NAVIS NAVIOR-24S User manual

Design Research Lab NAVIS
GPS / GLONASS
Time synchronization
OEM Module
NAVIOR-24S ™
System Designer Reference Manual

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AVIOR-24S ™
System Designer Reference Manual
NAVIOR-24S ™ Revision V1.00 20.05.2008
Document Name: NAVIS NAVIOR-24S System Designer Reference Manual
Version: 01.00
Data: 20.05.2008
Doc ID: NAVIS NAVIOR-24S Reference Manual_V1.00
Status: Release
General Notes
Navis offers this information as a service to its customers, to support application and engineering
efforts that use the products designed by Navis. The provided information is based upon
requirements specifically provided to Navis by the customers. Navis has not undertaken any
independent search for additional relevant information, including any information that may be in the
customer’s possession. Furthermore, system validation of this product designed by Navis within a
larger electronic system remains the responsibility of the customer or the customer’s system
integrator. All specifications supplied herein are subject to change.
Copyright
This document contains proprietary technical information which is the property of Design Research
Lab Navis, copying of this document and giving it to others and the using or communication of the
contents thereof, are forbidden without express authority. Offenders are liable to the payment of
damages. All rights reserved in the event of grant of a patent or the registration of a utility model or
design. All specification supplied herein are subject to change without notice at any time.

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System Designer Reference Manual
NAVIOR-24S ™ Revision V1.00 20.05.2008
Table of Contents
I. Starter Kit .................................................................................................................................12
Product Overview.........................................................................................................................13
Starter Kit .....................................................................................................................................14
Receiver Performance..................................................................................................................15
Interface Protocols .......................................................................................................................16
Ordering Starter Kit Components..............................................................................................17
Starter Kit Interface Unit ............................................................................................................18
Power .............................................................................................................................................22
Connectors ....................................................................................................................................23
COM 1........................................................................................................................................23
COM 2........................................................................................................................................24
COM 3........................................................................................................................................25
Power..........................................................................................................................................26
Antenna ......................................................................................................................................27
Hardware Setup............................................................................................................................28
Software Toolkit ...........................................................................................................................29
II. Hardware Integration ..........................................................................................................31
General Description .....................................................................................................................32
Connectors ....................................................................................................................................33
Digital IO/Power Connector.......................................................................................................33
Mating Connectors .....................................................................................................................33
RF Connector .............................................................................................................................33
Digital IO/Power Connector Pin out ..........................................................................................34
Power Requirements ..................................................................................................................35
Prime Power ...............................................................................................................................35
Battery Back-up..........................................................................................................................36
Serial Interface .............................................................................................................................37
Serial Port Connections..............................................................................................................38
Pulse-Per-Second (PPS) .............................................................................................................39
Status ..........................................................................................................................................40
Mounting ....................................................................................................................................41
GPS/GLONASS Antennas...........................................................................................................42
III. Software Interface ................................................................................................................44
Start-up .........................................................................................................................................45
Communicating with the NAVIOR-24S GPS/GLONASS Receiver........................................46
Software Tools ...........................................................................................................................46
Port Configuration......................................................................................................................46
Port Protocol and Data Output Options......................................................................................47
Custom Port Configuration ........................................................................................................48
Timing Applications...................................................................................................................49
IV. Operation and Performance................................................................................................50
Introduction ..................................................................................................................................51
GPS Satellite Message..................................................................................................................52

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GLONASS Satellite Message.......................................................................................................53
Satellite Acquisition and Time to First Fix ................................................................................54
Cold-Start ...................................................................................................................................54
Warm Start .................................................................................................................................55
Satellite Mask Settings .................................................................................................................56
Elevation Mask...........................................................................................................................57
RMS Mask..................................................................................................................................57
Standard Operating Modes .........................................................................................................58
Navigation mode ........................................................................................................................58
Fixed position mode...................................................................................................................58
Averaging mode .........................................................................................................................58
DGNSS Operating Modes............................................................................................................59
DGNSS Operation......................................................................................................................59
DGNSS On.................................................................................................................................59
DGNSS Off ...............................................................................................................................59
Position Accuracy.........................................................................................................................60
Coordinate Systems......................................................................................................................61
Performance Characteristics.......................................................................................................62
Update Rate................................................................................................................................62
Dynamic Limits..........................................................................................................................62
Re-Acquisition ...........................................................................................................................62
NAVIOR-24S GPS/GLONASS Receiver interference mask ...................................................63
GPS/GLONASS Timing ..............................................................................................................64
Pulse-Per-Second (PPS) ...............................................................................................................65
PPS Output Mode.......................................................................................................................65
Always Off .................................................................................................................................65
Always On (default) ...................................................................................................................65
Fix Based....................................................................................................................................65
Programmable Characteristics - Signal Offset (Cable Delay Compensation) ...........................66
System Architecture.....................................................................................................................67
A. Navis Standard Interface Protocol BINR ..............................................................................68
Interface Scope...........................................................................................................................68
Communication line ...................................................................................................................69
Packet Structure..........................................................................................................................70
Used data types...........................................................................................................................71
B. Navis Standard Interface Protocol BINR ..............................................................................72
Interface Scope...........................................................................................................................72
Communication line ...................................................................................................................72
Packet Structure..........................................................................................................................72
Used data types...........................................................................................................................73
Packets BINR................................................................................................................................74
Port Parameters ..........................................................................................................................74
Check connection .......................................................................................................................76
Reset/Restart receiver.................................................................................................................78
SW version info..........................................................................................................................79
Receiver test ...............................................................................................................................81
Receiver settings ........................................................................................................................83

