PC-CDU User's Manual Version 1.0 Build February 28, 1999

Transcription

1 PC-CDU User's Manual Version 1.0 Build February 28, 1999

2 USER'S NOTICE No part of this software may be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into a language in any form by any means without the express written permission of Javad Positioning Systems (hereinafter referred to as JPS) except a copy kept by the purchaser for backup purpose. Specifications are subject to change without notice. JPS provides this manual "as is" without warranty of any kind, either express or implied, including but not limited to the implied warranties or conditions of merchantability or fitness for a particular purpose. For updated manuals and software, or product release information you may visit JPS WWW site at or contact JPS Customer Support by support@javad.com. Copyright 1998 Javad Positioning Systems. All rights reserved. 2 PC-CDU User's Manual

3 Table of Contents PC-CDU BRIEF DESCRIPTION...4 INSTALLATION...4 MAIN WINDOW...4 MENU ITEMS...6 FILE CONNECT...6 FILE DISCONNECT...6 FILE FILE MANAGER...6 Download files...7 Current log file...8 Download path...9 FILE REAL-TIME LOGGING...10 FILE MANUAL MODE...14 CONFIGURATION RECEIVER...14 General...15 Events...15 Advanced...16 Base...16 Rover...17 CONFIGURATION SITE...17 CONFIGURATION TARGET POSITION...18 TOOLS INITIALIZE FILE SYSTEM...18 TOOLS CLEAR NVRAM...18 TOOLS RESET RECEIVER...18 HELP ABOUT...19 APPENDIX A. CHANNEL NAVIGATION STATUS CODES...20 APPENDIX B. TROUBLESHOOTING...20 PC-CDU CAN'T FIND THE RECEIVER...20 SERIAL OVERRUNS DURING FILE DOWNLOAD OR REAL-TIME LOGGING...21 PC-CDU DISCONNECTS AUTOMATICALLY...21 FIRMWARE AND PC-CDU VERSIONS MISMATCH...21 DOWNLOAD VIA PARALLEL PORT DOES NOT WORK...21 PC-CDU User's Manual 3

4 PC-CDU brief description The current build of PC-CDU allows the following: Monitor status of visible satellites. Download files from a receiver. Download data into a file in the real-time mode. Activation and stop of collecting data into a receiver internal file. Configure a receiver for further control using MINTER (recording interval, elevation mask, and satellite systems to use). Set various parameters for data collection controlled by PC-CDU (recording interval, elevation mask, and satellites to use, site name, and antenna height). Almost every window of PC-CDU user interface has a status bar at the bottom. Check it for error messages if something goes not as expected. This version of PC-CDU will work with receiver firmware version at least 1.4. However, version 1.5 or later is required for all the features to work. Installation PC-CDU is distributed currently as one PCCDU.EXE executable file, ready to run. You should manually put it into a suitable directory (C:\Program Files\JPS\PC-CDU is recommended) and create a shortcut. Be sure you have specified a valid working directory in the shortcut properties. PC-CDU keeps all the settings in the PCCDU.INI file in its working directory, which allows you to run multiple instances of PC-CDU with different settings on the same computers. The working directory is also used as the default path to download files and for real-time log files. Main Window When PC-CDU is connected to a receiver and there is no other activity from a user, it shows parameters of visible satellites and estimated current receiver position (if possible). 4 PC-CDU User's Manual

