APN-048:
ALIGN
®
Family of
Heading Solutions:
ALIGN
TM
Heading and ALIGN Relative
Positioning
TM
Table of Contents
1 Overview ....................................................................................................................... 3
2 ALIGN Models ............................................................................................................... 3
2.1 ALIGN Setup (For both models) .................................................................................... 4
3 Use Cases .................................................................................................................... 5
3.1 Use Case 1: Fixed Antenna Distance between Master and Rover Receivers on One
Platform (ALIGN Heading) ............................................................................................ 6
3.1.2 Using ALIGN with SPAN ..........................................................................................................9
3.2 Use Case 2: Master and Rover Receivers on Separate Moving Platforms .................. 11
3.3 Use Case 3: Daisy-Chain ALIGN setup ....................................................................... 13
3.4 Use Case #4: Single Master with Multiple Rovers ALIGN setup (ALIGN Relative
Positioning) ................................................................................................................. 16
3.5 Use Case #5: Star Configuration ................................................................................. 18
A: Model Compatibility Chart
4
................................................................................................... 21
B: Receiver Model Configuration Descriptions ........................................................................... 22
C: Dual Antenna Products ......................................................................................................... 22
Final Points ............................................................................................................................... 22
ALIGN Heading and ALIGN Relative
Positioning
1 Overview
This application note provides an overview of NovAtel‟s ALIGN family of heading solutions, including
the ALIGN Heading and ALIGN Relative Positioning models. Receiver hardware setup and software
configurations are also discussed.
Heading information can be logged from NovAtel‟s OEM6
®
receivers at a maximum rate of 20 Hz, or at a
maximum of 10 Hz on OEMV
®
receivers. The Master receiver position accuracy can be enhanced by
adding L-Band corrections, SBAS tracking, or by adding an optional RTK static base station.
Please see section 3.1.2 for information regarding ALIGN use with SPAN INS.
2 ALIGN Models
There are two available ALIGN models:
ALIGN Heading provides angular heading and pitch measurements. The following logs are available
from any free port:
Table 1: ALIGN Heading Logs
Logs
Description
MASTERPOS
Position of the ALIGN Master
HEADING
Heading and Pitch Angles
HEADING2
Heading and pitch angles with ROVERID
GPHDT
NMEA heading angle
ALIGNDOP
DOP of heading computation
HEADINGRATE
Rate of Change for ALIGN
HEADINGSATS
Satellites used in ALIGN
ALIGN Relative Positioning provides angular heading and pitch measurements, precise relative
positioning measurements and relative baseline information with centimetre level accuracy. The
following logs are available from any free port:
Table 2: ALIGN Relative Positioning Logs
Logs
Description
MASTERPOS
Absolute position of the ALIGN Master
ROVERPOS
Absolute position of the ALIGN Rover
ALIGNBSLNXYZ
ECEF vector between Rover and Master
ALIGNBSLBNENU
Easting, Northing, Altitude vector between
Rover and Master
HEADING
Heading and pitch/yaw angles
HEADING2
Heading and pitch/yaw angles with ROVERID
GPHDT
NMEA heading angle
ALIGNDOP
DOP of heading computation
HEADINGRATE
Rate of change for ALIGN
HEADINGSATS
Satellites used in ALIGN
Complete explanation of logs can be found in the OEM6 Firmware Reference Manual.
2.1 ALIGN Setup (For both models)
ALIGN functionality requires one receiver to operate as Master to send information to the Rover. The
following are the requirements for both ALIGN models:
ALIGN Heading
ALIGN Relative Positioning
Master
Any OEMV or OEM6 receiver
model
Any OEMV or OEM6 receiver
capable of outputting positions
*
Rover
ALIGN Heading only („Z‟)
model
ALIGN Relative Positioning
(„Y‟) model
Receiver features may be limited if basic Position Velocity Time (PVT) only models are used. See
Appendix A for more information.
A typical ALIGN setup includes:
One NovAtel OEM6 or NovAtel OEMV receiver running an ALIGN enabled receiver model
and firmware version. This is the Rover receiver.
One NovAtel OEM6 or NovAtel OEMV receiver. This is the Master receiver.
Two GPS or GPS+GLONASS capable antennas.
Data communication link between both receivers. Examples include a radio, modem or serial
cable. It is recommended to set the communication rate to 230400 bits per second on both
receivers.
* If using an ALIGN Master not capable of outputting a position (i.e: heading only model),
ALIGNBSLNXYZ will be available but MASTERPOS, ROVERPOS, and ALIGNBSLNENU
will not be.
