ComNav G7 User manual

Installation & Operation Manual
G7 GNSS Heading Receiver
PN 29010107 V 1.1

G7 Installation & Operation
Document PN 29010107 V1r1 - 2 -
Welcome
Congratulations on your purchase of a ComNav G7 GNSS Heading Receiver!
At ComNav, we are dedicated to reliability & quality in all our products, these
products are a good example of that. We promise to do our best to ensure
your satisfaction with your new G7 GNSS Heading Receiver.
Warranty Notice
Prior to the installation and/or operation of the equipment, ensure that you
read, understand, and accept the conditions of the warranties as detailed in
the Warranty Information section of this manual. Additionally, please make
sure you have read and understood all the safety, warnings and caution details
in this manual. ComNav holds no responsibility for incorrect operation by users
and for losses incurred by inappropriate interpretations of this manual.
Additionally, ComNav reserves the rights to update and upgrade the contents
of this guide regularly, and on a regular basis, please consult your local
ComNav dealer for new information or review available latest documentation
downloads via the ComNav website. www.comnav.com
The warranty information section also outlines the Firmware Licensing
Agreement and Limitations on Liability.
General Notice
This document, ComNav part number 29010107 Version 1 Revision 1, is the
approved Installation and Operation Manual for use with G7 GNSS Heading
Receiver. Where versions of this manual exist in other languages, the English
version shall be considered authoritative.
Copyright
ComNav is a registered trademark of ComNav Marine Ltd. All rights and
property are reserved for the respective owner. All product and brand names
mentioned in this publication are trademarks of their respective holders. No
part of this manual may be reproduced, transmitted, or translated into another
form by electronic or other means, without the prior written permission of
ComNav Marine Ltd.
Warning
If your ComNav Model G7 is equipped with a 400 MHz radio, you may be
required to obtain a valid radio license for your region or jurisdiction. Only set
the radio to the frequency and power you are licensed to use at your location.
USA –Federal Communication Commission (FCC)
Radio Frequency radiation exposure information:
This equipment complies with FCC radiation exposure limits set forth for an
uncontrolled environment. The equipment is expected to operate with the
following requirements:

G7 Installation & Operation
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- When using GSM to receive correction data, this equipment
should be installed and operated with a minimum distance of 30
cm between the radio and your body.
- When using 400 MHz SATEL UHF radio, this equipment should
be installed and operated with a minimum distance of 30 cm from
the between the radio and your body.
- The transmitter must not be operating in conjunction with any
other antenna or transmitter.
- If the operation of the equipment is not expressly approved by
ComNav, ComNav, at its sole authority could void the user’s rights
to operate the equipment.
This device complies with Part 15 of the FCC Rules. Operation is subject to
the following conditions: 1) This device may not cause harmful interference
and 2) This device must accept any interference received, including
interference that may cause undesired operation.
This equipment has been tested in accordance and found to comply with the
limits for a Class B digital device, pursuant to Part 15 of the FCC Rules.
These limits are designed to provide reasonable protection against harmful
interference in a residential installation.
This equipment generates, uses, and can radiate radio frequency energy, and
if not installed and used in accordance with the instructions, it may cause
harmful interference to radio communications and equipment. However, there
is no guarantee that interference will not occur in a specific installation.
If this equipment does cause harmful interference to radio reception, which
can be determined by tuning the equipment off and on, the user is encouraged
to attempt to eliminate the interference by one or more of the following
methods:
- Increase the distance between the equipment and receiver
- Reorient or reposition the receiving antenna
- Connect the equipment power outlet on a circuit that is different or
isolated from that to which the receiver is connected.
- Consult the dealer or an experienced radio technician for
assistance
Any modifications not expressly authorized and approved by the party
responsible for compliance could void the user’s authority to operate the
equipment.
Caution: Exposure to Radio Frequency Radiation.
This device must not be positioned in conjunction with any other antenna or
transmitter.
Canada –Industry Canada (IC)
This equipment complies with RSS210 of Industry Canada. Operation is
subject to the following two conditions: 1) This equipment may not cause
interference, and 2) This equipment must accept any interference, including
interference that may cause undesired operation of this equipment.
Caution: Exposure to Radio Frequency Radiation.
The installer of this radio equipment must ensure that the antenna is located or
pointed such that it does not emit RF field in excess of Health Canada limits
for the general population; Safety Code 6, obtainable from Health Canada’s
website.