5 Columns of satellite tables have the following meanings: # GPS PRN. An asterisk next to the number means that PC-CDU didn t receive an almanac for this satellite. Sn Fn EL AZ CA P1 P2 TC SS GLONASS satellite number. An asterisk next to the number means that PC- CDU didn t receive an almanac for this satellite. GLONASS frequency channel number. Elevation (in degrees). '+' or '-' after the number means sign of Doppler, i.e. whether the satellite is rising or setting. Azimuth (in degrees) Energy potential for CA slot [db*hz] Energy potential for P1 slot [db*hz] Energy potential for P2 slot [db*hz] Time since this satellite was locked last time. The value is in seconds, if it is prefixed by :, and in minutes instead. Channel navigation status code (see Appendix A). If a satellite reported poor health, it is marked with '-' after the code, instead it is marked with '+'. The value '??' means that this parameter is unknown. You may sort satellite tables by clicking to column headers. Position type can be one of the following: standalone (position has been calculated using the pseudo-range measurements); code differential (rover s relative position, computed using the pseudo-range measurements, is used to refine the rover coordinates); RTK float (rover s relative position, computed using the carrier phase measurements, is employed to refine the rover coordinates; integer ambiguities, however, are not fixed); RTK fixed (rover s relative position, computed using the carrier phase measurements, is employed to refine the rover coordinates; integer ambiguities are fixed). Receiver clock shows the current receiver time, date and derivation of the oscillator frequency. Tracking time displays continuous tracking time for all satellites. Event A and Event B show counters of the appropriate external events. Double click to them resets counters to 0. Navigation tab shows the target position (see Configuration Target position) and the following navigation information: ETT (Easting To Target) rover s easting coordinate; NTT (Northing To Target) rover s northing coordinate; DTT (Distance To Target) the distance from the rover PC-CDU User's Manual 5

6 receiver to the target; CTT (Course To Target) rover's course towards the target. Double click to the target coordinates resets them to the current position, estimated by the receiver. Time counter in the bottom right corner can be reset to zero by double clicking to it. File Connect Menu items Choose COM port to which you have connected your receiver and connection speed. Press Connect to establish the connection with the receiver. It is strongly recommended to use bps speed, if your hardware support it. Speeds over require receiver firmware version 1.5 or later, and an appropriate serial port in your computer. You may also choose hardware handshaking. It is recommended to use hardware handshaking if your firmware supports it, and your serial cable to connect receiver and computer is wired properly. In Passive mode PC-CDU will not change any of the receiver's parameters by itself. If the Passive mode is turned off, PC-CDU saves Elevation mask for terminal (see Configuration Receiver, General) and sets it to -90 when the Main Window is active, and restores it to the saved value otherwise. Therefore, in passive mode PC-CDU shows only satellites above the elevation mask for terminal. File Disconnect Closes COM port and disconnects from the receiver. It is recommended to use this menu item before you switch the receiver off, or disconnect it from your computer. If you selected hardware handshaking, Disconnect commands the receiver for no handshaking. If the connection speed was above , it changes to If the passive mode was turned off, PC-CDU restores the elevation mask for terminal to a saved value. File File manager This menu item implements all the functionality under files inside a receiver: download, delete, create files and log data into a file inside a receiver. 6 PC-CDU User's Manual

7 Delete button deletes selected files from the receiver. Note, that this operation can not be undone. Refresh reloads the file list from the receiver. Exit button exits this dialog box. Download files Select output path using Download path tab, choose files from the list of available files inside the receiver and push Download button. You can interrupt downloading by pushing the Stop button. Files are downloaded into the specified directory with the same names as inside the receiver and extension.jps. If the file with this name already exists, you will be asked to overwrite or to append it. Use Append option with care, only when you are sure that this is the same file, but downloading was interrupted before. If you have selected to append a file, the receiver should seek to the middle of the file. This operation may take significant time, and during this time PC-CDU will show the message "Last warning: Waiting for the 1st block" and number of retries will be increasing. This is normal behavior. If your receiver is equipped with parallel port, you may download files using it by selecting the LPT port, which is connected to the receiver. This feature requires: 1. Firmware version 1.5 or later. 2. Windows 95 or 98. It is not available under Windows NT or Windows Parallel port on your computer must be configured as ECP or ECP+EPP in the mainboard BIOS, by jumpers etc. PC-CDU User's Manual 7