There are two ways of initializing ALIGN:
i. Plug and Play: ALIGNAUTOMATION command is used at the Rover receiver to setup
ALIGN
For plug and play to work, the Master and Rover receivers must be running firmware versions OEM060100RN0000
or newer (for OEM6), or 3.900 or newer (for OEMV). A mix of OEM6 and OEMV receivers can be used provided
their firmware versions meet these conditions.
ii. Manual configuration: ALIGN commands are manually sent to the Master and Rover
receivers
As of firmware version OEM060310RN0000, users have the option of using NOVATELX or RTCA
message protocols when configuring ALIGN manually. NOVATELX is preferred because its messages
are smaller in size, but is only available on OEM6 receivers with firmware version OEM060310RN0000
or newer. Both methods will be shown in this application note.
3 Use Cases
A variety of symbols are used in this application note to depict ALIGN output symbols. The meaning of
each symbol is given below.
Figure 1: Use Case Legend
3.1 Use Case 1: Fixed Antenna Distance between Master and Rover
Receivers on One Platform (ALIGN Heading)
This use case requires one Master and one Rover receiver. Figure 2 provides an example where the Master
and Rover are located on the same vehicle, and the two antennas are located at a fixed distance from one
another. Relative heading and pitch are computed with respect to the Master receiver.
Figure 2: Heading from two receivers on one vehicle
There are two possible ways to set up ALIGN in this use case:
Plug and Play with Cable:
1. Connect COM2 of the Rover receiver to an available COM port on the Master receiver using a
NULL modem cable.
2. Initiate ALIGN from the Rover receiver by entering the following command:
ALIGNAUTOMATION ENABLE COM2 230400
3. To access heading data, ALIGN logs can be logged at either the ALIGN Master or Rover receiver.
Manual Configuration with Cables:
1. Connect any COM port on the Master receiver (e.g. COM2) to any COM port on the Rover receiver
(e.g. COM2) using a NULL modem cable.
2. Issue the following commands to the Master receiver:
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
INTERFACEMODE COM2 NOVATEL RTCA OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 RTCAOBS3 ONTIME 0.1
LOG COM2 RTCAREFEXT ONTIME 0.1
SAVECONFIG
3. Issue the following commands to the Rover receiver:
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
SERIALCONFIG COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXT2B ONNEW
SAVECONFIG
INTERFACEMODE COM2 RTCA NOVATEL OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXTB ONNEW
SAVECONFIG
4. To access heading data, ALIGN logs can be logged at either the ALIGN Master or Rover receiver.
Manual Configuration through Ethernet:
Many customers use Ethernet due to the fact that one physical connection provides three high speed ports.
This section will go through the steps that are needed in order to setup ALIGN through Ethernet. Please
note the ALIGNAUTOMATION command does not work with an Ethernet connection.
1. Connect your computer to both Master and Rover receivers using null modem serial cables or USB
cables.
2. Establish a connection to both Master and Rover receivers using either NovAtel Connect or another
terminal program such as Windows HyperTerminal. This connection is used to send the commands
to the receivers.
3. Establish an Ethernet connection on both Master and Rover receivers.
I. Dynamic IP Address Configuration
- Connect the Ethernet port of the Master and Rover receivers to the DHCCP server using two
patch cables.
- Enable the Ethernet port by entering the following command on both the Master and Rover
receivers:
ETHCONFIG ETHA AUTO AUTO AUTO NORMAL
- Obtain the IP address assigned to the Master receiver by the DHCP server through the
command shown below. Make a note of the IP address returned with this log as it will be used
later on. This is only done at the Master.
LOG IPSTATUS ONCE
- Confirm that DHCP is enabled by entering the following command. This is done at both the
Master and Rover receivers.
LOG IPCONFIG ONCE
- Assign the TCP/IP port number by entering the command below. This is only done at the
Master.
ICOMCONFIG ICOM1 TCP :3001
- Confirm the port number assigned to the Master‟s ICOM1 by entering the following
command at the Master.
LOG ICOMCONFIG ONCE
II. Static IP Address Configuration
- Connect the Ethernet port of the Master receiver with the Ethernet port of the Rover receiver
using a cross-over cable.
- Enable the Ethernet port by entering the following command on both the Master and Rover
receivers:
ETHCONFIG ETHA AUTO AUTO AUTO AUTO
- Assign the TCP/IP port number by entering the command below. This is done only at the
Master receiver.
