ComNav Technology K-series User manual

K-series OEM Board User Guide
ComNav Technology
User Guide
K-series OEM Board
Version 1.0.2
2017.12.13

K-series OEM Board User Guide
Corporate office
ComNav Technology Ltd.
Building 2, No.618 Chengliu Middle Road, 201801 Shanghai, China
Tel: [phone]
Fax: [phone]
Website: http://www.comnavtech.com
E-mail: [e-mail]
Trademark notice
© 2016 ComNav Technology Ltd. All rights reserved.
SinoGNSS is the official trademark of ComNav Technology Ltd., registered in
People’s Republic of China, EU, USA and Canada.
FCC Notice
ComNav Technology OEM boards comply with part 15 of the FCC Rules. Operation is subject to
the following two conditions:
(1) This device may not cause harmful interference;
(2) It must accept any interference received, including interference that may cause undesired
operation.
Copyright Notice
This is the V1.01 (November, 2016) revision of the K-series OEM board User Guide. Information in
this document is subject to change without notice. It cannot be copied or translated into any
language without the written permission of ComNav Technology.
Technical Assistance
If you have any question and can't find the answer in this manual, please contact your local
dealer from which you purchased K-series OEM board. Alternatively, request technical support
from ComNav Website: www.comnavtech.com or technical support email:
[e-mail] or [e-mail] .Your feedback about this
Guide will help us to improve it with future revisions. Please email your comments to:
[e-mail] or [e-mail].
Warranty Notice
ComNav Technology warrants K-series OEM board for one (1) year from date of purchase unless
otherwise specified.
ComNav Technology only guarantees products that are properly and correctly installed,
configured, and operated in accordance with ComNav Technology’s K-series OEM board User
Guide and Specifications.

K-series OEM Board User Guide
Contents
1. Introduction ............................................................................................................1
1.1 Overview of K-series OEM board .....................................................................1
1.2 Related documents ..........................................................................................2
1.3 Evaluation kit....................................................................................................2
2. Installation of K-series OEM board .........................................................................2
2.1 ComNav Technology interface board...............................................................2
2.2 Guidelines for installation ................................................................................3
2.3 LED behavior ....................................................................................................4
3. OEM board configuration with CRU software ........................................................5
3.1Connect with OEM boards ...............................................................................5
3.2Status checking.................................................................................................6
3.3 Command Interface .........................................................................................7
3.4 NTRIP configuration .........................................................................................7
3.5Data recording configuration............................................................................9
3.6 Data management..........................................................................................10
3.6.1 Raw Data Download............................................................................10
3.6.2 Convert to RINEX .................................................................................11
3.6.3 Memory Management ........................................................................12
4Work mode configuration .....................................................................................12
4.1. Smooth mode................................................................................................13
4.2. SBAS mode ....................................................................................................13
4.3. RTK mode ......................................................................................................13
4.4. RTD mode......................................................................................................15
4.5. Moving base mode........................................................................................16
4.5.1 Moving base station............................................................................16
4.5.2 Moving baseline..................................................................................17
4.6. Heading mode...............................................................................................18
5. Frequently Used Commands....................................................................................18
5.1 Check Version Information.............................................................................18
5.2 Check Port Information..................................................................................19
5.3 Change the serial port baud rate ...................................................................19
5.4 Check System Information .............................................................................19
5.5 Check the Output data Information...............................................................19
5.6 Lockout/unlockout satellite system ...............................................................20
5.7 NMEA data output .........................................................................................20
5.8 Raw data output.............................................................................................20
5.9 High-frequency data output...........................................................................20
5.10 Activate register code ..................................................................................20
5.11 Event Marker................................................................................................21
5.12 PPS................................................................................................................22
5.13 Freset ...........................................................................................................22
6. Firmware update......................................................................................................22
6.1 Auto Update...................................................................................................22

K-series OEM Board User Guide
6.2 Force Update ..................................................................................................23