8 Exclusive mode (available only with firmware 1.5 or later) disables all the processes in the receiver, so that it only responds to external commands. This option significantly speeds up downloading process, especially at speeds and above, and is strongly recommended for downloads via parallel port. You may select Block size (requires firmware 1.5 or later). The larger block size, the faster is transfer. However, if your connection is not reliable, reducing the block size may help to decrease number of errors. During downloading, files which are already downloaded, are marked with green, the current file is marked with red, and other files you selected before are marked with blue. Unlike real-time logging, file download process is protected against possible transfer errors by 16-bits CRC for each block sent. PC-CDU writes every data block received directly to the disk, bypassing Windows file cache. This ensures that the data received indeed is written to the disk, and disk surface under the file is not damaged. You may request to download a file, which is currently used by receiver for data recording. In this case, progress indicator may show >100%, and the last record of the downloaded file may be broken. Current log file Specify recording interval in seconds, elevation mask and a file name. You may select an already existing file from the list by double clicking it, or type a new name. When you push Start button, PC-CDU sends the command to the receiver to start collecting data into the selected internal file, and also sends the site name and antenna height from the Configuration Site dialog, so that the file will contain this information. Stop button stops data collection. 8 PC-CDU User's Manual

9 Elevation mask controls the same parameter as the Elevation mask for files in the Configuration Receiver dialog, and is here provided for your convenience. Site parameters button launches the same dialog as Configuration Site. PC-CDU senses the current state of the receiver and shows its current working file and its size. This information is updated once per second. Download path Output path tab allows you to select the place for downloaded files. You may create a new folder here. Note that the file list is for your reference only, selecting a file there has no effect on PC-CDU. PC-CDU remembers output path for Real-Time Logging between sessions independently from the output path for File Download. PC-CDU User's Manual 9

10 File Real-Time Logging Real-time logging window shows satellites, receiver position and other information, which is updated once per second during idle time. During logging this information is updated according to recording interval specified. Elevation mask controls the same parameter as the Elevation mask for terminal in the Configuration Receiver dialog, and is provided here for your convenience. Real-time logging works in two modes: Single file mode. PC-CDU saves all the data received into one file. The default file name is made from the current site name and extension.jps. 10 PC-CDU User's Manual

11 Multiple files mode. PC-CDU closes current file every time period specified and opens the next file. The first file usually contains data for shorter time than the specified period. File names are combination of a prefix (default is the current site name), 4 digits of file number and extension.jps. Specify recording interval in seconds, choose a logging mode, and push Start button. Press Stop when you decide to finish downloading. PC-CDU writes every data block received directly to the disk, bypassing Windows file cache. This ensures that the data received indeed is written to the disk, and disk surface under the file is not damaged. If you have checked Overwrite existing files, PC-CDU will start file numbering from 0, and will overwrite files without a warning. In default mode (Overwrite existing files is unchecked) PC-CDU will not overwrite existing files, and will use the next available number to make file names. Autoconvert to RINEX option require presence of a converter from JPS file format to RINEX (JPS2RIN.EXE). Setup converter allows you to specify converter options like: Additional information that will go to RINEX files (Run by, Observer, Agency, Antenna #, Antenna type, Comment, Marker name, Marker number); Path to JPS2RIN.EXE file; Output options (by default, JPS2RIN outputs measurements for both GPS and GLONASS, L1 and L2, if they are available in the source files); Whether you need to keep original JPS files; PC-CDU User's Manual 11

12 Additional command line options for JPS2RIN (see description of JPS2RIN command line for details). 12 PC-CDU User's Manual