ICOMCONFIG ICOM1 TCP :3001
- Assign the receiver IP address, subnet mask, and default gateway of the Master by entering
the following at the Master receiver:
IPCONFIG ETHA STATIC 192.168.74.10 255.255.255.0 192.168.74.1
- Assign the receiver IP address, subnet mask, and default gateway of the Rover by entering the
following at the Rover receiver:
IPCONFIG ETHA STATIC 192.168.74.15 255.255.255.0 192.168.74.1
- Confirm TCP/IP configuration by entering the following command. This is done at both the
Master and Rover receivers.
LOG IPCONFIG ONCE
4. Send the following commands to the Master receiver. Recall that manual ALIGN configuration can
be done either through NOVATELX or RTCA message protocols.
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
LOG ICOM1 NOVATELXOBS ONTIME 0.1
LOG ICOM1 NOVATELXREF ONTIME 0.1
SAVECONFIG
MOVINGBASESTATION ENABLE
INTERFACEMODE ICOM1 NOVATEL RTCA OFF
LOG ICOM1 RTCAOBS3 ONTIME 0.1
LOG ICOM1 RTCAREFEXT ONTIME 0.1
SAVECONFIG
5. Send the following commands to the Rover receiver. Recall that manual ALIGN configuration can
be done either through NOVATELX or RTCA message protocols.
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
ICOMCONFIG ICOM1 TCP <Master I.P address>:<Master port #>
LOG ICOM1 HEADINGEXT2B ONNEW
SAVECONFIG
ICOMCONFIG ICOM1 TCP <Master I.P address>:<Master port #>
INTERFACEMODE ICOM1 RTCA NOVATEL OFF
LOG ICOM1 HEADINGEXTB ONNEW
SAVECONFIG
3.1.2 Using ALIGN with SPAN
Please ignore this section if you are not using ALIGN with SPAN INS.
ALIGN configuration when using SPAN is done automatically in the background provided both primary
and secondary lever arm has been issued and that the ALIGN rover is connected to the SPAN receiver via
serial COM ports. Please refer to the DUALANTENNAPORTCONFIG command in the SPAN firmware
reference manual as it specifies the serial COM port from which the SPAN receiver expects connectivity
with the ALIGN receiver.
There is one use case that requires further user input and that is if the SPAN and ALIGN rover receivers
are connected via Ethernet. If so, please do as follows:
i. Setup ALIGN manually using the static IP configuration shown in the previous section.
ii. Send the following command at the rover: SETROVERID DUAL. Please note the field
“DUAL” is case sensitive.
To confirm ALIGN is working and that the heading is being fed into SPAN:
i. Send the LOG HEADING command in the SPAN receiver. If nothing is output then
something is wrong with the ALIGN configuration.
ii. Once the SPAN system is configured and has completed alignment (SPAN initialization), the
log INSUPDATE can be used to confirm SPAN is using the ALIGN heading. If so, the last
field should indicate ACTIVE/USED such as in the example below:
INSUPDATE SPECIAL 0 48.0 FINESTEERING 1701 156566.000 00004000 6f07 10883
SINGLE 0 12 0 FALSE INACTIVE USED
Note that in order for the heading to be fed into the INS the following conditions must be met:
a. SETROVERID is set to DUAL
b. RTK status in HEADING log (third to last field) is set to RTK verified „01‟
These conditions are important as it is entirely possible to be producing new HEADING logs but they are
not being used by the INS filter. Confirmation is done through the LOG INSUPDATE message indicated
earlier.
3.2 Use Case 2: Master and Rover Receivers on Separate Moving
Platforms
This use case requires one Master and one Rover receiver. Figure illustrates the Master receiver on the
vessel and the Rover receiver located on the fighter jet. Relative heading, pitch, baseline length, and Rover
positions are computed with respect to the Master receiver.
Figure 3: Heading from two receivers on separate platforms
There are two possible ways to set up this use case. One is to take advantage of ALIGN‟s plug and play
functionality and another requires manual receiver configuration.
Plug and Play with Wireless Data Link:
1. Configure the wireless data links for two-way communication, using the same baud rate (i.e. 230400
bps).
2. Connect one wireless data link to an available COM port on the Master receiver.
3. Configure the Master receiver‟s COM port to communicate at the same baud rate as the wireless
data link using the COM command:
COM COM2 230400 N 8 1 N OFF ON
4. Connect the other wireless data link to COM2 of the Rover receiver.
5. Initiate ALIGN from the Rover receiver by entering the following command:
ALIGNAUTOMATION ENABLE COM2 230400
Manual Configuration with Wireless Data Link:
1. Configure the wireless data links for two-way communication, using the same baud rate (230400
bps for this example).
