feature, a physical survey marker or reference location, the
data and observations must be referenced to the same datum and coordinate system.
For example, in North America, there are two different datum models in common usage. These
are the North American Datum of 1927 (NAD27) and the North American Datum of 1983
(NAD83). A physical geographic feature on the surface will have entirely different coordinate
latitude and longitude values when expressed in each of the NAD-27 and NAD-83 datums.
The GNSS user is entirely responsible for understanding that a measured position using the
GNSS system (WGS84) requires transformation if the final coordinates are to be expressed in a
geodetic system other than WGS84. Ignorance of this fact will lead to significant errors in the
desired positional output and is often considered to be a result of the greatest source of error in
GNSS, human error.
Another major factor affecting an autonomous GNSS position is the GNSS Satellite position
geometry and visibility to the user, and a quality measure given by the Dilution of Precision
(DOP) indices provided by all GNSS receivers.
•GDOP - Geometric Dilution of Precision
•TDOP - Time Dilution of Precision
•PDOP - Position Dilution of Precision
•HDOP - Horizontal Dilution of Precision
•VDOP - Vertical Dilution of Precision