G7 Installation & Operation
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Europe –Declaration of Conformity
This equipment is in compliance with part 15 of the FCC. Operation is subject
to the following two conditions:
1) This equipment many not cause harmful interference, and
2) This equipment must accept any interference received, including
interference that may cause undesired operation.
This product complies with essential requirements and other relevant
provisions of the Directive 2014/53/EU. This declaration of conformity is
another quality commitment from ComNav.

G7 Installation & Operation
Document PN 29010107 V1r1 - 5 -
Technical Support
In order to provide you the best technical support if you cannot find the information in
this manual, whether it be for installation, operation or queries, you are encouraged to
contact your local authorized ComNav technical servicing dealer. To locate the
ComNav authorized dealer near you, please contact:
ComNav
15 –13511 Crestwood Place
Richmond, BC
Canada
V6V 2G1
Tel # [phone]
Fax # [phone]
[e-mail]
Document History
Revision
Date
Description
1
15 March 2018
First Release
About this Manual
This manual provides essential information for the safe and reliable operation
of the ComNav’s G7 GNSS Heading Receiver. Read this manual in its entirety
before using the G7 GNSS Heading Receiver for the first time. Keep the
manual handy until you become thoroughly familiar with the operation of the
Smart Antenna.
Your Comments
Your feedback about this user guide will help us to improve reviews of this
version for development of future revisions. Please email all your comments
to [e-mail]
Manual Format
This manual has been formatted to be printed on both sides of the pages of
the manual, and on standard Letter-sized paper (8.5” x 11”).
If you have obtained this manual as a soft-copy, please note that it is in
Adobe® Portable Document Format (“pdf”), and so may be viewed & printed
with Adobe Reader®, or compatible pdf-format viewers.
When printing this manual with Reader, you should select “duplex printing” (or
the equivalent term used by your printer’s software driver), in order to print it
double-sided on the paper. If your printer does not have built-in duplexing
capability, you can still print this manual double-sided by following the
instructions that came with your printer for doing “hand duplexing”.
You should also select the Auto-Rotate and Centre option in the Print Dialog
box, de-select the Choose Paper Source by PDF page size option; as well,
you should set Page Scaling to None –Reader’s default setting is Shrink to
Printable Area, and is printer-dependant (usually set at ~97%), but that is not
needed here.

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Table of Content
Welcome .............................................................................................................. 2
Warranty Notice.....................................................................................................2
General Notice.......................................................................................................2
Copyright................................................................................................................2
Warning ..................................................................................................................2
Technical Support.................................................................................................5
Document History..................................................................................................5
About this Manual.................................................................................................5
Manual Format ..............................................................................................5
Table of Content ............................................................................................. - 6 -
List of Figures..................................................................................................... 9
List of Tables..................................................................................................... 11
Overview............................................................................................................ 15
Installation......................................................................................................... 17
Tools Required....................................................................................................17
Power Supply.......................................................................................................17
Environmental Considerations..........................................................................17
Warnings and Cautions..................................................................................17
Regulations and Safety ..................................................................................18
Disclaimer Warning........................................................................................18
Use and Care...............................................................................................19
General GNSS Reception Considerations......................................................19
Getting Started with G7 ................................................................................... 20
About the Receiver.............................................................................................20
Parts of the Receiver..........................................................................................21
Front Connectors ........................................................................................21
Rear Connectors.........................................................................................22
LEDs..............................................................................................................23
Accessories..........................................................................................................24
Accessory list...............................................................................................24
Connector definition....................................................................................26
Additional equipment and software..................................................................29
Additional equipment..................................................................................29
Additional Software.....................................................................................30
Environmental Considerations..........................................................................30
Temperature ................................................................................................30
Humidity........................................................................................................31
Electronic interference................................................................................31
Power Supply.......................................................................................................31

