ComNav Technology
User Guide
A100 Pro/Lite Smart Antenna
December 2023
Corporate office
ComNav Technology Ltd.
Building 2, No.618 Chengliu Middle Road, 201801 Shanghai, China
Tel: +86 21 64056796
Fax: +86 21 54309582
Website: http://www.ComNavtech.com
E-mail: support@ComNavtech.com
Trademark notice
© 2023 ComNav Technology Ltd. All rights reserved.
ComNav GNSS is the official trademark of ComNav Technology Ltd., registered in People’s Republic of China, EU, USA and Canada.
Copyright Notice
The A100 Pro/Lite Smart Antenna User Guide cannot be copied or translated into any language without the written permission of ComNav Technology.
Use and Care
The display can withstand the rough treatment that typically occurs in the field. However, the receiver is high-precision electronic equipment and should be treated with reasonable care.
Warning and Caution
An absence of specific alerts does not mean that there are no safety risks involved. A Warning or Caution information is intended to minimize the risk of personal injury and/or damage to the equipment.
WARNING-A Warning alerts you to a potential risk of serious injury to your person and/or damage to the equipment, because of improper operations or wrong settings of the equipment.
CAUTION- A Caution alerts you to a possible risk of damage to the equipment and/or data loss.
Warranty Notice
ComNav Technology does not warranty devices damage because of force majeure (lighting, high voltage or collision).
ComNav Technology does not warranty the disassembled devices.
Technical Assistance
If you have any question and can’t find the answer in this manual, please contact your local dealer from which you purchased the A100 Pro/Lite. Alternatively, request technical support from ComNav Technology Website: www.ComNavtech.com or technical support email: support@ComNavtech.com.
Your feedback about this Guide will help us to improve it with future revisions. Please email your comments to: support@ComNavtech.com.
Introduction
Thanks for choosing the A100 Pro/Lite smart antenna.
The ComNav A100 Pro/Lite smart antenna User Guide is aimed to help you get familiar with the A100 Pro/Lite smart antenna and start your project effectively. We highly recommend you to read this guide before working.
1.1 Standard features
A standard ComNav A100 Pro/Lite smart antenna provides the following features:
- 965GNSS tracking channels
- Combined GNSS/Smart Antenna and antenna
- LED status indicator
- The receiver outputs a 1 PPS (pulse per second) strobe signal. This signal enables an external instrument to synchronize its internal time with a time derived from the very accurate GNSS system time.
- Tilt compensation
- Bluetooth and 4G
- Integrated receiving radio with 12.5KHz frequency interval
- SBAS differential correction compatibility
- Advanced QUANTUM technology
- DP-Filter Smooth Function, which largely improves the pass to pass accuracy
1.2 Receiver connections
The following figure shows the connector ports on A100 Pro/Lite Smart Antenna:
The connectors can do the following:
- Accept power
- Accept RTCM and CMR inputs
- Output RTCM, and NMEA-0183、NMEA-2000 messages
- Output 1 PPS signals
- Provide support for the J1939 (CAN) serial bus
For more information about the inputs, outputs, and LED indicators, see the information in the rest of this section.
1.3 A100 Pro/Lite Smart Antenna Parts list
This section provides overall ComNav A100 Pro/Lite Smart Antenna parts list.
Installing A100 Pro/Lite Smart Antenna
2.1 System components
Check that you have received all components for the system that you purchased. In order for the A100 Pro/Lite to perform optimally, the following components is required:
- COMNAV A100 Pro/Lite Smart Antenna
- System cable harness
- A fused power supply (user supplied)
2.2 Mounting the receiver
When choosing a location, consider the following:
- On a flat surface along the centerline of the vehicle
- At the highest point on the vehicle, with no metal surfaces blocking the receiver’s view of the sky
- As far as possible, when you install the receiver, you should avoid placing it near sources of electrical and magnetic noise.
Although the receiver has a waterproof housing, you should install it in a dry location. To improve the performance and long-term reliability of the receiver, avoid exposure to extreme environmental conditions, including: - Water
- Excessive heat (> 70 °C or 158 °F)
- Excessive cold (< –30 °C or –22 °F)
- High vibration
- Corrosive fluids and gases
The A100 Pro/Lite must be mounted on the center of the vehicle and mounted with the connector facing the rear of the vehicle. See below pic.
2.3 Receiver Connection
After mounting A100 Pro/Lite in suitable location, connect power cable to com port on the back of A100 Pro/Lite. You can connect the receiver to various external device. The connection shown as below.