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1. Introduction
This User Guide provides a brief introduction of K-series OEM board installation,
configuration and operation. We recommend that you read this manual carefully
even if you have used GNSS products from other brands.
1.1 Overview of K-series OEM board
ComNav Technology K-series OEM boards support existing and future constellations,
which are widely used in high-accuracy positioning and navigation applications. With
QUANTUMTM technology, it remarkably improves the stability and reliability of
positioning accuracy in standalone and RTK modes. Following table shows
specifications of K-series OEM board.
For detailed information about K-family products, refer to the product brochures at
http://www.comnavtech.com/products.asp.

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1.2 Related documents
This document only cover frequently used commands, find further information about
command and log information in ComNav OEM Board Reference Manual_V1.5, also
for technical specifications of every OEM board model
Please download at: http://www.comnavtech.com/download.asp?bigclassid=27.
1.3 Evaluation kit
If you order ComNav Technology OEM board evaluation kit, please check carefully
when you receive shipping box as the following figure:
2. Installation of K-series OEM board
This chapter introduces guidelines to install your OEM boards, and check status of
K-series OEM board.
2.1 ComNav Technology interface board
ComNav Technology interface board is a mother board for K-series OEM board, and
two types interface board are available depending on the size of your OEM board.
The following figure shows interface board for small-sized OEM board:

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The following sector describes installation guidelines with ComNav Technology
interface board. Making self-developing integrated system, please refer to OEM
board specification at http://www.comnavtech.com/download.asp?bigclassid=27.
2.2 Guidelines for installation
1. Install the K-series OEM board with ComNav interface board.
Fix the PIN and RF connection to the interface board properly
Ensure 100% fitting for all connections
Firstly unplug the PIN out when uninstalling the OEM cards (the K501
installation shown in the following figure).
2. Connect the GNSS antenna through a coaxial cable.
When mounting the antenna:
In the area with a clear view of the sky
Far from big power electromagnetic radiation devices
On a secure and stable environment
3. Power supply.
Power on your OEM board through ComNav standard 12 voltage adapter or
USB
○
1
○
1
External DC power supply, 12V-16V
○
2USB power supply, 5V
○
33*serial ports
○
4Antenna connector
○
2
○
3
○
4

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After all components connected, press the power button on the interface
board
4. Connect to your PC or data communications equipment as the picture below:
2.3 LED behavior
There are LED indicators helping you to check status of K-series OEM board.
○
1 Power indicator of OEM board
○
2 LED indicators of satellites and correction data
Satellite indicator (R): Flashing N times/5s (N=the number of satellites tracked)
Correction data indicator (L): Flashing 1/s to send or receive correction data.
○
3 LED indicators of serial ports
TX(R): Flashing when outputting data from OEM board
RX(L): Flashing when OEM board receiving correction data or commands
○
2
○
4
○
3
○
1

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○
4 Power indicator of Interface board
3. OEM board configuration with CRU software
This chapter describes OEM board configuration with ComNav Compass Receiver
Utility (CRU) software. With CRU software, you are able to communicate and
configure your OEM boards via serial port or Ethernet connection. Download at:
http://www.comnavtech.com/download.asp?bigclassid=28.
3.1Connect with OEM boards
For serial port communication, Click Set Port -> select COM port -> OK to connect
(the default baud rate of OEM board is 115200).
The series number of OEM board will be shown on the title bar if connected
successfully, otherwise please check power supply and connections of every
components.

