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Novatel OM-20000149 manuel d'utilisation

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Table des matières du manuel d’utilisation

  • Page 1

    AG-STAR User Manual OM-20000149 Rev 2 December 2013[...]

  • Page 2

    AG-ST AR User Manual Rev 2 2 AG-ST AR User Manual Publication Number: OM-20000149 Revision Level: 2 Revision Date: December 2013 W arranty NovAtel Inc. warrants that its GNSS product s are free from defect s in materials and workmanship, subjec t to the conditio ns set forth on our we b site: www .novate l.com/product s/warranty/ and for the follow[...]

  • Page 3

    AG-ST AR User Manual Rev 2 3 T able of Contents Notice 7 Customer Support 9 1 Introduction 10 1.1 Models and Features ............ .............. ........... .............. .............. ........... .............. .............. ............ .............. ......10 1.2 Scope ............. ........... .............. .............. .............. ..[...]

  • Page 4

    T able of Contents AG-ST AR User Manual Rev 2 4 A Technical Specifications 42 A.1 AG-STAR Receive r Performance .......... ........... .............. .............. .............. ........... .............. ....... ..... .............. ...42 A.2 AG-STAR Specifications ....................... .............. .............. .............. ............[...]

  • Page 5

    AG-ST AR User Manual Rev 2 5 Figur es 1 AG-STAR Receiver ..... .............. ........... .............. .............. .............. ......................... ............ ............. ............ ...10 2 AG-STAR Connector ................ .............. .............. .............. ........... .............. .............. ........... .......[...]

  • Page 6

    AG-ST AR User Manual Rev 2 6 Ta b l e s 1 AG-STAR Models ...................... ........... .............. .............. .............. ......................... ............ ........... .............. ...10 2 AG-STAR Connector Pin-Out ..... .............. ............ .............. ......................... ........... .............. ...........[...]

  • Page 7

    AG-ST AR User Manual Rev 2 7 Notice The following notices apply to the AG-ST AR. FCC Notices This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device m ay not caus e harmfu l interferen ce, and (2 ) this device must accept any interference received, including interference that may ca [...]

  • Page 8

    Notice AG-ST AR User Manual Rev 2 8 CE The enclos ures carry t he CE mar k. "Hereby , NovAtel Inc. declares that this AG-ST AR is in compliance with the essential requirement s and other relevant provisions of the R&TTE Directive 1999/5/ EC, EMC Directive 2004 /108/EC and the RoHS Recast Directive 2011/65/EU." WEEE If you purchased yo[...]

  • Page 9

    AG-ST AR User Manual Rev 2 9 Customer Support NovAtel Knowledge Base If you have a technical issue, brow se to the NovAtel Web site at www .novatel.com then select Support | Helpdesk and Solutions | Knowledge and Forum s . Through this page, yo u can search for information ab out SMART ® antenna s and other technologies, info rmation about NovAtel[...]

  • Page 10

    AG-ST AR User Manual Rev 2 10 Chapter 1 Intr oduction The AG-ST AR is a high-performance GNSS receiver and an tenna, capable of receiving and tracking diff erent combinations of GPS L1 and GL ONASS L1 code and carrier signals on a maximum of 14 channels. SBAS (Satellite Based Augmentation System s) support, which includes W AAS, EGNOS, and MSAS, is[...]

  • Page 11

    Introduction Chapter 1 AG-ST AR User Manual Rev 2 11 1.2 Scope This manual co ntains in formation a bout the insta llation and operation of the AG-ST AR system. It is beyond the scope o f this manual to provide d etails on servic e or repair . Contact your local NovAtel dealer for any customer-service related inquiries. An AG-ST AR system requires [...]

  • Page 12

    AG-ST AR User Manual Rev 2 12 Chapter 2 Installation and Setup This chapter contains instructions and tips to set up your AG-ST A R to create a GNSS receiver system. 2.1 Additional Equipment Requir ed In order for the receiver to perform o ptimally , the following additional equipment is required: • A cable harness for powerin g and communicating[...]