Getting started
The A100 Pro/Lite uses a 2-pin Deutsch connector as the power input interface, with the model number DT06-2S. Pin 1 (red) is the power +, and pin 2 (black) is the power ground. it requires +9 – 36VDC power supply. When power is on, it will start automatically.
3.1 LEDS Status Indicators
There are three leds status indicators to show A100 Pro/Lite work status. Generally, a lit or slowly flashing indicates normal operation, and an unlit LED indicates that no operation is occurring. The following figure and table define each possible LED state:
|
LEDS |
States |
Description |
| Power | On | Power is ready |
| Off | No Power | |
| Satellite Tracking | Fast flashing | No satellite received |
| Flashes N times every 5s | Received N satellites signals | |
| Differential Data | Flashes once per second | Receiving differential data |
3.2 Configure by A100 Assistant☆
Install the A100 Assistant APP on the mobile phone or Android handheld. After the installation is complete, the system will have the following icon, click to open the software.
For example:
base station =ComNav GNSS _T300plus, frequency: 459.500; protocol: transparent.
A100 pro: Mode: custom; protocol: transeot; frequency:459.500;airborne:9600;Compa:ComNav .
Data output
Board CMD list:
| NO. Command Interpretation | ||
| 1 | freset | Reset |
| 2 | Log com4 testinfor | View board SNR |
| 3 | Log com4 loglista | Query current board data output |
| 4 | Log com4 version | Query board firmware version information |
| 5 | Reset | Reboot |
| 6 | Unlogall | Clear all output |
| 7 | Com comX 115200 | Modify serial baud rate |
| 8 | Saveconfig | Save the current configuration command |
|
9 |
LOCKOUTSYSTEM<system> |
Close the satellite system involved in the solution（GPS，BD2，GLONASS，GALILEO，BD3，QZSS ） |
|
10 |
UNLOCKOUTSYSTEM<system> |
Cancel the shutdown of satellite systems involved in the solution |
|
11 |
log comX gpgga ontime 1 |
GPGGA GNSS Positioning data, if no com port information is entered, the current communication port will be used by default, for example:log gpgga ontime 1 |
| 12 | log comX gpgll ontime 1 | GPGLL geolocation information |
| 13 | log comX gpgsa ontime 1 | GPGSA GNSS DOP and available satellites |
| 14 | log comX gpgsv ontime 1 | GPGSV GNSS Visible Satellite Information |
| 15 | log comX gphdt ontime 1 | GPHDT heading information |
| 16 | log comX gpvtg ontime 1 | GPVTG ground speed information |
| 17 | log comX gpzda ontime 1 | GPZDA UTC time and date |
| 18 | log comX gptra ontime 1 | GPTRAYaw angle, pitch angle, roll angle information |
| 19 |
Interfacemode comX auto auto on | Set the RTK port, the serial port can receive/send RTCM, RTCMV3, CMR differential information, automatic switching |
| 20 | Interfacemode comX compass
compass on |
Release the RTK port, the serial port only receives/sends Sinan commands and messages |
Example：
Unlogall
log com4 gpgga ontime 1
log com4 gpvtg ontime 1
Interfacemode comX auto auto on Saveconfig
(Note:A100 lite Please use the computer to connect the cable P4 interface to observe the data output)
Gyro Frequency output:
Enter the value 1-10 and output the gyro data through the serial port. Gyro data can be viewed through CRU, please refer to 3.5. A100 Lite do not have Gyrp.
NMEA2000 Output settings ：
Output Data Format:
| NO. | Command | PGN | LENGTH | Unit | Meaning |
| 1 | VEL | 129026(0x1F802) | 8 bytes | 1000ms±20 | COG & SOG — Quick updating |
| 2 | PRU | 129025(0x1F801) | 8 bytes | 100ms±20 | Location — Quick updating |
| 3 | Pos | 129029(0x1F805) | 51 bytes | 100ms±20 | GNSS location data |
| 4 | DRU | 129027(0x1F803) | 8 bytes | 100ms±20 | Position Delta, high-accuracy quick updating |
Command example：
log com1 gpgga ontime 1
log com1 gptra ontime 1
log com1 gpvtg ontime 1
log com1 gpzda ontime 1
log com1 gpgsa ontime 1
Saveconfig
(Note: For standard cables, please use a computer to connect CAN 0 in the P5 interface of the cable)
3.3 Check device status
3.4 Update
- 4G(EG25) Communication module upgrade
1) Import the firmware EG25_Vx.x.xx_x.bin into the phone
Note: Due to different built-in radio modules, the communication paths of EG25 are also different. There are two types of firmware. U represents ComNav ‘s U70 radio, and H represents Harxon radio.