G7 Installation & Operation Table of Contents
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Power adapter.............................................................................................31
Battery...........................................................................................................33
Mounting the GNSS antennas..........................................................................34
Antenna Installation Location....................................................................34
Antenna selection........................................................................................36
Mounting cables..................................................................................................38
Overview.......................................................................................................38
GNSS Antenna cable.................................................................................39
4G antenna cable........................................................................................40
Radio antenna cable...................................................................................41
Aviation plug cable......................................................................................41
SIM card installation...........................................................................................42
Card selection..............................................................................................42
Card installation...........................................................................................43
Power on & operating check.............................................................................44
Operation........................................................................................................... 45
Quick start............................................................................................................45
Functions overview.............................................................................................47
Status............................................................................................................48
Satellite.........................................................................................................49
Receiver configuration................................................................................50
IO settings....................................................................................................51
Network set..................................................................................................52
Module setting.............................................................................................53
Firmware.......................................................................................................54
Work mode setup................................................................................................56
UHF Rover Settings....................................................................................56
Rover NTRIP/IP...........................................................................................59
Base Int. UHF..............................................................................................62
Data output setup................................................................................................66
Output Overview..........................................................................................66
Setup webpage............................................................................................70
Care & Maintenance......................................................................................... 72
Transport..............................................................................................................72
Storage.................................................................................................................72
Warranty...............................................................................................................72
Appendices........................................................................................................ 73
Appendix 1...........................................................................................................73
Logging Data................................................................................................73
Specification.................................................................................................77
Glossary............................................................................................................. 85

G7 Installation & Operation Table of Contents
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COMNAV MARINE LTD. FIRMWARE LICENSE AGREEMENT.................... 92
Warranty Information....................................................................................... 95
Index................................................................................................................... 99
User Notes....................................................................................................... 102

G7 Installation & Operation Figures & Tables
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List of Figures
Figure 1 –Front view of the G7 showing four connectors: GNSS1, GNSS2, 4G and COM.................................22
Figure 2 –Rear view of the G7 showing the UHF radio connector and mini USB port........................................22
Figure 3 –Top view of the G7. ..................................................................................................................................23
Figure 4 –DB9 connector and diagram. ..................................................................................................................26
Figure 5 –Aviation plug with 19 pins.......................................................................................................................27
Figure 6 –Recommended power adapters: Frome left to right: European, North American and British
standard..............................................................................................................................................................32
Figure 7 –Power adapter Exterior............................................................................................................................32
Figure 8 –Battery Voltage check using a multimeter.............................................................................................33
Figure 9 –Antenna installation on vehicle. .............................................................................................................36
Figure 10 –Fully connected G7................................................................................................................................39
Figure 11 –Dual GNSS antenna connection. ..........................................................................................................40
Figure 12 –4G signal enhancement antenna connected to G7. ............................................................................40
Figure 13 –UHF radio antenna connected to G7. ...................................................................................................41
Figure 14 –Aviation plug connected to G7. ............................................................................................................42
Figure 15 –SIM card size illustration.......................................................................................................................43
Figure 16 –SIM card compartment. .........................................................................................................................43
Figure 17 –Adapter connection. ..............................................................................................................................44
Figure 18 –Connect to the GNSS-XXXXX WiFi.......................................................................................................46
Figure 19 –Configuration menu when connecting to the G7 via PC. ...................................................................46
Figure 20 –Language setting. ..................................................................................................................................47
Figure 21 –Smartphone connection to the G7........................................................................................................47
Figure 22 –IO settings...............................................................................................................................................52
Figure 23 –UHF Rover setting using smartphone..................................................................................................57
Figure 24 –Select Auto Rover..................................................................................................................................57
Figure 25 –Set the UHF radio setting. .....................................................................................................................58
Figure 26 –UHF Radio setting..................................................................................................................................58
Figure 27 –Connect the G7 to the cellular network................................................................................................60
Figure 28 –RTK mode setup using NTRIP. .............................................................................................................60
Figure 29 –Connect the G7 to the cellular network................................................................................................61
Figure 30 –Dialing.....................................................................................................................................................61
Figure 31 –RTK client setting using NTRIP. ...........................................................................................................62
Figure 32 –Base Internal UHF radio setting............................................................................................................63
Figure 33 –Auto base and manual base settings...................................................................................................64
Figure 34 –Radio settings. .......................................................................................................................................65
Figure 35 –Differential data settings using Radio..................................................................................................65
Figure 36 –IO output setup for TCP/UDP client, TCP server/NTRIP caster, and serial port setup.....................71
Figure 37 –IO setting for Bluetooth, radio and CAN. .............................................................................................71
Figure 38 –Set Bluetooth NMEA messages............................................................................................................73
Figure 39 –Set Serial port messages. .....................................................................................................................74
Figure 40 –Connect to G7 via Bluetooth.................................................................................................................74
Figure 41 –Bluetooth COM port...............................................................................................................................74
Figure 42 –Select desired COM port for Bluetooth connection............................................................................75
Figure 43 –Tera Term terminal showing NMEA sentences. ..................................................................................75