  • Page 13

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 13 4. Connect the NovAtel or custom ca ble to the power supply and turn on the powe r supply . The power LED on the receiver glows red when the AG-ST AR is properly powered. Figure 3: Simplified AG-ST AR Setup 2.1.2 Power Supply Requirements The AG-ST AR requires +8 to +36 VDC for the inpu[...]

  • Page 14

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 14 2.1.3 Mounting Plate T wo mounting plates are available to facilitate mounti ng the receiver: a surface mounting plate and a pole mounting plate. Figur e 4: AG-ST AR Surface Mounting Plate (01018317)  T o install the surface m ounting pl ate provid ed with the AG-ST AR Development Ki[...]

  • Page 15

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 15 Figur e 5: AG-ST AR Pole Mounting Plate (01019 142)  T o inst all the pole mounting plate: 1. Use four M4 screws to connect the mounting plate to th e AG-ST AR. 2. Screw the mounting p late onto a mount, such as a range pole, tribrach, or tripod, with a 1" x 14 thread. A 5/8” [...]

  • Page 16

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 16 2.1.4 Mounting the AG-ST AR Mount the AG-ST AR on a secure, stable structur e capabl e of safe operation in the specific environ ment. • If installing on a vehicle, mount the AG-ST AR on the vehicle roof, ideally close to the pivot point of the vehicle. The AG-ST AR must be mounted wi[...]

  • Page 17

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 17 2.2 Additional Featur es and Information This section contains information on the additional f eatures of the AG-ST AR, which may affect the overa ll design of your receiver system. 2.2.1 Status Indicators LED indicat ors on the AG- ST AR provide the s tatus of the re ceiver . T able 3,[...]

  • Page 18

    Installation and Setup Chapter 2 AG-ST AR User Manual Rev 2 18 2.2.2 MKI and PPS Strobes The Mark Input (MKI) and Pulse Per Second (PPS) strobes pr ovide status and synchr onization signals. PPS is a 3.3V CMOS output; MKI is a 5V logic tolerant input. For more information about the PPS and MKI signals, see Section A.2, AG-ST AR Specifications on pa[...]

  • Page 19

    AG-ST AR User Manual Rev 2 19 Chapter 3 Operation Before oper ating the A G-ST AR for the first time, ensu re that you h ave followed th e installation instru ctions in Chapter 2, Insta llation and Setup on p age 12 . It is assumed t hat a comp uter is us ed during in itial operation and testing for greate r ease and versatility . 3.1 Communication[...]

  • Page 20

    Operation Chapter 3 AG-ST AR User Manual Rev 2 20 3.1.3 Communicating Using a Computer A computer can be set up to emulat e a remote terminal as well as prov ide the added flexibility of creating multiple command batch file s and dat a logging storage files. Any standa rd communi cations software p ackage that emulates a terminal can be used to est[...]

  • Page 21

    Operation Chapter 3 AG-ST AR User Manual Rev 2 21 Any of these prompt s indicate that the rece iver is ready and wait ing for command input. Commands are typed at the interfacing compu ting devi ce ’s keyboard and executed af ter sending a carriage return character which is usually the same as pressing the <Enter> key . An example of a resp[...]

  • Page 22

    Operation Chapter 3 AG-ST AR User Manual Rev 2 22 Figure 8: Basic Dif fer ential Setup Reference Description 1 AG-ST AR receiver 2 User-supplied 5A fa st blow fuse 3 User-supplied power supply , for example a battery 4 User-supplied device to COM1 5 User-supplied radio device to COM2 6 User-supplied computer , for setting up and monitoring, to COM1[...]

  • Page 23

    Operation Chapter 3 AG-ST AR User Manual Rev 2 23 3.4.1 Base Station Configuration At the base station, enter the following comm ands: COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses] fix position latitude longitude height log port message [trigger [period]] Examples of these command[...]

  • Page 24

    Operation Chapter 3 AG-ST AR User Manual Rev 2 24 3.4.2 Rover Station Configuration At the rover station, en ter: COM [port] bps [parity[databits[stopbits[handshake[echo[break]]]]]] interfacemode port rx_type tx_type [responses] For example: RTCA com com2 115200 N 8 1 N off interfacemode com2 rtca none off RTCM com com2 115200 N 8 1 N off interface[...]