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Receiver extra settings ...............................................................................................................87
Disable transmission of all data .................................................................................................92
Almanac data..............................................................................................................................93
Ephemeris data ...........................................................................................................................98
Satellites using..........................................................................................................................103
Visible satellites .......................................................................................................................105
Receiver channels measurements.............................................................................................107
Used satellites & DOP..............................................................................................................110
Receiver channels control ........................................................................................................112
PVT solution ............................................................................................................................114
Local time zone ........................................................................................................................116
Internal statistic ........................................................................................................................118
Antenna coordinates.................................................................................................................120
Time label digitization settings ................................................................................................122
Time scales dada ......................................................................................................................123
Time label scale settings ..........................................................................................................125
Time modes settings.................................................................................................................126
Time scales parameters ............................................................................................................128
Time and frequency parameters ...............................................................................................130
C. BINR Tool kit User’s Guide ..................................................................................................133
Background.................................................................................................................................134
System Requirements.................................................................................................................134
Running BM_Ctrl. .....................................................................................................................135
Getting started. .........................................................................................................................135
Communicating with the receiver. ...........................................................................................138
BINR Tool ...................................................................................................................................139
Receiver Test............................................................................................................................139
Software Revision ....................................................................................................................141
Connection Test........................................................................................................................142
BINR Settings ..........................................................................................................................143
Serial Port Settings...................................................................................................................145
Main Preferences......................................................................................................................147
SVs Tracked .............................................................................................................................150
Heading and Speed...................................................................................................................152
DOPs info.................................................................................................................................153
Local Timezone........................................................................................................................154
SVs in View .............................................................................................................................156
Position and velocity. ...............................................................................................................158
Last Position Solution ..............................................................................................................159
Extrapolated Position ...............................................................................................................160
Receiver Channels Info ............................................................................................................161
Ionospheric Parameters window. .............................................................................................164
UTC Parameters .......................................................................................................................165
Cancel All Response Packets ...................................................................................................166
Receiver Restart .......................................................................................................................167
D. NMEA 0183.............................................................................................................................168
The NMEA 0183 Communication Interface............................................................................169

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NMEA 0183 Message Format ...................................................................................................170
Field Definitions..........................................................................................................................171
Features of realization ...............................................................................................................173
NMEA 0183 Message Options...................................................................................................174
List of the sentences, accepted by instrumentation:................................................................176
DTM – Datum Reference.........................................................................................................177
GGA - GNSS Fix Data.............................................................................................................178
GLL - Geographic Position - Latitude/Longitude....................................................................179
GPQ – request sentence............................................................................................................180
GSA - GNSS DOP and Active Satellites .................................................................................181
GSV - GNSS Satellites in View...............................................................................................182
RMC - Recommended Minimum Specific GNSS Data...........................................................183
VTG – Course over ground and ground speed.........................................................................184
ZDA - Time and Date...............................................................................................................185
Correct sentences........................................................................................................................186
PKON1 - request for change receiver set-up ...........................................................................186
PORZA – COM port settings...................................................................................................187
PORZB - extended request sentence........................................................................................188
PORZD - RMS of coordinates .................................................................................................189
PORZE - GPS data set .............................................................................................................190
PORZX – receiver configuration .............................................................................................192
Special messages .........................................................................................................................193
ACFRM - Factory Reset request..............................................................................................193
ACCSM - Restart request.........................................................................................................194
ALVER - HW / FW version reply ...........................................................................................195
ARVER - HW / FW version request........................................................................................196
PALCTIM - Satellite Time ......................................................................................................197
PASET – Receiver operation mode set....................................................................................199
POPPS – Time label control.....................................................................................................200
E. NMEA Tool kit User’s Guide................................................................................................201
Storeggs .......................................................................................................................................201
Purposes and functions.............................................................................................................201
System Requriements...............................................................................................................201
Running STOREGIS..................................................................................................................202
Starting STOREGIS .................................................................................................................202
The POSITION window...........................................................................................................204
The STATISTIC window.........................................................................................................205
The KINEMATIC window ......................................................................................................206
The VISUAL window ..............................................................................................................207
The PROFILE window.............................................................................................................209
Data accumulation....................................................................................................................210
Reading data from file..............................................................................................................211
STOREGIS messages...............................................................................................................212
STOREGIS Preferences ...........................................................................................................213
F. Specifications and Mechanical Drawings.............................................................................214
NAVIOR-24S GPS/GLONASS Receiver Specifications.........................................................215
Key Features.............................................................................................................................215

