CHCNAV NX510 STEER READY

USER MANUAL

Precision Agriculture | JAN 2024

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 Table of Content
1 Preface .................................................................................................................... 5
1.1 Copyright ................................................................................................... 5
1.1.1 Copyright 2023-2024 ......................................................................... 5
1.1.2 Trademarks......................................................................................... 5
1.2 Safety Warning .......................................................................................... 5
1.3 Introduction .............................................................................................. 6
1.4 Technical Support ...................................................................................... 6
1.5 Disclaimer.................................................................................................. 6
1.6 Your Comments ......................................................................................... 6
2 Product Overview ................................................................................................... 7
2.1 Introduction .............................................................................................. 7
2.2 Main Components..................................................................................... 8
3 Installation ............................................................................................................ 10
3.1 Product Package ...................................................................................... 10
3.2 Installation Steps ..................................................................................... 11
3.2.1 List of tools ....................................................................................... 11
3.2.2 Cables connection ............................................................................ 12
3.2.3 Receiver installation ......................................................................... 14
3.2.4 Tablet installation ............................................................................. 14
3.2.5 Camera installation .......................................................................... 15
3.2.6 STEER READY installation ................................................................. 16
3.2.6.1 CANBUS installation ........................................................... 17
3.2.6.2 PWM installation ................................................................ 19
3.2.6.3 Post-Installation Checklist .................................................. 22
3.2.7 Radio antenna installation (Optional) .............................................. 22
3.2.8 ER-2 external Rx radio installation (Optional) .................................. 22
4 Software Functions ............................................................................................... 25
4.1 Main interface ......................................................................................... 25
4.2 System Settings ....................................................................................... 31

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4.2.1 Guidelines ........................................................................................ 31
4.2.1.1 Guidelines Main Interface .................................................. 31
4.2.1.2 New .................................................................................... 33
4.2.1.3 U-Turn ................................................................................ 38
4.2.2 Farms ................................................................................................ 40
4.2.2.1 Farms Main Interface ......................................................... 40
4.2.2.2 Field .................................................................................... 43
4.2.2.3 Field Detail ......................................................................... 44
4.2.3 Implements ...................................................................................... 47
4.2.4 Tractor Manager............................................................................... 47
4.2.5 Steer Ready & Calibrations .............................................................. 48
4.2.5.1 Installation settings ............................................................ 48
4.2.5.2 Angle sensor calibration..................................................... 52
4.2.5.3 Hydraulic valve calibration ................................................. 52
4.2.5.4 Installation Error Calibration .............................................. 53
4.2.5.5 Advanced Settings .............................................................. 55
4.2.6 Receiver ............................................................................................ 56
4.2.6.1 Internal & External Radio ................................................... 57
4.2.6.2 Multiple work modes ......................................................... 58
4.2.7 GNSS Mode ...................................................................................... 60
4.2.8 Satellite Settings ............................................................................... 62
4.2.9 Troubleshooting ............................................................................... 63
4.2.10 System Settings ......................................................................... 63
4.2.10.1 Basic Settings ..................................................................... 63
4.2.10.2 Alarm Settings .................................................................... 65
4.2.10.3 Port Settings ....................................................................... 65
4.2.10.4 Other Settings .................................................................... 71
4.2.10.5 Backup and Restore Settings .............................................. 74
4.2.10.6 Parameters ......................................................................... 74
4.2.10.7 Set Parameter .................................................................... 75
4.2.11 APN Setting ............................................................................... 75
4.2.12 Safety......................................................................................... 75
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 4.2.12.1 Maximum autopilot speed ................................................. 76
4.2.12.2 Max speed allowed to enable auto steering mode ........... 77
4.2.12.3 Manual override................................................................. 77
4.2.12.4 Fatigue driving.................................................................... 78
4.2.13 About......................................................................................... 79
4.2.13.1 Cellular Network ................................................................ 79
4.2.13.2 Register .............................................................................. 79
4.2.13.3 Upgrade.............................................................................. 81
5 Quick Guide ........................................................................................................... 84
5.1 Power On................................................................................................. 84
5.2 Receiver Settings and Check ................................................................... 84
5.3 Steer Ready & Calibrations ..................................................................... 84
5.4 Implement Settings ................................................................................. 84
5.5 Guideline Settings ................................................................................... 85
5.6 Starting Autopilot .................................................................................... 85
5.7 Turn Off ................................................................................................... 85
6 Main hardware specifications ............................................................................... 86

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1 Preface

1.1 Copyright

1.1.1 Copyright 2023-2024

CHCNAV | Shanghai Huace Navigation Technology Ltd. All rights reserved. The
CHCNAV and CHC Navigation are trademark of Shanghai Huace Navigation
Technology Limited. All other trademarks are the property of their respective
owners.

