APN-071 Rev A
FlexPak6D™ /OEM617D™
Application Note
Page | 1 October 28, 2015
APN-071 Rev A
1 Overview
This application note provides an overview of the different models available on NovAtel’s OEM617D and
FlexPak6D receiver. These receiver platforms offer dual antenna ALIGN
®
heading functionality combined
with NovAtel CORRECT™ dual frequency RTK for precise positioning and heading information in one
form factor. Model descriptions, hardware set-up, and various use cases will be discussed.
2 Models
The FlexPak6D/OEM617D can support multi-constellation ALIGN and RTK applications. Data output
rates are limited based on the constellations being used by the receiver. These limitations are as follows:
Constellation Max Data Rate
GPS
20 Hz
GPS+GLONASS
20 Hz
GPS+BEIDOU
10 Hz
GPS+BEIDOU+GLONASS
5 Hz
There are four different firmware model designators available on the FlexPak6D/OEM617D:
Model
Position Output Measurement Output
Primary
Antenna
Secondary
Antenna
Primary
Antenna
Secondary
Antenna
‘W’
Yes No Yes Yes
‘X’
Yes No No No
‘Y’
Yes Yes Yes Yes
‘Z’
Yes No No No
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3 Model Use Cases
1. ‘W’ Model – RTK positions, Heading, and Raw Measurements: provides RTK positions and
measurements at the Primary Antenna, heading and pitch measurements referenced to the
Secondary Antenna, and raw measurements at the Secondary Antenna. The ‘W’ model can act as a
NovAtel CORRECT with RTK Base or Rover receiver.
The following ALIGN logs are available at any free port:
Log Description Output
HEADING
HEADING2
Heading and pitch information referenced
from Primary to Secondary Antenna
Primary Antenna
GPHDT
NMEA heading log
Primary Antenna
ALIGNDOP
DOP of heading computation
Primary Antenna
TRACKSTAT_1
RANGE_1
RANGECMP_1
RANGECMP2_1
Satellite tracking and range logs
Secondary Antenna
LOG TRACKSTAT_1
LOG RANGE_1
LOG RANGECMP_1
LOG RANGECMP2_1
LOG HEADING
LOG HEADING2
LOG RTKPOS
LOG RANGE
LOG RAWEPHEMB
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APN-071 Rev A
2. ‘X’ Model – RTK Positions and Heading: provides RTK positions only at the Primary Antenna, and
heading and pitch measurements referenced to the Secondary Antenna. There is no position or
measurement data available at the Secondary Antenna. The ‘X’ model can act as a NovAtel Correct
with RTK Rover receiver only.
The following ALIGN logs are available on any free port:
Log Description Output
HEADING
HEADING2
Heading and pitch information referenced
from Primary to Secondary Antenna
Primary Antenna
GPHDT
NMEA heading log
Primary Antenna
ALIGNDOP
DOP of heading computation
Primary Antenna
LOG HEADING
LOG HEADING2
LOG RTKPOS
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APN-071 Rev A
3. ‘Y’ Model – RTK positions, ALIGN Relative Positioning/Heading, and Raw Measurements:
provides heading and pitch measurements referenced to the Secondary Antenna, heading and pitch
measurements referenced to the external ALIGN Master, precise relative positioning, and relative
baseline information.
The following ALIGN logs are available at any free port:
Log Description Output
MASTERPOS
Position of ALIGN Master
Primary Antenna
ROVERPOS
Position at the Primary Antenna relative to
ALIGN Master
Primary Antenna
ALIGNBSLNXYZ
XYZ baseline between ALIGN Master and
Primary Antenna
Primary Antenna
ALIGNBSLENU
Easting, Northing, Up baseline between
ALIGN Master and Primary Antenna
Primary Antenna
HEADING
HEADING2
Heading and pitch information referenced
from Primary to Secondary Antenna
Primary Antenna
Heading and pitch information referenced
from ALIGN Master to Primary Antenna
Primary Antenna
GPHDT
NMEA heading log
Primary Antenna
ALIGNDOP
DOP of heading computation
Primary Antenna
RTK Base Station
(
ALIGN MASTER
)
Primary Antenna
Secondary Antenna
LOG HEADING
LOG HEADING2
North
North
LOG TRACKSTAT_1
LOG RANGE_1
LOG RANGECMP_1
LOG RANGECMP2_1
Correction Data
LOG MASTERPOS (ALIGN MASTER coordinates)
LOG ROVERPOS
(relative Primary Antenna coordinates)
LOG ALIGNBSLNXYZ
(ALIGN MASTER-Primary Antenna bsln.)
LOG ALIGNBSLNENU (ALIGN MASTER-Primary Antenna bsln.)
LOG HEADING
LOG HEADING2
External ALIGN
OEM617D Internal
ALIGN
Page | 5 October 28, 2015
APN-071 Rev A
TRACKSTAT_1
RANGE_1
RANGECMP_1
RANGECMP2_1
Satellite tracking and range logs
Secondary Antenna
4. ‘Z’ Model – Heading: provides Single point or WAAS positions at the Primary Antenna, heading and
pitch measurements referenced from Primary to Secondary Antenna, and heading and pitch
measurements referenced to an ALIGN Master receiver. There is no position or measurement data
available at the Secondary Antenna.
The following ALIGN logs are available at any free port:
Log Description Output
MASTERPOS
Position of ALIGN Master
Primary Antenna
HEADING
HEADING2
Heading and pitch information referenced
from Primary to Secondary Antenna
Primary Antenna
Heading and pitch information referenced
from ALIGN Master to Primary Antenna
Primary Antenna
GPHDT
NMEA heading log
Primary Antenna
ALIGNDOP
DOP of heading computation
Primary Antenna
RTK Base Station
(
ALIGN MASTER
)
Primary Antenna
Secondary Antenna
LOG HEADING
LOG HEADING2
North
North
Correction Data
LOG MASTERPOS (ALIGN MASTER coordinates)
LOG PSRPOS
LOG HEADING
LOG HEADING2
External ALIGN
OEM617D Internal
ALIGN
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APN-071 Rev A
4 Commands and Logs
Command/Log Description
DUALANTENNAALIGN Configure the ALIGN operation rates
ALIGNAUTOMATION
Configure the ALIGN plug and play feature. This command
should only be issued at the ALIGN Rover
GENERATEALIGNCORRECTIONS Configure the ALIGN Master receiver
SETROVERID
Sets the Rover ID output in ROVERPOS, HEADING2,
ALIGNBSLNXYZ and ALIGNBSLNENU logs
DGPSTXID Sets receiver station ID
ALIGNBSLNENU
Outputs Easting, Northing, Up baseline between ALIGN
Master and Primary Antenna
ALIGNBSLNXYZ
Outputs XYZ baseline between ALIGN Master and Primary
Antenna
MASTERPOS Outputs ALIGN Master position
ROVERPOS Outputs ALIGN Rover position
HEADING
Outputs the pitch and angle from True North of the base to
rover vector in a clockwise direction
HEADING2
Outputs the pitch and angle from True North of the base to
rover vector in a clockwise direction with an additional
Rover ID field
GPHDT NMEA heading log
ALIGNDOP DOP of heading computation
Page | 7 October 28, 2015