2) Click manually to find the firmware in the system
3) Click to upgrade
Upgrade HUB
- Import the firmware HUBV3.5.x_Lite.bin into the phone A100 Lite: HUBV3.5.x_Lite.bin A100 Pro: HUBV3.5.x_Pro.bin
- Click manually to find the firmware in the system
- Click to upgrade
Upgrade Board
A100 Pro/Lite built in ComNav ‘s K803 Gnss Module.
- Import the firmware Board_Vxxxxxxxx_compress.bin into the phone
- Click manually to find the firmware in the system
- Click to upgrade
Upgrade Radio
A100 Pro built in Different Radio module, please select correct firmware. A100 Lite do not have radio.
- Import the firmware Radio_V1.1.0.bin into the phone
- Click manually to find the firmware in the system
- Click to upgrade
3.5 Configure A100 Pro/Lite by CRU
Compass Receiver Utility (CRU) is a windows-based Software that allows you to access most features of the receiver without using a terminal emulator. It lets you easily communicate with and configure the receiver via serial ports, using a PC with Windows XP, windows 7, windows 8 or windows 10 operating system on it.
Visit ComNav Technology website to access CRU software: http://www.ComNavtech.com/companyfile/4/
OEM BOARD configuration
You can use serial port of PC to connect with the receiver, the default baud rate is 115200. Go to Set Port, set up the connections, and click OK . (Connect 9-pin oemboard port, depend on model)
- Click “Command”, send the command “log version” to check if the receiver has connected with PC successfully. If not, please change another port on this cable
- Click Command, enter the following commands, then you can get NMEA message.
obtain RTK information using 4G, Connect PC to oemboard port
Click Command, enter the following commands, then you can get correction message in CRU.
unlogall log gpgga ontime 1// Depends on what kinds of NMEA you want saveconfig // It will connect automatically once you saved the configuration
For more commands, please refer to ComNav OEM board reference manual
Gyro data configuration
You can use serial port of PC to connect with the receiver, the default baud rate is 115200. Go to Set Port, set up the connections, and click OK . (Connect Port A, A100 Lite do not have gyro)
In the single point state, you can see the gyro attitude data of A100 Pro
When you are in a floating or fixed state and A100 Pro requires a continuous movement of more than 2km/h, it can output real-time gyro data.
Control the serial port data output frequency by modifying the command.
Message format： $CMD,ID,sum,index,cmd*\r\n
For example: $CMD,700,2*4E,\r\n
| Name | describe | explanation |
| $CMD | Head | |
| ID | IN_SWITCH_IMU_SET | 700 |
| feq | Gyro data output frequency | (1~10) , 0_close output ,only support integer value |
| *XX | Check code | |
| \r\n | End |
Calculate the check value, and configure it through CRU.
Appendix A TEC 14 Pin arrangement and definition
A100 Lite:
P1 : POWER (DC9~36V) P2:9pin-Hub
P4:9pin-oemboard p5:9-pin CAN
A100 Pro
P1 : POWER (DC9~36V) P2:9pin-Hub
P4:———–
P5:9-pin oemboard
P3: 14-pin definition
| Signal Name | P3 |
| PWR+ | 1 |
| PWR- | 2 |
| COM1_TXD | 3 |
| COM1_RXD | 4 |
| GND | 5 |
| COM2_TXD | 6 |
| COM2_RXD | 7 |
| CAN0+ | 8 |
| CAN0- | 9 |
| CAN1+ | 10 |
| CAN1- | 11 |
| PPS | 12 |
| EVENT | 13 |
| VCC-OUT | 14 |
FCC Caution:
This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation.
Any changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment.
NOTE: This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation.
If this equipment does cause harmful interference to radio or television reception,which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures:
- Reorient or relocate the receiving antenna.
- Increase the separation between the equipment and receiver.
- Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.
- Consult the dealer or an experienced radio/TV technician for help.
To maintain compliance with FCC’s RF Exposure guidelines, This equipment should be installed and operated with minimum distance between 20cm the radiator your body: Use only the supplied antenna.
Documents / Resources
 |
SINOGNSS A100 Pro Lite Smart Antenna [pdf] User Guide A100 Pro, A100 Pro Lite Smart Antenna, Lite Smart Antenna, Smart Antenna, Antenna |