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Performance .............................................................................................................................216
Interface....................................................................................................................................217
Accessories...............................................................................................................................218
G. Glossary...............................................................................................................................220

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Figure Index
Figure I-1 NAVIOR-24S GPS/GLONASS receiver module ........................................................18
Figure I-2 Starter Kit front panel view ..........................................................................................20
Figure I-3 Starter Kit rear panel view ..........................................................................................21
Figure I-4 AC/DC Power Converter...............................................................................................22
Figure I-5 Starter Kit Interface Unit..............................................................................................28
Figure II-1 – Interface of serial port...............................................................................................32
Figure II-2 – Serial port connection ...............................................................................................38
Figure II-3 - Compact Magnetic-Mount GPS/GLONASS Antenna............................................42
Figure II-4 – Maritime GPS/GLONASS Antenna ........................................................................43
Figure III-1. The “1PPS” temporal diagram and digitizing, given out in the 72h package of
BINR protocol...................................................................................................................................47
Figure III-2. Temporal diagram of “1PPS” and its digitizing, given out in a $PALCTIM
report of NMEA protocol ................................................................................................................47
Figure IV-1. Interference mask immunity.....................................................................................63
Figure IV-2 Main Window. ...........................................................................................................135
Figure IV-3. Initial serial port settings.........................................................................................136
Figure IV-4. The Main Window after connection has been successfully established. .............137
Figure IV-5. Receiver Test window. .............................................................................................139
Figure IV-6. Receiver Test window with test results. .................................................................140
Figure IV-7. Software Revision window. .....................................................................................141
Figure IV-8. Connection Test confirmation message..................................................................142
Figure IV-9. BINR Settings window.............................................................................................143
Figure IV-10. Serial Port Settings window ..................................................................................145
Figure IV-11 . Port settings confirmation message. ....................................................................146
Figure IV-12. Shows the Main Preferences window. ..................................................................147
Figure IV-13. Changing Masks in the Main Preferences window.............................................149
Figure IV-14. SVs tracked window...............................................................................................150
Figure IV-15. Heading and Speed window. .................................................................................152
Figure IV-16. DOPs info window..................................................................................................153
Figure IV-17. Local Timezone window ........................................................................................154
Figure IV-18. Changing time offset in the Local Timezone window. ........................................155
Figure IV-19. SVs in view window................................................................................................156
Figure IV-20. Position and Velocity window ...............................................................................158
Figure IV-21. Last Position Solution window..............................................................................159
Figure IV-22. Extrapolated Position window ..............................................................................160
Figure IV-23. Receiver Channels Info window ...........................................................................161
Figure IV-24. Ionospheric Parameters window ..........................................................................164
Figure IV-25. UTC Parameters.....................................................................................................165
Figure IV-26. A confirmation request ..........................................................................................166
Figure IV-27. Restart type.............................................................................................................167
Figure IV-28. Started STOREGIS window .................................................................................202
Figure IV-29. The POSITION window ........................................................................................204
Figure IV-30. The STATISTIC window ......................................................................................205
Figure IV-31. The KINEMATIC window....................................................................................206

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Figure IV-32. The VISUAL window.............................................................................................207
Figure IV-33. The VISUAL window.............................................................................................208
Figure IV-34. The PROFILE window ..........................................................................................209
Figure IV-35. Numeration of X501 connector pins.....................................................................218
Figure IV-36. NAVIOR-24S GPS/GLONASS Receiver. Mechanical drawings.......................219