  • Page 25

    Operation Chapter 3 AG-ST AR User Manual Rev 2 25 3.4.4 Configuration Notes For compatibili ty with other GNSS receivers, and to mi nimize message size, it is recommended that you use the standard for m of RTCA, RTCM, R TCMV3 or CMR corrections as shown in the previous base and rover examples. T his requires u sing the INT ERF ACEMODE c omma nd to [...]

  • Page 26

    Operation Chapter 3 AG-ST AR User Manual Rev 2 26 Refer to the NovAtel white papers at www .novatel.com/support/search/items/White%20Paper for mo re information on GLIDE . Refer also to applica tion note “APN-038 Pseudorange/Delt a-Phase (PDP) and GLIDE Filters” at www .novatel.com/suppo rt/search/items/Application%2 0Note . 3.6 Emulated Radar [...]

  • Page 27

    AG-ST AR User Manual Rev 2 27 Chapter 4 Bluetooth Configuration Bluetooth is a wireless radio communication st andard desig ned for use over short r ang es (within 10 m). This chapter descr ibes how to use the Blue tooth interfa ce on the AG-ST AR. 4.1 Bluetooth Wir eless T echnology on the AG-ST AR r eceiver Bluetooth wireless technology is config[...]

  • Page 28

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 28 Figure 10 : Bluetooth Devices Window 3. On the Bl uetooth Devic es window , click the Add a device button. The Add a device window appears. The computer search es for any Bluetooth device in ran ge and displays the devices found on the window , see Figure 1 1 on page 28. Figur e 11: Ad[...]

  • Page 29

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 29 4. Select the AG-ST AR system and click the Next button. The Select a pairing option window appear s, see Figure 12 on page 29. Figure 12: Add a device - Select a pair ing option 5. Click the Enter the device’s p a iring code button. The Enter the pairing co de for the device window [...]

  • Page 30

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 30 Figure 14: Bluetooth Link Ser ial Port Figure 15 : Add a device - Successful 4.3 Determining the Bl uetooth Serial Port T o dete rmine the serial port associa t ed with the Bluetooth link to the AG-ST AR: 1. Double-click the Bluetooth icon in the notification area, see Figure 16, Bluet[...]

  • Page 31

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 31 Figure 17 : Bluetooth Devices Window 2. In the Blue tooth Devic es window , right-click the AG-ST AR device and select Properties , see Figure 18 on page 32. The Properties window for the AG-ST AR appears, see Figure 19 on p ag e 32.[...]

  • Page 32

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 32 Figure 18: Blu etooth Devices Window - Device Menu Figure 19 : Bluetooth Devices Window - Properties[...]

  • Page 33

    Bluetooth Configuration Chapter 4 AG-ST AR User Manual Rev 2 33 3. Click the Services tab. The Services t ab displays the serial port information about the Blueto oth link to the AG-ST AR. S ee Figure 20 on p age 33. Figure 20: Pr operties - Services T ab 4.4 Communicate with the AG-ST AR Us ing Bluetooth Wir eless T echnology 1. Open a terminal p [...]

  • Page 34

    AG-ST AR User Manual Rev 2 34 Chapter 5 NovAtel Firmwar e and Softwar e Download the most recent ve rsions of the NovAtel firmware and rece iver software from the NovAtel website at www .novatel .com/su pport/sear c h/ . AG-ST AR Firmware and Software NovAtel Connect PC Utilities Software Bundle Bundled PC Utilities software includes: • NovAtel C[...]

  • Page 35

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 35 5.1.2 Model Upgrades Model upgrades e nable purchased receiver features. Contact a local NovAtel dealer to assi st in selecting the upgrade options that best suit your GNSS needs at www .novatel.com/where-to-buy . Contact NovAte l Customer Support or NovAtel Sales to request a te[...]