13 If you need to change output path, use Select output path tab. You may create a new folder here. Note that the file list is for your reference only, selecting a file there has no effect on PC-CDU. PC-CDU remembers output path for Real-Time Logging between sessions independently from the output path for File Download. Columns of satellites tables have the same meanings as in the Main Window. Important notes: 1. It is strongly recommended to use bps speed or higher and hardware handshaking for real-time logging. 2. Unlike file download feature, real-time logging uses no protocol for data protection. Serial port errors (like serial overrun) may happen causing lost bytes inside the file. See Appendix B. Troubleshooting about how to avoid them. 3. Windows NT 4.0 or later is more suitable for real-time logging than Windows 95 or 98. PC-CDU User's Manual 13

14 File Manual Mode Do not use this menu item unless you are familiar with the receiver command set. You need to type a command in the edit box and press Enter key or push Send command button to execute a command. The result (if any) will be displayed in the window. Stop all messages may help if a command sent causes continuous output from the receiver, but not in all cases. Use Disconnect button if you have configured the receiver manually and want to immediately disconnect it and use with another application or a device. This button does not perform cleanup actions described in the File Disconnect. You should either choose correct speed and handshaking in File Connect before, or send appropriate commands to the receiver manually, and the command to change receiver port speed must be the last command before disconnecting. Configuration Receiver This dialog box has 5 pages, with Apply button on each page. Pushing Apply button will change the parameters only on the currently visible page. OK button changes all the parameters that were modified. Because RTK Base and RTK Rover pages are mutually exclusive, it is recommended to use Apply button for these pages. Set all the parameters to default values re-sets values of almost all the receiver internal parameters (with names started from /par/, see GPS Receiver Interface Language for details) to the receiver default values. PC-CDU then updates this dialog to reflect changed values. Note: Even if your receiver is connected, some of the parameters can be disabled. It means that the firmware version in your receiver does not support their modification, or your hardware is not suitable for these options (e.g. no internal modem). In rare cases, an option can be disabled because PC-CDU did not receive a reply from the receiver due to communication errors. All the parameters shown in this dialog are stored only by the receiver itself, and every time you start this dialog PC-CDU requests all the parameters values from the receiver. 14 PC-CDU User's Manual

15 General Set recording interval in seconds, elevation mask, name prefix and choose satellites to track. When you start logging data using MINTER keys, the receiver create file names using the name prefix, current date, and a postfix to distinguish files created during the same day. You may also choose here which antenna input to use with the receiver. This parameter is also stored only inside the receiver. Note: if you want to control a receiver using only MINTER, it is recommended to configure the receiver using this dialog. Events PPS (pulse per second) receiver generates (on it's specified output pins) precise time signal with selectable period. Signal is falling or rising (selectable) edge occurred at (receiver_base_time % period == offset) moments. Offset is also selectable. There are two PPS in JPS receivers, called 'a' (PPSA) and 'b' (PPSB). Event receiver has a possibility to measure time of external event (i.e. specified edge of signal, comes to specified receiver's input pin). There are two Event pins in JPS receivers called 'a' (EventA) and 'b' (EventB). Receiver measures time of an event at receiver_base_time. Currently receiver_base_time is GPS time only and can not be changed. PC-CDU User's Manual 15

16 Advanced If oscillator frequency is locked, receiver tracks oscillator frequency offset and makes it constant and close to zero. In this mode receiver produces high-quality 20 MHz frequency on its output pin. Notes: Usually after changing the mode to "locked", oscillator frequency settled in zero region in 1 minute. If receiver was in "locked" mode and then "off" command was issued, oscillator frequency returns to its previous value, therefore temporary loss of satellites is possible. For description of other options please consult GPS Receiver Interface Language manual. Base Select required mode (DGPS or RTK), fill in coordinates of antenna phase center in WGS-84, choose receiver port and speed for an external radio modem, or mode of the internal modem, check the Base mode turned on box, and apply the changes to set up your receiver as base station. Max. number of satellites (default value is 0, which means unlimited) limits the amount of information to send in RTCM messages 18 and 19 in case your radio modem is not fast enough. If the receiver was configured as Rover, and you changed its mode to Base, it automatically switches off the rover mode. 16 PC-CDU User's Manual