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3.2Status checking
Go to Tracking to check satellite information such as SNR and elevation, and click
view to display the sky view shown below. Normally the SNR should reach the
following values:
GPS(G): max value for L1: 48-50; max value for L2: 40-42
Glonass(R): max value for L1: 48-50; max value for L2: 45-48
Beidou(C): max value for B1: 45-47; max value for B2: 45-47
Go to Message to check the output message of receiver.
Ensure your pc internet connected, and go to World Map -> select proper base layer
to check the current position on global map.
Tip: After you click on Tracking, terminal interface will output binary data that used
for requst sky view, PTV view. To stop output, please enter command “Uunlogall”in

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command interface, then enter ASCII commands you need.
3.3 Command Interface
Go to Command to send ASCII commands to receiver.
When inputting commands:
Select and send proper commands, all commands are case insensitive: Log
version=LOG VERSION
Press Enter button at the end of every command to check receivers’
feedback information or input another command
For all programmatic commands, please refer to ComNav OEM Board
Reference Manual_V1.5
Go to Mode to check frequently used commands package, and it also supports click
Add to add commands you need.
3.4 NTRIP configuration
To easily test RTK fucntion through NTRIP protocol, firstly ensure your PC internet
connected, then go to Diff -> enter IP and port -> click Ntrip -> OK to go to NTRIP

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souce table.
Then select Ntrip mount point -> enter User name and password (Anonymous Types)
-> OK.
After receiver received correction data, the receiver will calculate the ambiguity and
turn to differential mode. Go to View -> PVT View to check RTK status: 1) Position
mode; 2) Differential age: from 1(correction data received) to 99(No correction data
received); 3) Diff: Correction data flow.

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Be careful that the OEM board is unable to respond to any command when set as the
differential mode, it’s better to switch to the normal mode by:
1) Go to Diff –click disconnect
2) Or send command: Interfacemode compass compass on
Then you can send commands to OEM board.
3.5 Data recording configuration
For data recording, it provides two methods to save the raw observation data:
1) To save the raw data in the onboard memory,
For K5-series: go to Config -> select Auto Data log -> Apply Settings –> restart
your OEM board to activate this setting.
For K7-series OEM board, it needs to send the following command:
Set EMMC on
Saveconfig
Then go to Config -> select Auto Data log -> Apply Settings –> restart your
OEM board to activate this setting.
2) To save the raw data in your PC, select the folder path -> go to Config -> click Local
Log -> select log types -> OK, the raw data file will be saved in the folder you select.

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There are other settings for onboard memory you can change based on your
requirements:
Sample Interval: change the sample interval of observations, the maximum data
rate is 20Hz, the minimum is one observation per minute.
Mask angle: disable the receiver to track satellites that below the mask angle.
You can set mask angle values for different constellations, which can reduce
serious multipath influence or low SNR.
Data Log Session: 1) Manual means that the receiver keeps recording data in
one file until the receiver is turned off or its memory runs out; 2) if set to
1/2/3/4/12 hours, the data recorded will be saved in to a file every 1/2/3/4/12
hours.
Data log: the default setting is manual mode. To log data in manual mode, send
the following commands.
For K5-series:
For K7-series:
Set static on
Saveconfig
Set emmc on
Saveconfig
Restart your OEM board
Set static on
Send set static off, if you finish recording
3.6 Data management
3.6.1 Raw Data Download
For K5-series OEM board, download data only from receiver to your PC through serial
port in CRU software.
1. Connect the OEM board to your PC as described before (see Chapter 3.1).
2. Click Folders to select download path
3. Click File Download in project menu to check all raw data on main window, or

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click List File to refresh raw data list.
4. Right-click on the file name to modify, download or delete the raw
observation data.
For K7-series OEM board, you only can download raw data through USB cable and
raw data will be saved in the file named after its date.
3.6.2 Convert to RINEX
After downloading raw observation data to your PC, click to convert from
ComNav binary format (*.cnb) to RINEX.
Click in standard toolbar to change Convert Settings, mainly export format
and export observation information. Then go to to convert to RINEX, the
RINEX data will be saved in the same path as raw observation data.