2. Connect one wireless data link to an available COM port on the Master receiver (e.g. COM2).
3. Configure the Master receiver to output NOVATELX or RTCA corrections at the same baud rate as
the wireless data link:
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
INTERFACEMODE COM2 NOVATEL RTCA OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 RTCAOBS3 ONTIME 0.1
LOG COM2 RTCAREFEXT ONTIME 0.1
SAVECONFIG
4. Connect the other wireless data link to an available COM port (e.g., COM2) on the Rover receiver.
5. Configure the COM port (COM2 in this example) of the Rover receiver to receive corrections and
output heading information at the same baud rate as the wireless data link:
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
SERIALCONFIG COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXT2B ONNEW
SAVECONFIG
INTERFACEMODE COM2 RTCA NOVATEL OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXTB ONNEW
SAVECONFIG
6. To access heading and relative positioning data, ALIGN logs can be logged at either the ALIGN
Master or Rover receiver.
3.3 Use Case 3: Daisy-Chain ALIGN setup
This use case illustrates multiple Master and Rover receivers in a daisy chain type setup. There is one
main Master receiver on one platform as a moving reference, with multiple Rovers setup on other
platforms. Each Rover can act as the Master receiver for the next Rover receiver by transmitting ALIGN
corrections to the next receiver.
Figure 4 illustrates the main Master receiver on a seismic research vessel. The Rover receivers are located
on a series of buoys, with each Rover receiver acting as a Master for the next receiver. Relative heading
and pitch are computed with respect to its linking Master receiver.
Figure 4: Use Case #3 – Daisy-Chain ALIGN setup
Plug and Play with Wireless Data Link:
1. Configure the wireless data links between each Master and Rover pair for two-way communication,
using the same baud rate (230400 bps for this example).
2. Connect one wireless data link to an available COM port (e.g. COM2) on the first Master receiver.
3. Configure the Master receiver COM port to communicate at the same baud rate as the wireless data
link using the COM command:
COM COM2 230400
4. Connect the other wireless data link to COM2 of the Rover receiver.
5. Initiate ALIGN by entering the following command to the Rover receiver:
ALIGNAUTOMATION ENABLE COM2 230400 10 OFF
6. Configure COM1 of the Rover receiver to send corrections to the next Rover receiver. Connect a
wireless data link to COM1 and configure COM1 to communicate at the same baud rate as the
wireless data link using the COM command:
COM COM1 230400
7. Connect the other wireless data link to COM2 of the next Rover receiver.
8. Repeat steps 5 to 7 using the appropriate COM ports until all receivers have been configured
9. To access heading and relative positioning data, ALIGN logs must be logged at each ALIGN Rover.
Manual Configuration with Wireless Data Link:
1. Configure the wireless data links between each Master and Rover pair for two-way communication,
using the same baud rate (230400 bps for this example).
2. Connect one wireless data link to an available COM port (i.e., COM2) on the first Master receiver.
3. Configure the Master receiver COM port to output corrections at the same baud rate as the wireless
data link:
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
INTERFACEMODE COM2 NOVATEL RTCA OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 RTCAOBS3 ONTIME 0.1
LOG COM2 RTCAREFEXT ONTIME 0.1
SAVECONFIG
4. Connect the other wireless data link to COM2 of the Rover receiver.
5. Configure COM2 of the Rover receiver to receive corrections at the same baud rate as the wireless
data link:
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
SERIALCONFIG COM2 230400 N 8 1 N OFF ON
SAVECONFIG
INTERFACEMODE COM2 RTCA NOVATEL OFF
COM COM2 230400 N 8 1 N OFF ON
SAVECONFIG
6. Configure COM1 of the Rover receiver to send corrections to the next Rover receiver. Connect a
wireless data link to COM1.
7. Set the Rover‟s COM1 to output corrections at the same baud rate as the wireless data link:
8. Configure COM2 of the next Rover receiver to receive corrections as described in steps 4 and 5.
9. Repeat steps 4 to 8 using the appropriate COM ports until all receivers have been configured
10. To access heading data, ALIGN logs must be logged at each ALIGN Rover.
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
SERIALCONFIG COM2 230400 N 8 1 N OFF ON
LOG COM1 NOVATELXOBS ONTIME 0.1
LOG COM1 NOVATELXREF ONTIME 0.1
SAVECONFIG
MOVINGBASESTATION ENABLE
INTERFACEMODE COM1 NOVATEL RTCA OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM1 RTCAOBS3 ONTIME 0.1
LOG COM1 RTCAREFEXT ONTIME 0.1
SAVECONFIG
3.4 Use Case #4: Single Master with Multiple Rovers ALIGN setup
(ALIGN Relative Positioning)
This use case demonstrates one ALIGN Master and multiple Rover receivers. There is one main Master
receiver set up on one platform as a moving reference, with multiple Rovers set up on other platforms.