17 Rover The RTK (phase differential) option is available only if PC-CDU is connected to a receiver with RTK-capable firmware and at least 1024 Kb of RAM. Check Help About to see if your receiver is suitable. Select required mode (DGPS or RTK), choose a receiver port and speed for an external modem, or mode of the internal modem, check Rover mode turned on box, and apply the changes made. If the receiver was configured as Base, and you changed its mode to Rover, it automatically switches off the base mode. If your receiver is configured as rover, and is receiving differential corrections, check the position type on the Main Window it should be not standalone. Configuration Site Type in Site name and Antenna Height and Status, check Slant if required. PC-CDU sends these values to a receiver every time you activate data recording from File File manager. The Site name is also used as the default file name for real-time download. Send to receiver button is only available if the receiver is logging data into its internal file. PC-CDU User's Manual 17

18 Configuration Target position If you enter here coordinates of the target position, Main Window will show it together with navigation information. Get from receiver button fills in this information from the current position, estimated by the receiver. Tools Initialize file system This command works like to format a disk. It takes significant time (up to 10 minutes depending on receiver memory) and destroys all the files inside the receiver. Usually you do not need to use this option. Tools Clear NVRAM NVRAM keeps data required for satellites tracking, like ephemeris and receiver position. Clearing NVRAM may solve some possible problems with satellites tracking, but after that the receiver require some time (depends on number of visible satellites) to re-collect this information. Also NVRAM keeps settings like active antenna input, elevation masks, recording interval for MINTER, so that after clearing NVRAM these settings should be restored. PC-CDU launches JPS Receiver Configuration dialog for you to check and set these parameters. Information about receiver internal file system also is kept in the NVRAM. Just after NVRAM clearing receiver FN LED flashes yellow during several seconds indicating that the receiver scans and checks the file system. Tools Reset receiver This operation is similar to pushing a Reset button of a computer. It does not clear NVRAM. PC-CDU has to be re-connected to the receiver after reset, and it disconnects and launches Connect dialog for you. 18 PC-CDU User's Manual

19 Help About This dialog shows software version information and, if a receiver is connected, information about the receiver. PC-CDU retrieves Receiver ID and firmware version only when you use File Connect menu item. So, if you changed a receiver without use of File Disconnect before that, this information will not reflect the connected receiver. Note that electronic ID is different from the serial number printed on the label and glued to the bottom cover of the receiver. In all communications with JPS support department please include both serial number and electronic ID of the receiver. PC-CDU User's Manual 19

20 Appendix A. Channel Navigation Status Codes 00 CA slot has been used for position computation 01 P1 slot has been used for position computation 02 P2 slot has been used for position computation 03 Iono-free combination has been used for position computation 04 Measurements are not available 05 Ephemeris are not available 06 Poor health (standard indication from ephemeris) 07 Ephemeris time-frequency parameters may be wrong 2 08 Ephemeris vector of initial conditions may be wrong 2 09 Almanac health for given SV is not available 2 10 Poor health (poor almanac health) 2 11 Alert" flag from word HOW is risen 1 12 URA indicates the absence of an accuracy prediction 1 13 Given SV is excluded from position by user 14 Given frequency channel number is excluded from position by user 2 15 Unknown SV number is excluded from solution 2 16 Given SV is below specified elevation mask 17 Reserved 18 Ephemeris data is too old 19 Given SV is not belong to navigation system selected by user 20 Differential code data is not available for given SV (indication under RTCM remote mode) Reserved 1 GPS only 2 GLONASS only Appendix B. Troubleshooting PC-CDU can't find the receiver Be sure that the receiver indeed connected to the port specified in the File Connect dialog and switched on. Check cables and the serial port. Serial port with UART compatible is strongly recommended (you may check UART type using MSD.EXE utility). A serial port may be damaged. If it works with a serial mouse or a modem, it does not mean that it is 100% OK. Only loop-back plug with appropriate diagnostic software (like NDIAGS.EXE from Norton Utilities) may assure that the port works correctly on If your cable does not support hardware handshaking (RTS and CTS pins are not wired), try to turn hardware handshaking off. Note that some DB9< >DB25 converters are designed for mouse only and have no all the pins wired. If you have other devices connected to serial ports, be sure there are no hardware conflicts: usually you can't use COM1 and COM3 or COM2 and COM4 ports at the same time due to these ports pairs share the same IRQ. 20 PC-CDU User's Manual