1.1.2 Trademarks
All product and brand names mentioned in this publication are trademarks of their
respective holders.

1.2 Safety Warning

When using the CHCNAV NX510 SE/Pro/Plus Steer Ready Auto Steering System,
please observe the following safety warnings:
Before using the system, carefully read and understand the operating instructions in
the user manual to ensure proper use of the system.
During system operation, strictly follow local traffic regulations and safety standards
to ensure safe operation in safe environments and conditions.
Regularly check the condition and performance of the system and equipment when
using the system to ensure normal operation and high-precision navigation
performance.
Maintain concentration and alertness during system operation, avoid fatigue and
distraction, and prevent accidents.
Avoid using the system in hazardous areas such as steep or cliff edges, water puddles,
or muddy ground to prevent personal injury or equipment damage.
Stop using the system immediately and contact the system manufacturer or supplier
for technical support and maintenance services when the system experiences
abnormality or failure.
Protect the equipment from physical damage or weather factors when operating the
system to ensure long-term stability and reliability.
Observe the relevant maintenance and upkeep requirements of the system and
equipment during operation to prolong the life of the equipment and ensure normal
operation.

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Pay attention to the safety of the surrounding environment and other personnel
when using the system to avoid accidents and stop the machine promptly to handle
any abnormal situations.
The above is for reference only, and specific safety warning content may vary slightly
depending on the device model and local regulations and standards. When using the
CHCNAV NX510 SE/Pro/Plus Steer Ready Auto Steering System, please carefully read
and observe the relevant safety warnings and usage instructions to ensure the safety
and normal operation of the system.

1.3 Introduction
The CHCNAV NX510 Steer Ready user manual describes how to install and use the
CHCNAV® NX510 Steer Ready system. In this manual, “the system” refers to the
NX510 agricultural system unless otherwise stated. Even if you have used other
agricultural products before, CHCNAV recommends that you spend some time
reading this manual to learn about the special features of this product.

1.4 Technical Support

If you have a problem and cannot find the information you need in this manual or
CHCNAV website www.chcnav.com or contact your local CHCNAV dealer from which
you purchased the system(s).
If you need to contact CHCNAV technical support, please contact us by email
[email protected]

1.5 Disclaimer
Before using the system, please make sure that you have read and understood this
User Guide, as well as the safety information. CHCNAV holds no responsibility for the
wrong operation by users and for the losses incurred by the wrong understanding
about this User Guide. However, CHCNAV reserves the rights to update and optimize
the contents in this guide regularly. Please contact your local CHCNAV dealer for new
information.

1.6 Your Comments

Your feedback about this user guide will help us to improve it in future revision.
Please email your comments to [email protected]

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2 Product Overview

2.1 Introduction
With connecting to original Hydraulic CANBUS and PWM interface, users can control
tractor to do auto steering in the CHCNAV software without motor drive.
Also current supported Hydraulic tractors with CANBUS or PWM are listed as below,
please kindly refer to the form as below.

The NX510 Steer Ready system is an automated steering system that easily retrofits
many types of tractors with a compact, up-to-date and all-in-one solution at a price
each farm can afford. It provides significant productivity gains, works in all visibility
conditions and reduces operator fatigue.

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2.2 Main Components
Receiver: It is typically a Global Navigation Satellite System (GNSS) receiver, used to
receive satellite signals to determine the accurate position, direction, and speed of
the vehicle. It forms the foundation for autosteering system by providing precise
information about the current location of the vehicle.

PLC ONE controller: 1) Collect data from the oil pressure sensor and angle sensor on
the vehicle and send it to the receiver. 2) Receive the electromagnetic valve steering
command sent by the receiver and drive the vehicle steering valve

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Tablet: The tablet serves as the user interface for interacting with the autonomous
driving system. Farmers or operators can use the tablet device to set paths, monitor
job status, and configure the system. The tablet is also employed for real-time
monitoring of the vehicle's operation.

These components work together to enable the autonomous driving system to

perform various tasks in the field, enhancing the efficiency and precision of
agricultural production.
CANBUS cable: Connect PLC to vehicle physical interface for data exchange.

PWM cable: 1) Connect the PLC to the vehicle physical interface and collect the
voltage values of the angle sensor and oil pressure sensor; 2) Send electrical signals
to drive the solenoid valve.

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3 Installation

3.1 Product Package

All components are into one box.
List of components:

Packing list

Device name Model Image Quantity

Receiver PA-3 1

Tablet CB-H10 1

PLC controller PLC ONE 1

Camera F23A220-FC 1

Ball holder / 2

Double socket arm / 1

Integrated main cable / 1

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 Camera cable / 1

Radio Antenna / 1

Extra purchased accessories

Device name Model Image Quantity

Steer ready cable for CAN / 1

Steer ready cable for PWM / 1

3.2 Installation Steps

3.2.1 List of tools

Tools Materials Image Quantity Purpose

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 Cleaner
Harness fixing
6 Fix the cable ties
base

10mm U-shaped fixing Fix the tablet

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spanner bracket bracket

Cable ties 50 Fix the cables

3.2.2 Cables connection

Name Cable diagram Connection

A → Receiver
B → J/N
C → Wheel angle sensor
Integrated cable (Optional)
main
D → Tablet Port 3
cable
E → Battery
F → Tablet Port 1
G: Rocker switch