Figure 4 illustrates the main Master receiver on a seismic research vessel. The Rover receivers are located
on a series of buoys. Relative heading, pitch, baseline length and Rover positions are computed with
respect to the Master receiver.
Figure 5: Single Master with Multiple Rovers ALIGN Setup
Manual Configuration with Wireless Data Link:
1. Configure the wireless data links for two-way communication, using the same baud rate (e.g.
230400 bps).
2. Connect one wireless data link to an available COM port on the Master receiver (e.g. COM2).
3. Configure the Master receiver to output corrections at the same baud rate as the wireless data link:
RTCA (OEM6 and OEMV)
MOVINGBASESTATION ENABLE
INTERFACEMODE COM2 NOVATEL RTCA OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 RTCAOBS3 ONTIME 0.1
LOG COM2 RTCAREFEXT ONTIME 0.1
SAVECONFIG
4. Connect the other wireless data link to an available COM port on the Rover receiver.
5. Configure Rover receiver to receive corrections and output heading information at the same baud
rate as the wireless data link:
NOVATELX (OEM6 only)
RTCA (OEM6 and OEMV)
SERIALCONFIG COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXT2B ONNEW
SAVECONFIG
INTERFACEMODE COM2 RTCA NOVATEL OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGEXTB ONNEW
SAVECONFIG
6. Repeat steps 4 and 5 until all Rover receivers are configured.
7. To access heading and relative positioning data, ALIGN logs can be logged at each ALIGN Rover,
or alternatively, data for all Rovers can be accessed at the Master receiver.
3.5 Use Case #5: Star Configuration
This case demonstrates one ALIGN Master setup between two Rover receivers. Only the Master receiver
has to maintain a connection with the computer throughout data collection.
Figure 6 illustrates the Master receiver and Rover1 receiver on a back of the truck and Rover2 receiver on
the front part of the truck. Relative heading, pitch, and rover positions are computed with respect to the
Master.
In the example shown in Figure 7, Rover1 is connected to the Master through COM1 while Rover2 is
connected to the Master through COM2. COM2 of Rover1 and COM1 of Rover2 are only used initially to
setup the rovers through the computer. The Master receiver is connected to the computer via USB port
(can also be Ethernet).
Figure 6: ALIGN Star Configuration Scenario
Rover 1
Receiver
Master Receiver
Rover 2
Receiver
Figure 7: ALIGN Star Configuration Setup Example
Star Align Setup and Configuration:
This example is applicable for OEM 6 receivers.
1. Establish communication with the Master receiver (via USB port or Ethernet).
2. Establish communication with the Rover1 receiver (via COM2).
3. Establish communication with the Rover2 receiver (via COM1).
4. Connect the Rover1 receiver to the Master receiver using COM 1 port.
5. Connect the Rover2 receiver to the Master receiver using COM2 port.
6. Issue the following commands to the Master:
MOVINGBASESTATION ENABLE
INTERFACEMODE COM1 NOVATEL RTCA OFF
INTERFACEMODE COM2 NOVATEL NOVATELX OFF
COM COM1 230400 N 8 1 N OFF ON
COM COM2 230400 N 8 1 N OFF ON
LOG COM1 RTCAOBS3 ONTIME 0.1
LOG COM1 RTCAREFEXT ONTIME 0.1
LOG COM2NOVATELXOBS ONTIME 0.1
LOG COM2 NOVATELXREF ONTIME 0.1
SAVECONFIG
7. Issue the following commands to Rover1:
INTERFACEMODE COM1 RTCA NOVATEL OFF
COM COM1 230400 N 8 1 OFF ON
LOG COM1 HEADINGA ONCHANGED
SAVECONFIG
8. Issue the following commands to the Master. The heading from Rover1 should be received at the
computer at this point.
LOG PASSCOM1A ONCHANGED
SAVECONFIG
9. Issue the following commands to Rover2:
INTERFACEMODE COM2 NOVATELX NOVATEL OFF
COM COM2 230400 N 8 1 N OFF ON
LOG COM2 HEADINGA ONCHANGED
SAVECONFIG
10. Issue the following commands to the Master. The heading from Rover2 should be received at the
computer at this point.