  • Page 36

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 36 5.3 Updating or Upgrading Using the WinLoad Utility WinLoad is the simplest and most common wa y to up date or upgrade an AG-ST AR receiver . 5.3.1 T ransfe rring Firmwa re File s T o procee d with an update or possibly an upgrade, obt a in the latest version of firmware from the[...]

  • Page 37

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 37 AG-ST AR Application Software The AG-ST AR receiver has two types of software l oaded, the OEM6 firmware and the AG-ST AR Application Software. The OEM6 firmware provides the featur es th at are commo n to all OEM6 receivers. The App lication Software provide s the special featur[...]

  • Page 38

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 38 Figure 23: COM Port Setup 5.3.2.3 Downl oading Firmwa re 1. Select the file to download according to Section 5.3.2.1, Open a File to Download on page 37. 2. Ensure the file path and na me are displayed in main display ar ea (see Figure 22, Open File in Wi nLoad on page 37). 3. Cl[...]

  • Page 39

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 39 5.4 Updating using SoftLoad Commands Use SoftLoad to upd ate a receiver . 1. Open a connection to any por t on the receiver . 2. Request the SOFTLOADST A TUSA log using the followin g command: LOG SOFTLOADSTATUSA ONCHANGED . 3. Initialize SoftLoad with a SOFTLOADRESET command. Th[...]

  • Page 40

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 40 5.4.1 W orking with S-Records • Records beginning with S0, S5 and S7 should be p assed to the receiver directly using the SOFTLOADSREC command. These r ecords cont ain meta dat a about the firmware image. • Records beginning with S3 fo rm the actual firmware image and can be [...]

  • Page 41

    NovAtel Firmware and Software Chapter 5 AG-ST AR User Manual Rev 2 41 3. Issue the AUTH comman d, followed by the auth-code an d model type (refer to Sect ion 5.2, Authorization Code on p age 35 for det ails on obtaining an y auth-code). The syntax is as follows: auth <your auth-code here> where auth is a command th at enables model up grades[...]

  • Page 42

    AG-ST AR User Manual Rev 2 42 Appendix A T echnical Specifications A.1 AG-ST AR Receiver Performance PERFORMANCE Channel Configurat ion 14 GPS L1 12 GPS L1 + 2 SBAS a 10 GPS L1 + 4 GLONASS L1 8 GPS L1 + 6 GLONASS L1 8 GPS L1 + 4 GLONASS L1 + 2 SBAS a 10 GPS L1 + 2 GLONASS L1 + 2 SBAS a 7 GPS L1 + 7 GLONASS L1 14 GLO L1 a. Satellite Based Augmentati[...]

  • Page 43

    AG-ST AR User Manual Rev 2 43 A.2 AG-ST AR Specifications INPUT/OUTPUT CONNECTORS AG-STAR COM/PWR +8 to +36 V DC at 2.5 W (typical while logging) a For the cable pi nouts and drawings , see Section A .2.2, AG-STAR Co mmunications/ Power Cable (0101825 6) on page 46. a. When tracking GPS satellites. Serial Com Ports RS-232 F Compliant (Rx and Tx sig[...]

  • Page 44

    AG-ST AR User Manual Rev 2 44 T able 5: AG-ST AR Strobes T able 6: AG-ST AR Input/Output Electr ical Specifications Strobes Default Behavior Input/Output Fact ory Default Comment a a. The commands and logs shown in capi tal letters (for ex ample, MARKCONTROL) are di scussed in further detail in the OEMStar Family Firmware Reference Manual. Event M [...]

  • Page 45

    AG-ST AR User Manual Rev 2 45 A.2.1 Dimensions Figure 27: AG-ST AR Dimensions  All dimension are in millimeters. Use the Unit Conversion s page found at www .novatel.com/ support/knowledge- and-learning/ for conversion to other measureme nts.[...]

  • Page 46

    AG-ST AR User Manual Rev 2 46 A.2.2 AG-ST AR Communications/Power Cable (01018256) The AG-ST AR cable that accompanies the AG-ST AR Development Kit, see Figure 28, AG-ST AR Communication/Power Cable , provides a means of supplying power from a battery while operating in the field. The exposed wires (r ed for positive and black for nega tive) can th[...]