21 Serial overruns during file download or real-time logging Check that you have serial port based on UART compatible chip and FIFO is turned on (Control Panel, System applet, Hardware tab, COM port, Advanced settings), and input buffer set not to the maximum (Windows default settings are OK). Your accelerated graphics board (all modern boards are accelerated) may cause serial overruns. Accelerated graphics boards (especially with bus mastering, but not only) may lock system bus for a long enough time, causing lost bytes. Try to turn graphics hardware acceleration off (Control Panel, System applet, Performance tab, Graphics, Hardware acceleration slide bar) or boot with VGA driver. Also, during real-time logging try not to run other applications. PS/2 mouse is strongly recommended over a serial mouse. If you have to use a serial mouse, be sure it is connected to COM1 and the receiver to COM2 port, because COM2 has higher priority. Hardware handshaking may also lower number of serial overruns, but it is not that important as reasons described above. PC-CDU disconnects automatically PC-CDU in the monitoring mode (main window is active) automatically disconnects if there were no data from the receiver during past 5 seconds. Usually it is caused by disconnected or switched off receiver. Even if the receiver was switched off for a short time, it stops to send messages to PC-CDU. False receiver inactivity detection may be caused by lost bytes as a result of serial overruns or other communication errors. See the above chapter on how to avoid serial overruns. Firmware and PC-CDU versions mismatch PC-CDU functionality strongly depends on the receiver firmware version. In general, it is recommended to always use the latest versions of both firmware and PC-CDU. If PC- CDU detects an old firmware version, which is incompatible, it will refuse connection. But some problems may happen if firmware version is newer that PC-CDU version. Check build dates in the Help About dialog if after a firmware upgrade PC-CDU stopped work as expected and upgrade PC-CDU if its build date is earlier than firmware build date. Download via parallel port does not work Check that your port is configured as ECP. Go to the Control Panel, run System applet, select Hardware tab. In the section 'COM and LPT ports' Windows 95 and 98 should show your port as 'ECP printer port' in the hardware list. If your receiver was connected to the computer and turned on during Windows boot, it is possible that Windows tried to find a Plug&Play device by sending some data to the parallel port. In this case, before downloading files via parallel port it is recommended to turn the receiver off and on. Avoid connecting the receiver using pass-through connectors on devices like scanners, Iomega Zip drive etc. Although we have tested such configurations with some devices, it may not work with your particular device. You may see error messages trying to download files via parallel port. The table below explains them. PC-CDU User's Manual 21

22 Message Possible reason Solution LPT: Parallel port not found LPT: Unsupported PWord size LPT: Can't enter IEEE mode LPT: Can't setup ECP mode Last warning: Waiting for the 1st block. Number of retries is increasing. PC-CDU downloaded some data, but with a lot of retries and error messages. The port does not support ECP mode. You have an advanced parallel port on an add-on card, which is not supported yet. The computer is not connected to the receiver. Receiver was turned on during Windows boot, or a device driver tried to "talk" to the receiver. Broken parallel port. Unfortunately, even on some new computers you may find a port which does not support ECP mode correctly. Configure the port to ECP either in the mainboard BIOS, or using jumpers. Contact technical support and tell the brand and model of your parallel port card. Check cables and try again. Turn the receiver off and on and try again. Try to download using another computer or an add-on card (ISA or PCI). 22 PC-CDU User's Manual