LOG PASSCOM2A ONCHANGED
SAVECONFIG
A: Model Compatibility Chart
4
Master Receiver Model
Rover Receiver Model
Master ALIGN
Logs
Rover ALIGN
Logs
PVT Only Models
(e.g. OEM615-G1S-00G-0T0, OEM628-D2S-
00G-0T0)
Heading Only Models
(e.g.OEM615-G2S-Z00-000,
OEM628-D2S-Z00-00N)
MASTERPOS
HEADING
HEADING2
GPHDT
MASTERPOS
HEADING
HEADING2
GPHDT
ALIGNDOP
HEADINGRATE
HEADINGSATS
PVT Only Models
(e.g. OEM615-G1S-00G-0T0, OEM628-D2S-
00G-0T0)
Relative Positioning Models
(e.g. OEM615-P2S-Y0G-0T0,
OEM628-D2S-Y0G-TTN)
MASTERPOS
ROVERPOS
HEADING
HEADING2
GPHDT
ALIGNBSLNXYZ
ALIGNBSLNENU
MASTERPOS
ROVERPOS
HEADING
HEADING2
GPHDT
ALIGNBSLNXYZ
ALIGNBSLNENU
ALIGNDOP
HEADINGRATE
HEADINGSATS
RANGE
*
Heading Only Models (Daisy Chain Use Case)
(e.g.OEM615-G2S-Z00-000,
OEM628-D2S-Z00-00N)
Heading Only Models
(e.g.OEM615-G2S-Z00-000,
OEM628-D2S-Z00-00N)
HEADING
HEADING2
GPHDT
HEADING,
HEADING2,
GPHDT,
ALIGNDOP
HEADINGRATE
HEADINGSATS
Heading Only Models (Daisy Chain Use Case)
(e.g.OEM615-G2S-Z00-000,
OEM628-D2S-Z00-00N)
Relative Positioning Models
(e.g. OEM615-P2S-Y0G-0T0,
OEM628-D2S-Y0G-TTN)
HEADING
HEADING2
GPHDT
HEADING
HEADING2
GPHDT
ALIGNBSLNXYZ
ALIGNDOP
HEADINGRATE
RANGE
*
HEADINGSATS
Raw data Models
(e.g. OEM615-G2S-BPR-TT0, OEM628-D2L-
RPR-TTN, OEM638-G5J-B0R-TTN)
Heading Only Models
(e.g.OEM615-G2S-Z00-000,
OEM628-D2S-Z00-00N)
MASTERPOS
HEADING
HEADING2
GPHDT
RANGE
MASTERPOS
HEADING
HEADING2
GPHDT
ALIGNDOP
HEADINGRATE
HEADINGSATS
Raw data Models
(e.g. OEM615-G2S-BPR-TT0, OEM628-D2L-
RPR-TTN, OEM638-G5J-B0R-TTN)
Relative Positioning Models
(e.g. OEM615-P2S-Y0G-0T0,
OEM628-D2S-Y0G-TTN)
MASTERPOS
HEADING
HEADING2
GPHDT
RANGE
MASTERPOS
ROVERPOS
HEADING
HEADING2
GPHDT
ALIGNBSLNXYZ
ALIGNBSLNENU
ALIGNDOP
HEADINGRATE
RANGE*
HEADINGSATS
4
See Appendix B for link to receiver model configurations
*
Available with raw data models
B: Receiver Model Configuration Descriptions
Refer to NovAtel product model list for complete list of ALIGN capable receivers and models. The last
page of the model list document contains the possible receiver model configuration descriptions.
C: Dual Antenna Products
Dual antenna products such as the SPAN-SE-D, ProPak-6-D, OEM-617D, and FLEXPAK-6D are
hardware preconfigured for ALIGN heading. No additional user input is required. Additional setup and
equipment will be required if these systems are used in multiple platform applications (e.g. daisy chain use
case, master and rover on separate moving platform use case, and single master with multiple rovers use
case).
Final Points
If you require any further information regarding the topics covered within this application, contact:
NovAtel Customer Service
1120 – 68 Ave. N.E.
Calgary, Alberta, Canada, T2E 8S5
Phone: 1-800-NOVATEL (in Canada or the U.S.) or +1-403-295-4500
Fax: 403-295-4501
E-mail: support@novatel.com
Website: www.novatel.com