  • Page 47

    AG-ST AR User Manual Rev 2 47 T able 7: AG-ST AR Communication/Power Cable Pinouts Signal Name J1 J2 J3 Label COM1_TXD 1 2 COM1_RXD 2 3 COM2_TXD 3 2 COM2_RXD 4 3 COM1 GND 5 5 COM2 GND 5 MKI GND MKI GND ER GND ER GND PPS GND PULSE PER SECOND GND CAN+ 6 CANI + CAN- 7 CANI - RESERVED 8 PWR RET (GND) 9 BATT - EMULATED RADAR OUT 10 ER_OUT EVENT MARK IN [...]

  • Page 48

    AG-ST AR User Manual Rev 2 48 A.2.3 AG-ST AR Connector and Cable Requirements Custom cables for installing your AG-ST AR c an be created using th e following guidelines: • Wire size: must be 0.5 mm-1.25 mm (20-16 A WG) • Batt + connection must be protected by 5A fast blow fuse • Serial data signa ls (TxD, RxD, signal ground) must be run in sh[...]

  • Page 49

    AG-ST AR User Manual Rev 2 49 Appendix B Commands The AG-ST AR firmware imp lem ents the OEMS tar family command set, documented in the OEMS tar Firmware Re ference M anual . Commonly used AG-ST AR commands are summ arized in T able 10, AG-ST AR Commands in Alphabetical Order and documented in this appendix. T able 10: AG-ST AR Commands in Alphabet[...]

  • Page 50

    AG-ST AR User Manual Rev 2 50 B.2 COM Configure COM Port This command permit s you to configure the receiver’s asynchronous se rial port communicatio ns drivers. The current COM port configuration can be reset to its default state at any tim e by sending it two ha rdware break signals of 250 millisec onds each, sp aced by fift een hundred millise[...]

  • Page 51

    AG-ST AR User Manual Rev 2 51 Field Field Type ASCII Value Binary Value Description Binary Format Binary Bytes Binary Offset 1C O M header - - This field conta ins the comman d name or the me ssage header depending on wh ether the command is abbreviated ASCII, ASCII or binary. -H 0 2 port 1 COM1 Select COM port 1 to config ure Enum 4 H 2 COM2 Selec[...]

  • Page 52

    AG-ST AR User Manual Rev 2 52 B.3 FRESET Clear Selected Data fr om NVM and Reset The OEMS tar freset comm and is extended to include AG-ST AR features. An add itional tar get field, userdata (value = 10), resets only the AG-ST AR user data NVM, thereby resetting all para meters indicated in this document as “S tored in NVM” to factory defau lts[...]

  • Page 53

    AG-ST AR User Manual Rev 2 53 B.4 LOG Request Logs fr om the Receiver Many dif ferent types of dat a can be logged using seve ral dif ferent methods of triggering the log events. Every log element can be directed to any combination of the two COM port s. The ONTIME trigger option requires the addition of the period p a rameter . See the OEMS tar Fi[...]

  • Page 54

    AG-ST AR User Manual Rev 2 54 Refer to the Command Formats section of the OEMS ta r Firmware Refere nce Manual for additional examples .  1. In NovAtel Co nnect there ar e tw o ways to initiate data logging to the re ceiver's serial ports. Y ou can either enter the LOG comma nd in the Console window , or use the interface pro- vided in the [...]

  • Page 55

    AG-ST AR User Manual Rev 2 55 T able 12: Detailed Serial Port Identifiers ASCII Port Name Hex Port Value Decimal Port Value Description NO_PORTS 0 0 No ports specified COM1 1 1 COM port 1 COM2 2 2 COM port 2 THISPORT 6 6 The current COM port ALL 8 8 All COM ports[...]

  • Page 56

    AG-ST AR User Manual Rev 2 56 B.5 RADARCFG Configur e the ER Output Use this command to configure the Emu lated Radar (E R) output. ER is available throug h the AG-ST AR Communication/Power cable, see T able 7, AG-ST AR Communication/Power Cable Pinout s on page 47 for pin-out det ails. Message ID: 8192 Syntax radarcfg switch freq_step update_rate [...]