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Tip: In some Post Processing software, the Beidou observations cannot be processed, you can
uncheck the Beidou B1, B2, B3 observations.
3.6.3 Memory Management
Go to Memory to format or clear the files.
4Work mode configuration
This chapter describes the commands for frequently used work mode, which can
help you to quick start to use ComNav Technology OEM board.
ComNav Technology OEM board set single point positioning as default work mode.
However, it also supports various work modes that meet your requirements,
including smooth mode, SBAS mode, RTK mode, RTD mode and Moving baseline
mode.
Note: comX shown in the following commands, X is the serial port number

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4.1. Smooth mode
In single-point positioning, ComNav Technology have adopted an advanced
smoothing filter to enhance pass-to-pass accuracy, which need register code (see
chapter 5.10) before send following commands. With the 20cm pass-to-pass accuracy,
positioning with smooth mode is ideal solution for precision agriculture, fleet
management and more.
Send commands:
Rtkobsmode 4 //set smooth mode of rover receiver
log gpgga ontime 1 //output GPGGA message
saveconfig // save configuration
Output GPGGA message to check if OEM board in smooth mode, differential age
value should be 99 shown below.
$GPGGA,000359.00,3125.4999742,N,12136.9969461,E,1,07,2.5,10.4541,M,11.371,
M,99,0000*4C
4.2. SBAS mode
For ComNav Technology OEM boards, the default setting for SBAS is disabled. You
can enable this mode to improve positioning accuracy if receivers in the area covered
by certain SBAS satellites. Make sure GNSS antenna is able to track satellites, and
send following commands to activate this mode:
sbascontrol enable msas //activate the SBAS satellite, take MSAS as an example
rtkobsmode 3 //Set the observation mode of rover receiver
saveconfig // Save configuration
To disable SBAS, send “sbascontrol disable”.
Output GPGGA message to check if OEM board in SBAS mode, solution status should
be “E, 2” (SBAS mode) and base ID is SBAS satellite’s PRN.
$GPGGA,015101.00,3121.0000551,N,12117.5483125,E,2,23,1.1,37.2598,M,0.000,M,
02,0129*58
4.3. RTK mode
Generally, RTK mode is commonly used work mode, which can provide centimeter

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real-time positioning accuracy. We recommend you use RTCM3.0/3.2 as correction
data, please refer to following configuration to start RTK mode.
For the Base:
RTCM3.0
unlogall //clear previous settings
Fix position 31.1744880 121.3878091 44.1287 //fix the coordinate
(Fix auto) //fix auto
Log comX rtcm1004b ontime 1 //Extended L1&L2 GPS RTK Observables
Log comX rtcm1104b ontime 1 //Extended B1, B2, B3 BD2 RTK Observables
Log comX rtcm1012b ontime 1 //Extended L1&L2 GLONASS Observables
Log comX rtcm1005b ontime 5 // Base station coordinate
Log comX rtcm1033b ontime 10 / Base station type
Saveconfig //Save configuration
Tip: RTCM1104b message is defined by ComNav Technology, which may be incompatible with
rover receiver of other brand.
With 9600 baud rate for air link, the limited number of data can be sent out per
second in radio mode. Therefore, it’s better to set latency time for different
constellations if you start base station in radio mode. The following commands show
RTCM3.0 as an example, which may be incompatible with rover receiver of other
brands.
RTCM3.0
unlogall //clear previous settings
Fix position 31.1744880 121.3878091 44.1287 //fix the coordinate
(Fix auto) //fix auto
Log comX rtcm1004b ontime 3 //Extended L1&L2 GPS RTK Observables
Log comX rtcm1104b ontime 3 1 //Extended B1, B2, B3 BD2 RTK Observables
Log comX rtcm1012b ontime 3 2 //Extended L1&L2 GLONASS Observables
Log comX rtcm1005b ontime 5 // Base station coordinate
Log comX rtcm1033b ontime 10 // Base station type
Saveconfig //Save configuration
RTCM3.2 (MSM4)
unlogall //clear previous settings
fix position 31.1744880 121.3878091 44.1287 //fix the coordinate
(Fix auto) //fix auto
Log comX rtcm1074b ontime 1 //GPS Full PRs and Phase Ranges plus CNR
Log comX rtcm1084b ontime 1 //GLONASS Full PRs and Phase Ranges plus CNR
Log comX rtcm1124b ontime 1 //Beidou Full PRs and Phase Ranges plus CNR
Log comX rtcm1005b ontime 5 //Base station coordinate
Log comX rtcm1033b ontime 10 //Base station type

