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荷兰产罗兰C/gps组合接收机资料,英文资料,可以实现现有的ELoran功能,并且实现了eLoran和GPS的组合定位。
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reelektronika
LORADD series
Integrated GPS/eLoran receiver
Installation and operational manual
Version 1.2
www.reelektronika.nl info
@
reelektronika.nl
reelektronika
LORADD series – integrated GPS/eLoran receiver
version 1.2
ii
Manual version 1.2
LORADD firmware version 2.48
LERXAnalyser version 7.26
Release date 16 January 2009
Copyright (c) 2009 by
reelektronika b.v.
All information in this document is subject to change without notice and is by no means
a commitment on the part of
reelektronika
.
It is forbidden by law to copy or distribute the firmware or hardware of the LORADD
series integrated navigation equipment or its antennas. Firmware updates or
restorations of firmware are allowed on any purchased LORADD product. Intellectual
property rights of all firmware and hardware lies with
reelektronika
.
reelektronika
assumes no liability for any damage associated with the use of the
LORADD series receivers or associated products. Navigation equipment is to be used
at the user’s own risk.
All rights reserved. No part of this document may be reproduced or utilised in any form
or by any means, electronic or mechanical, including photocopying, recording or by any
other information storage and retrieval system, without permission from
reelektronika
.
LORADD series – integrated GPS/eLoran receiver
reelektronika
version 1.2
iii
Table of Contents
1
Introduction.............................................................................................................. 1
1.1 Functional description of the LORADD integrated GPS/eLoran core receiver 1
1.2 Supported augmentation systems .................................................................. 5
2 Installation ............................................................................................................... 7
2.1 Getting started…............................................................................................. 8
2.2 SmallPack ....................................................................................................... 9
2.3 OEM boards.................................................................................................. 12
2.4 19” casing ..................................................................................................... 12
2.5 Comport interface ......................................................................................... 13
2.6 H-field eLoran and GPS patch antenna ........................................................ 13
2.7 Firmware updates ......................................................................................... 14
3 Operation............................................................................................................... 15
3.1 Positioning modes......................................................................................... 15
3.2 GPS positioning modes ................................................................................ 16
3.3 eLoran positioning modes............................................................................. 16
4 Command and log interface .................................................................................. 19
4.1 General interface description ........................................................................ 19
4.2 NMEA 0183 supported logs .......................................................................... 19
$GPGGA - Global Positioning System Fix Data.................................................... 20
$GPVTG – Course over ground/speed ................................................................. 20
$GPZDA - UTC and local date/time data .............................................................. 21
$GPGSA - GPS DOP and active satellites............................................................ 21
$GPGST - GNSS Pseudorange noise statistics.................................................... 21
$GPGLL - GPS Geographic position, Latitude and Longitude .............................. 22
$GPGSV – GNSS Satellites in view...................................................................... 22
$LCGLC - Loran-C Geographic position, Time differences................................... 23
$LCHDT - Loran-C Heading .................................................................................. 23
$LCGLL – Loran-C ................................................................................................ 23
$INDTM – Integrated Position Fix Datum.............................................................. 24
$INRMC – Integrated Position Recommended Minimum Navigation Information. 24
$INGGA – Integrated Position Fix Data (in GPGGA format)................................. 25
4.3 reelektronika Proprietary logs ....................................................................... 26
LCPOSA - Loran-C calculated position ................................................................. 26
GPPOSA - GPS calculated position...................................................................... 27
INPOSA - Integrated position fix using GPS and/or Loran-C ................................ 28
LCRSDA - Loran-C range residuals ...................................................................... 29
TOAA – Loran-C Time of Arrival measurements................................................... 30
HDGA – Heading measurement............................................................................ 31
DASFA – Differential ASF measurements............................................................. 31
RMSGA – Eurofix decoded messages.................................................................. 32
RTCMB – Binary output of RTCM SC104 DGPS data .......................................... 32
FFTA – Frequency spectrum data......................................................................... 32
NOTCHA– Notch frequency and bandwidth information ....................................... 33
SYNCA– Loran to UTC Synchronisation information ............................................ 33
REFSTAA & ASFMAPA - Reference Station Almanac and ASF Map format ....... 34
4.4 Commands.................................................................................................... 36
Command HELP.................................................................................................... 36
Command VERSION............................................................................................. 37
Command SHOWSEARCH................................................................................... 37
Command RESET................................................................................................. 37
Command LOG ..................................................................................................... 38
Command UNLOG ................................................................................................ 39
reelektronika
LORADD series – integrated GPS/eLoran receiver
version 1.2
iv
Command SETSPEED.......................................................................................... 39
Command READCONFIG..................................................................................... 40
Command SAVECONFIG ..................................................................................... 40
Command RESETCONFIG ................................................................................... 40
Command SETPOSITION..................................................................................... 40
Command LOADREFSTA ..................................................................................... 41
Command LOADASFMAP .................................................................................... 41
Command AUTH ................................................................................................... 41
Command NOTCH ................................................................................................ 42
Command SETTINGS ........................................................................................... 43
5 LERXAnalyser user interface ................................................................................ 45
References ................................................................................................................... 48
Annex A Technical specifications ............................................................................ 49
LORADD series – integrated GPS/eLoran receiver
reelektronika
version 1.2
1
1 Introduction
reelektronika
’s LORADD integrated GPS/eLoran receiver is the first product that
can combine GPS and eLoran for various modes of applications. This receiver merges
the two navigation systems and their augmentation systems to improve accuracy,
integrity, availability and continuity of the navigation function. This section provides the
functional description of the receiver and explains the added functionality of eLoran.
Information on the working of GPS and its augmentation systems can be found in
public literature and is not copied here. This manual does not describe the functionality
of the included u-blox GPS receiver in great detail, further information about the u-blox
receiver can be found in [u-blox-04].
The user manual helps the user to install and operate LORADD receivers without
problems. Specialised and large-volume users are invited to contact
reelektronika
to set up maintenance contracts.
1.1 Functional description of the LORADD integrated
GPS/eLoran core receiver
Integrated navigation offers a number of advantages over traditional single-source
navigation. Figure 1-1 shows a high-level diagram of such a receiver.
The LORADD integrates GPS, eLoran, and their augmentation systems SBAS and
eLoran communications (e.g. Eurofix and/or 9
th
pulse communications). The LORADD
is a specific implementation of the general diagram shown in Figure 1-1. Currently, the
receiver demodulates the Tri-state Pulse Position Modulation as is used in Eurofix and
is standardised by ITU and RTCM [ITU-01][RTCM-01]. At the moment of publishing this
manual, there are no standards for 9
th
pulse communications via eLoran. Please visit
Sensor 1
Sensor 1
Sensor l
Sensor k
Sensor 1
Datalink 1
Traffic Control
Channel Input
Traffic Control
Channel Output
Datalink n
Incremental Raw
Positioning Data
Absolute Raw
Positioning Data
Relative Raw
Positioning Data
Augmentation
Data Broadcast
Traffic Control and
Route Guidance
Sensor m
Integrated
Position,
Velocity,
Attitude,
Heading &
Integrity
Determination
Sensor System &
Terrain/Roadmap
Database
Navigation Plan &
Navigation
Database
Navigation
Information &
Guidance/
Display
Signal
Generation
Selection, Acquisition, Track aiding
Inputs Outputs
Position
Determination
Navigation
&
Guidance
Pilot Input
Pilot Output
Nav Displays
Autopilot
Figure 1-1 Functional block diagram of the Integrated Navigation concept
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