  • Page 57

    AG-ST AR User Manual Rev 2 57 B.6 SELECTCHANCONFIG Set channel configuration This command changes the ch annel configuration used on the AG-ST AR receiver . It causes an immediate software reset. See T able 14, AG-ST AR Channel Configur ation Sets on page 58 for a list of available channel configurations. Message ID: 1149 Abbreviated ASCII Synt ax:[...]

  • Page 58

    AG-ST AR User Manual Rev 2 58 T a ble 14: AG-ST AR Channel Configuration Sets T able 15: OEMSta r Channel Configurations Binary ASCII Description 1 1 14 G PS L1 channe ls 2 2 12 G PS L1 channe ls 2 SBAS L1 channe ls 3 3 10 G PS L1 channe ls 4 GLONASS L1 channels 4 4 8 GPS L1 channels 6 GLONASS L1 channels 5 5 8 GPS L1 channels 4 GLONASS L1 channels[...]

  • Page 59

    AG-ST AR User Manual Rev 2 59 B.7 SETCANNAME Sets the CAN name fields This commands set s the CAN de vice name fields. Message ID: 1091 Abbreviated ASCII Synt ax: SETCANNAME ManufacturerCode [IndustryGroup] [DeviceClass] [DeviceClassInstance] [Function][FunctionInstance] [ECUInstance] [PreferredAddress] ASCII Example: SETCANNAME 305 Field Field Typ[...]

  • Page 60

    AG-ST AR User Manual Rev 2 60 Appendix C Logs C.1 Position Logs C.1.1 NMEA Logs The NMEA logs (receiver outputs) supported by the AG-ST AR are summarized in the OEMS tar Firmware Reference Manual . The available logs include: • GPGGA, which output s a log of position system fix data and undula tion. There are variant s of GPGGA, specifically: - G[...]

  • Page 61

    AG-ST AR User Manual Rev 2 61 C.1.2 NovAtel Position Logs In addition to NMEA logs, NovAtel supports a r ange of non-NMEA position logs, described in the OEMS tar Firmware Reference Manual , including: • BESTPOS: This log contains the best available position comput ed by the receiver , for example: log bestposa ontime 0.5 • BESTXYZ: This log co[...]

  • Page 62

    AG-ST AR User Manual Rev 2 62 C.2.1 RADARSIGNAL ER Signal and Position Information This log conta ins position and Emulated Radar (ER) signal informatio n. Message ID: 8193 Log Type: Asynch Recommended Input: log radarsignala onchanged ASCII Example 1 (sta tionary AG-STAR): #RADARSIGNALA,COM1,0,61.5,FINESTEERI NG,1501,248381.628,00000000,8a1c, 3723[...]

  • Page 63

    AG-ST AR User Manual Rev 2 63 T able 18: Solutio n Status Solution Status Description Binary ASCII 0 SO L_COMPUTED Solution computed 1 INSUFFICIENT_OBS Insufficient observations 2 NO_CONVERGENCE No convergence 3 SINGULARITY Singularity at parameters matrix 4 COV_TRACE Covarianc e trace exceeds ma ximum (trace > 1000 m) 5 TEST_DIST T est distance[...]

  • Page 64

    AG-ST AR User Manual Rev 2 64 C.2.2 VERSION Hardwar e and Software V ersions and Serial Numbers The Component T ype of the VERSION log, refer to the OEMS tar Firm ware Reference Man ual , is extended to include AG-ST AR information as in T able 19, Component T ype . T a ble 19: Component T ype For the AG-ST AR, the BT MAC address field has been add[...]

  • Page 65

    AG-ST AR User Manual Rev 2 65 Appendix D Replacement Parts The following are list s of the replacement pa rts ava ilable for your NovAtel AG-ST AR receiver . Should you require assist ance, or need to order additiona l components, cont act your local NovAtel dealer or Customer Service repr esentative. D.1 AG-ST AR D.2 User Manuals T able 20: AG-ST [...]

  • Page 66

    OM-20000149 Rev 2 December 2013[...]