G7 Installation & Operation Figures & Tables
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Figure 44 –Data logging using Tera Term...............................................................................................................76
Figure 45 –Baud rate setup......................................................................................................................................76
Figure 46 –Mechanical specification.......................................................................................................................79

G7 Installation & Operation Figures & Tables
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List of Tables
Table 1 –G7 and standard accessories...................................................................................................................25
Table 2 –G7 optional accessories. ..........................................................................................................................26
Table 3 –DB9 connector pins...................................................................................................................................27
Table 4 –Aviation plug connector and pin assignment.........................................................................................29
Table 5 –Power adapter specification.....................................................................................................................33
Table 6 –Recommended antenna specifications. ..................................................................................................38
Table 7 –GNSS status table......................................................................................................................................48
Table 8 –Satellite menu. ...........................................................................................................................................50
Table 9 –Receiver configuration options................................................................................................................51
Table 10 –Network setting menu. ............................................................................................................................53
Table 11 –Module setting menu...............................................................................................................................54
Table 12 –Firmware setting menu. ..........................................................................................................................55
Table 13 –Data protocol description and output rates. .........................................................................................69
Table 14 –Connection protocol................................................................................................................................70
Table 15 –Receiver performance specification......................................................................................................79
Table 16 –Electrical and environmental properties. ..............................................................................................81
Table 17 –G7 Data communication..........................................................................................................................82
Table 18 –Troubleshoot the G7................................................................................................................................83

G7 Installation & Operation Introduction
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Introduction

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The following Acronyms and their respective Definitions are summarized in the following
table for your convenience and familiarity:
AVL Automated Vehicle Locations
Base Station Station providing real time corrections to nearby RTK rovers via
UHF radio or the internet
BeiDou Chinese satellite based navigation system
CDMA Code Division Multiple Access –a cellular network protocol
DHCP Dynamic Host Configuration Protocol
Datalink Device to send RTK corrections to one or more rovers such as
UHF radio or NTRIP (see NTRIP and NTRIP server)
DGPS / DGNSS Differential GPS/GNSS refers to receiver using differential
corrections
EGNOS European Geo-Stationary Overlay System that provides free
differential corrections service over satellite in parts of Europe
Elevation Mask Minimum angle between a satellite and the horizon for the
receiver to utilize that satellite in the specific application
Firmware Embedded software into the receiver that manages the
processing of the receiver and controls the GNSS engine
GALILEO GNSS installed by the European Union and European Space
Agency
GAGAN GPS Aided GEO Augmented Navigation System (India)
GLONASS Global Orbiting Navigation Satellite System implemented by
Russia similar to GPS by USA
GNSS Global Navigation Satellite System. Satellite constellations that
provide autonomous 3D position (latitude, longitude, altitude)
along with precise timing globally
GPS Global Positioning System (GPS) implemented by USA
IMU Inertial Measurement Unit
INS Inertial Navigation System
NASA National Aeronautics and Space Administration (USA)
NMEA National Marine Electronics Association. NMEA 0183 or N2K
are specifications for data protocols for communications between
various marine electronics equipment, such as GNSS receivers
NTRIP Networked Transport of RTCM via Internet Protocol (NTRIP) is a
protocol for streaming GNSS data or RTK corrections over
internet
NTRIP Server NTRIP server sends data from NTRIP source (base station) to
the NTRIP caster.
Mountpoint Specified data streams in NTRIP. Multiple base stations may
send data to an NTRIP caster
Multipath When GNSS signals reach the antenna by two or more paths
causing incorrect pseudorange measurements leading to less
precise GNSS calculations
MMT Multipath Mitigation Technology
PPS Pulse Per Second or Precise Positioning Service
QZSS Quasi Zenith Satellite System developed by Japan