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Saveconfig //Save configuration
RTCM3.2 (MSM5)
unlogall //clear previous settings
fix position 31.1744880 121.3878091 44.1287 //fix the coordinate
(Fix auto) //fix auto
Log comX rtcm1075b ontime 1 //GPS Full PRs and Phase Ranges plus CNR
Log comX rtcm1085b ontime 1 //GlONASS Full PRs and Phase Ranges plus CNR
Log comX rtcm1125b ontime 1 //Beidou Full PRs and Phase Ranges plus CNR
Log comX rtcm1005b ontime 5 //Base station coordinate
Log comX rtcm1033b ontime 10 //Base station type
Saveconfig //save configuration
For the Rover:
log comX gpgga ontime 1 //ComX output GPGGA data
rtkobsmode 0 //Set the observation mode of rover receiver
Interfacemode comX auto auto on //Config comX to detect RTCM corrections
saveconfig //Save configuration
Output GPGGA message to check if OEM board in RTK mode, solution status is “E, 4”.
$GPGGA,015101.00,3121.0000551,N,12117.5483125,E,4,23,1.1,37.2598,M,0.000,M,
02,0004*58
Moreover, the default setting is foot mode, and you also can adjust different dynamic
mode in the RTK mode based on your requirements including foot, land, air and auto.
In different mode, RTK engine treats the observation data in different style to
promote the performance of RTK engine. The command is rtkdynamics <mode>.
Mode
Description
LAND
Board is in a stable land vehicle with velocity less than 110 km/h
FOOT
Board is being carried by a person with velocity less than 11km/h
AIR
Board is in a stable land vehicle or an aircraft with velocity more
than 110km/h
Auto
Board is in an automatic mode
4.4. RTD mode
For decimeter-level positioning application, our board can provide DGPS mode. The
configuration is as below:
For the Base:
Fix position 31.1744880 121.3878091 44.1287 //fix the coordinate

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Log rtcm1b ontime 1 //Differential GPS Corrections
Log rtcm31b ontime 1 //Differential GLONASS Corrections
Log rtcm59bdsprcb ontime 1 //Differential Beidou Corrections
Saveconfig //save configuration
Tip: RTCM59bdsprcb message is defined by ComNav Technology, which may be incompatible
with rover receiver of other brand.
For the Rover:
rtkobsmode 3 //Set the observation mode of rover receiver
Log comX gpgga ontime 1 //comX output GPGGA data
Interfacemode comX auto auto on //config comX to detect RTCM corrections
Saveconfig //save configuration
Output GPGGA message to check if OEM board in RTD mode, solution status is “E, 2”.
$GPGGA,015101.00,3121.0000551,N,12117.5483125,E,2,23,1.1,37.2598,M,0.000,M,
02,0004*58
4.5. Moving base mode
Different from the stationary base station, the moving base station transmits
corrections to the rover when it’s moving. Therefore, it should set without a fixed
position through the “Fix none”command. There are mainly two types of moving
base mode shown below:
4.5.1 Moving base station
The moving base function allows you to obtain a centimeter-level xyz baseline
estimate when the base station and rover are moving, which means the rover can
only get accurate relative position based on the base. In this mode, the rover should
be set as synchronous mode due to the latency of the reference station position
message. Moreover, the moving base can accept the external high accuracy NMEA
input, for example from another GNSS station with absolute high precision; then
transmit to the rover, refer to chapter 6.4 in ComNav OEM Board Reference
Manual_V1.5 for detailed information.