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Table Index
Table I-1 - NAVIOR-24S GPS/GLONASS Receiver Ordering Information .............................17
Table I-2 - Port “COM 1” pin designation ....................................................................................23
Table I-3 - Port “COM 2” pin designation ....................................................................................24
Table I-4 - Port “COM3” pin designation .....................................................................................25
Table II-1 - Logic levels of serial port pins ....................................................................................32
Table II-2 - X501 I/O Connector Signals .......................................................................................34
Table II-3 - Power Requirements ...................................................................................................36
Table III-1 - Default Protocols and Port Configurations .............................................................46
Table IV-1 Default Satellite Mask Settings....................................................................................56
Table IV-2 - NAVIOR-24S GPS/GLONASS Receiver Operating Limits...................................62
Table IV-3 Data types format .........................................................................................................71
Table IV-4 – Data types format ......................................................................................................73
Table IV-5 - The status bit mask is composed of the following bits. .........................................162
Table IV-6 NMEA 0183 Standard Characteristics .....................................................................169
Table IV-7 Field Type Summary ..................................................................................................171
Table IV-8. NAVIOR-24S GPS/GLONASS Receiver NMEA Messages ..................................174

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Version History
Data Version What is News Author
20.05.2008 01.00 Original Prokopyuk

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I. Starter Kit
Product Overview
Starter Kit
Receiver Performance
Interface Protocols
Ordering Starter Kit Components
Starter Kit Interface Unit
Power
Connectors
Hardware Setup
Software Toolkit

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Product Overview
NAVIOR-24S™ is GPS / GLONASS navigation sensor board to be used in a broad spectrum of
original equipment manufacturer (OEM) system applications to provide precise clocks using the
signals from GPS, GLONASS satellite navigation systems according to UTC, UTC SU, GPS and
GLONASS time scale.
To provide reliable navigation solution at least 4 satellites of any of GPS or GLONASS navigation
systems should be observed by the antenna. In case of using both GPS and GLONASS navigation
systems there must be at least 5 satellites (2 in one system and 3 in the other one) should be
observed.
NAVIOR-24S™ has 24 software-switchable universal radio channels for tracking all-in-view GPS
and GLONASS satellite signals.

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Starter Kit
The Starter Kit makes it simple to evaluate the NAVIOR-24S GPS/GLONASS receiver’s
exceptional performance. The Starter Kit can be used as a platform for configuring the receiver
module and as a platform for troubleshooting your design. The Starter Kit includes:
• NAVIOR-24S GPS/GLONASS module mounted on an interface motherboard in a durable
metal enclosure. The motherboard accepts (7-15) VDC power and provides regulated +3.3V
power to NAVIOR-24S GPS/GLONASS receiver and antenna amplifier. The motherboard
also contains:
- 3.0 V lithium battery that provides back-up power to the receiver
- Circuitry to convert the CMOS output to RS-232, enabling the user to connect the
RS-232 ports in the Starter Kit to the PC COM port via RS-232 cable connection.
- Circuitry to convert the CMOS output to RS-485 for 1PPS
• GPS/GLONASS Antenna
• 10 meter RF cable
• Two 9-pin RS-232 interface cables (DB-9F/DB-9M)
• AC/DC power supply adapter (input: 240V AC output: 9V DC)
• CD containing software tools used to communicate with the receiver, the System Designer
Reference Manual.

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Receiver Performance
The NAVIOR-24S GPS/GLONASS receiver is a complete 24-channel parallel tracking
GPS/GLONASS/SBAS receiver designed to operate with the L1 frequency, Standard Position
Service, C/A code for GPS and CT code for GLONASS. Using three highly integrated NAVIS
custom integrated circuits, the receiver is designed in format for embedded applications.
The receiver features NAVIS latest signal processing code, a high gain RF section for compatibility
with 18 dB active gain GPS/GLONASS antennas, and a CMOS level pulse-per-second (PPS)
output for timing applications or for use as a general purpose synchronization signal.
The NAVIOR-24S GPS/GLONASS receiver acquires a position fix with minimal delay after power
cycling. The battery back-up RAM is used to keep the Real Time clock (RTC) alive, and to store
the following:
• Almanac
• Ephemeris
• Last position
No user settings can be stored in the receiver’s non-volatile (Flash) memory. These settings are
retained without application of main power or battery back-up power.
The NAVIOR-24S GPS/GLONASS receiver has two configurable serial I/O communication ports.
Warning – When customizing port assignments or characteristics, confirm that your changes
do not affect your ability to communicate with the receiver (see Chapter 3, Software
Interface).