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PSR Pseudorange
RTCM Radio Technical Commission for Maritime Services (RTCM) is
an industry standard to define RTK message formats
RTK Real Time Kinematic is a real time differential corrections
method to provide improved accuracy
SA Selective Availability or Smart Antenna
SBAS Satellite Based Augmentation System providing differential
corrections over a wide area or region
UART Universal Asynchronous Receiver Transmitter
UHF Ultra High Frequency
WAAS Wide Area Augmentation System is a SBAS that provides free
differential corrections over satellite in North American regions

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Overview
The G7 RTK Receiver with dual GNSS Antennas is a state-of-the-art multi frequency high
precision GNSS RTK receiver capable of up to 1 cm positional accuracy and up to 0.01
degree heading capability in dynamic applications. The precise positioning intelligent
receiver is user configurable to operate as a precise Base Station or to operate as a
Rover in a network. The unit comes in a compact industrial grade package designed for
rugged lightweight universal applications with an internal 32 GB data logging storage
capacity.
The model G7 encompasses multiple wireless communication ports, including WiFi and
Bluetooth, with an embedded UHF SATEL radio along with internal cellular modem for
worldwide coverage to receive corrections data. The unit is also L Band, Trimble RTX /
OmniStar correction service compatible. The device can be configured via web user
interface to control functions, managing data collections, and perform firmware upgrades.
The G7 features fast start-up and signal re-acquisition times, heading & position updates
up to 50 times per second. The G7 is a complete High Precision Antenna in a single
rugged system, with marine-grade enclosures engineered for the most demanding static
and dynamic environment applications.
The model G7 provides world class centimeter level accuracy via RTK corrections on
precise positioning with the accuracy defined by base line distance between the dual
antennas. The units are tested to perform in multi-faceted open sky applications, with
long base lines, and optimal for use in applications such as marine, land, survey,
dredging, GIS, engineering, research, scientific, engineering, machine control,
agricultural, USVs, AGVs and many other specialized situations demanding precise
positioning.
Information in this manual will guide you in adjusting the G7 unit to operate in the best
possible configuration which suits your needs.

G7 Installation & Operation Installation &Operation
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Installation
and
Operation

G7 Installation & Operation Installation & Operation
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Installation
Please refer to the Warranty Information section of this manual before
proceeding with installation of the G7.
Tools Required
General-purpose tools such as a portable drill, pliers, wire cutters,
screwdrivers, wire, mounting bolts and wrenches will be required. An accurate
voltmeter or multi-meter would also be useful.
Hazard warning!
Extreme caution is advised when using tools powered
by alternating current (AC) from main supply circuits,
regardless of whether those circuits are rated for
“indoor”, “outdoor”, “marine” or “industrial” use. Water,
especially sea water, is an excellent conductor of
electricity, and can complete a path to AC Ground
through your body, causing injury or death, if a tool
malfunctions or short-circuits.
Battery powered tools are STRONGLY
recommended 
If AC tools are used, they must be plugged into a
circuit that is adequately protected against Ground
Faults and other safety hazards, in accordance with
local electrical codes.
Power Supply
NMEA 0183 setup: Unit is powered by the vessel’s or vehicle’s power supply
system and must have an adequate circuit breaker or fuse. Power supply must
be in voltage range of 9 to 36 volts DC. It is recommended to connect the unit
to power via an on/off switch.
Ensure adequate wire sizes are used to handle the expected maximum
currents (see 19).
Environmental Considerations
1. Ensure that the G7’s Operating & Storage Temperature Ranges are
not exceeded (see Specificatio in Appendix 1).
2. The G7 unit operates in an environment with up to 100% relative
humidity. The G7 unit and cable are water resistant –but are not
submersible.
Warnings and Cautions
An absence of specific alerts does not mean that there are no safety risks
involved.