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Interface Protocols
The NAVIOR-24S GPS/GLONASS receiver operates using one of three protocols — BINR or
NMEA 0183. Protocol selection and port characteristics are user configurable. The factory default
settings are:
• Port 1, NMEA 0183
• Port 2, BINR
BINR
NAVIS BINaRy protocol, see chapter A
NMEA
NMEA 0183 is an industry standard protocol common to marine applications. NMEA provides
direct compatibility with other NMEA capable devices such as chart plotters, radars, etc. The
NAVIOR-24S GPS/GLONASS receiver supports most NMEA messages for GPS navigation.
NMEA messages and output rates can be user selected as required.
DGPS
The NAVIOR-24S GPS/GLONASS receiver can be configured for RTCM SC-104 input which is
the GPS industry standard for differential correction data. The receive side of Port 1 is factory
configured to accept RTCM data.

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Ordering Starter Kit Components
NAVIOR-24S GPS/GLONASS receiver is available in a Starter Kit or as an individual
module and associated antenna. The Starter Kit (PN A.467855.020) includes all the components
necessary to quickly test and integrate the module:
• Antenna
• 10m RF cable
• AC/DC power supply adapter
• RS-232 interface cable DB9M/DB9F (pin to pin)
• CD-ROM containing software tools and the System Designer Reference Manual
Table I-1 provides ordering information for the NAVIOR-24S GPS/GLONASS module and the
associated antennas and cables.
Table I-1 - NAVIOR-24S GPS/GLONASS Receiver Ordering Information
Products Part Number
NAVIOR-24S GPS/GLONASS module A.468173.005
NAVIOR-24S GPS/GLONASS Starter Kit A.467855.020
Small RF cable. MMCX-TNC connector (24 cm) А.468543.139
Small RF cable, MMCX-SMA connector (24 cm) А.468543.141
Small RF cable, MMCX-SMB connector (24 cm) А.468543.140
Antenna M102 .464651.002
Antenna installation facilities А.464961.001
Antenna installation facilities А.464961.002
Board-to-board connector TFM-110-12-S-D-A, Samtec
CD-ROM А.467616.006
Note – Part numbers are subject to change. Confirm part numbers with your NAVIS representative
when placing your order.

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Starter Kit Interface Unit
The Starter Kit interface unit consists of a NAVIOR-24S GPS/GLONASS module attached to an
interface motherboard, housed in a sturdy metal enclosure. This packaging simplifies testing and
evaluation of the module by providing two RS-232 serial interfaces which are compatible with most
PC communication ports. Power (7-15 VDC) is supplied through the power connector on the front
of the interface unit. The motherboard features a switching power supply which converts this
voltage input to the 3.3 volts required by the module and antenna. The two DB9 connectors allow
for easy connection to a PC serial port using the serial interface cable provided in the Starter Kit.
The metal enclosure protects the module and the motherboard for testing outside of the laboratory
environment.
The RF part of the NAVIOR-24S GPS/GLONASS receiver is encased in a sturdy metal enclosure.
The dimensions of the receiver in this enclosure are 50 mm (W) x 75 mm (L) x 12 mm (H). A
straight-in, panel-mount RF connector (X1) supports the GPS/GLONASS antenna connection. The
center conductor of the coaxial connector also supplies +3.3 VDC for the Low Noise Amplifier of
the active antenna. 20-pin (2x10) connector, (X2) supports two serial interfaces (CMOS level),
pulse-per-second (PPS) signal (CMOS level), input power (+3.3 VDC), antenna power
(+3.3…+5.0) VDC, back-up power (2,0…3,0 VDC),. Figure I-1 illustrates the NAVIOR-24S
GPS/GLONASS receiver module.
Figure I-1 NAVIOR-24S GPS/GLONASS receiver module

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The interface motherboard includes a 7 to 15 VDC switching power supply which provides
regulated +3.3 VDC power to the receiver, and contains circuitry which provides two RS-232
interface ports and RS-485 port for 1PPS. A 3.0V lithium backup battery enables quick warm starts.
Pin 9 of the Port 2 DB-9F connector on the front of the interface unit, two LED indicators for 1PPS
and Power, RESET bottom are placed on the front panel.
The Starter Kit includes AC/DC converter for powering the module from AC wall socket. The
metal enclosure (see Figure I-2, Figure I-3) provides two DB9 and one DB15 interface port
connectors, an antenna connector, two LED indicators and a power connector.
Port “COM 1” and Port “СОМ 2“ are used for serial I/O and are placed on the front panel.
Port “COM 3”, antenna connection TNC socket, power connector and bonding point are placed on
the rear panel.
The mounting plate is secured to the metal enclosure with four screws. Figure I-2 Starter Kit front
panel view illustrates the Starter Kit interface unit.

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Figure I-2 Starter Kit front panel view