G7 Installation & Operation
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A Warning or Caution information is intended to minimize the risk of personal
injury and/or damage to the equipment.
WARNING –Warning alerts you to a potential misused or wrong setting of the
equipment.
CAUTION –Caution alerts you to possible risk of serious injury to a person
and/or damage to equipment.
Regulations and Safety
The receivers contain a built-in wireless modem for signal communication
through Bluetooth® wireless technology or through external communication
datalink. Regulations regarding the use of the wireless modem vary greatly from
country to country. In some countries, the unit can be used without obtaining an
end-user license. However, in some countries, the administrative permissions
are required. For license information, consult your local dealer. Bluetooth®
operates in license-free bands.
Before operating a G7 GNSS receiver, determine if authorization or a license to
operate the unit is required in your country. It is the responsibility of the end-user
to obtain an operator's permit or license for the receiver for the location or
country of use.
Disclaimer Warning
Before using the G7 receiver, please make sure you have read and understood
this installation and operating instructions and safety requirements pertaining to
your application. ComNav holds no responsibility for wrong operational use of
the G7 including losses incurred by incorrect application. In addition, ComNav
reserves the rights to regularly update and optimize the contents of this manual.
Please consult your local dealer for the latest update and information.
Before operating a G7 GNSS receiver, determine if authorization or a license to
operate the unit is required in your country. It is the responsibility of the end-user
to obtain an operator's permit or license for the receiver for the location or
country of use.

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Use and Care
This receiver is designed to withstand the rough environment that typically occurs in the field.
However, the receiver is high-precision electronic equipment and should be treated with
reasonable care.
CAUTION - Operating or storing the receiver outside the specified temperature range will cause
irreversible damage.
General GNSS Reception Considerations
GNSS reception considerations must be considered as follows:
If possible, mount the G7 elevated above all obscuration. Ensure that there is an
unobstructed clear view of the sky when the unit is mounted in order to avoid blocking
of satellites signals.
It is important to position the G7 as far away as possible from any metallic or magnetic
surfaces which could reflect the GNSS satellites signals.
Avoid positioning the G7 within a few meters of any RF signal transmitting antennas

G7 Installation & Operation
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Getting Started with G7
About the Receiver
The G7 GNSS receiver incorporates a GNSS engine, GNSS antenna, internal
radio (403 MHz –473 MHz), 3G cellular modem, Bluetooth, WiFi module, with
various interfaces such as Ethernet in a ruggedized and miniature unit that is
easy for you to set up for an all-in-one RTK Rover or mobile Base Station.
Bluetooth and WiFi technology provide cable-free communication between the
receiver and controller.
The receiver can also be used as the part of a RTK GNSS system coupled with
COMNAV Data Collection software to download GNSS data recorded in the
internal memory of a receiver for forwarding to a computer. To configure the
receiver for performinga wide varietyof functions, you can use the web interface
by connecting the receiver with PC or smartphone via WiFi.
RTK Operation
The G7 automatically tracks satellites in view when powered up with antennas
connected to the ports on the receiver. Position and heading accuracy will
depend on configuration settings, location, and environment. Position
performance will improve with RTK and differential GNSS. Distance between
the dual antennas (baseline distance) will have an impact on heading accuracy.
The differential GNSS and RTK will eliminate the effects of atmospheric errors,
timing errors, and satellite orbit errors while improving system integrity.
SBAS Tracking
The G7 automatically scans and tracks SBAS signals without the need to tune
the receiver. Smart algorithms provide the unit with consistent tracking of SBAS
satellite signals in areas where signal blockage of a satellite is possible. SBAS
selection can be configured and optimized via the software menu display.
Multi-frequency Multi-constellation GNSS
The G7 is designed in its standard form for multi-frequency GNSS to
simultaneously track all in view satellites thereby providing the highest accuracy
and stable (optimized for best possible uninterrupted signals) precision position
and heading at all times. The system optimizes reception of GPS, GLONASS,
Galileo, BeiDou, at all times based on selections configured in the software
menu to provide stable precision heading, position, rate of turn, pitch, roll and
heave at all times.