Camera H → Camera

cable I → Tablet Port 2

J→B
K → PLC COM1
PWM cable
L → Steering solenoid
M → Enable solenoid

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 N→B
O → PLC COM1
CANBUS P → PLC COM2
cable Q → S/T
R → CANBUS controller
interface

a) Wiring precautions

· When wiring, first confirm the location of the threading holes, and thread the
wiring harnesses outside through the threading holes in sequence;

· When wiring, first arrange the outer wiring harnesses, then arrange the wiring
harnesses in the cab;

· When wiring, pay attention to avoid high temperature, oily, sharp and abrasive
areas, fans, exhaust pipes and other nearby areas;

· When wiring, keep a certain length to avoid over-tightening and loosening; the
wiring harnesses layout should be smooth and cannot be twisted;

· When wiring, leave enough length in case of wheel turning to right/left all the way
because the wheel angle sensor will rotate together with steer wheel;

· After wiring, cut off the extra length of cable ties. After complete the installation,
please store the original vehicle accessories properly and clean up the garbage.

b) Electrical connection method and precautions

· Before connect to receiver, display, and steering wheel connectors, please connect
to battery first to avoid damage caused by direct power-on or multiple power-offs;

· In the process of connecting the power cord to the battery, first connect to the
positive electrode then to the negative electrode;

· Pay attention to the use of the wrench when connecting the positive electrode, and
it is strictly forbidden to bonding (when the wrench contacts the positive electrode of
the battery, the other end of the wrench is strictly prohibited from touching any
conductive items, especially the metal parts of the original vehicle);

· 12V / 24V battery, when using the original battery power supply, please connect
the positive wire to the positive electrode and the negative wire to the negative

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electrode;

· 12V / 24V battery, when additional battery is connected in series, connect the
positive wire to the positive electrode and the negative wire to the negative
electrode of the other battery, as shown in the diagram below.

3.2.3 Receiver installation

a) The receiver needs to be installed on the central axis of the vehicle roof as possible,
and the installation direction should be parallel to the vehicle as possible;
b) After confirm the installation position, wipe the roof clean and make sure the
bracket installation is spotless;
c) Adjust the receiver bracket to make sure the receiver is placed horizontally, also
the receiver arrow must face forward.

3.2.4 Tablet installation

The tablet installation requires the ball base to be installed in locations as suggested
shown in the picture, and avoid damaging to the original vehicle cables. Usually there
are two kinds of installation methods to fix the mounting bracket.
a) Drill more than 3 dovetail screws on the A-pillar or B-pillar to fix the ball base
then install tablet with RAM bracket.
b) Fix the ball base with U bolt on the tractor crossbar and adjust it according to the
driver's habits.

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c) After complete the installation, it is available to adjust the tablet to a suitable
position;

3.2.5 Camera installation

The camera can be installed anywhere (within the wire harness length range).

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3.2.6 STEER READY installation
Different brands or different types has different Hydraulic CANBUS/PWM location
and Hydraulic switch button in the cab, so it is necessary to find it correctly. For
instance,
Deutz Series 9

E---CAN H F---CAN L

Turn on the first switch and long press to turn on the second switch

Deutz Series 6
E---CAN H F---CAN L
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Only turn on one switch

3.2.6.1 CANBUS installation

1. Find CANBUS interface in the Hydraulic tractor cab correctly, here take Steyr 6300
tractor as an example,

2. Try to find the correct CAN L and CAN H pinouts ( H/J, or C/D)in this interface with
tractor documentation or with CANBUS application.

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3. Connect to this interface with CHC CANBUS cable or customized cable depending
on H/J or C/D pinouts, also in the middle side of the CANBUS cable, there are
three connectors, one is male and another two are female, please connect one of
them as well depending on H/J or C/D pinouts.

4. Connect to CHC PLC controller COM2 with another end of CANBUS cable1
(4103020173), also connect to PLC controller COM1 with another CANBUS cable2
(4103020172) connecting to motor interface of NX510 main cable for supplying
power and data communication.

5. Connect to power with NX510 main cable in the tractor cab or tractor battery
depending on users.

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6. PLC controller can be installed at the any place in the cab without leveling or
some special notifications.

3.2.6.2 PWM installation

There are four connectors for PWM cable,
Port 1 is connected to the motor connector on the NX510 main cable;
Port 2 is conencted to PWM 40 pin connector on the tractor;
Port 3 is connected to CHC PLC controller COM 1;
Port 4 is connected to the enable solenoid on the tractor.

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1. Find the 40-pin Deutsch connector on the tractor rear side(Different location for
different vehicles)

2. Open the hood by pulling on the latch and lifting on the handle located at the
front of the hood. Route the black 2-pin Deutsch enable solenoid connector on
the Interface. Cable under the right side of the cab up to the factory steering
valve where the enable solenoid is located.

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3. From the right side of the vehicle, reach over to the left side of the factory
steering valve and unplug the factory 2- pin Deutsch enable connector. Plug the
2-pin Deutsch connector in place of the factory connector.

4. The vehicle is equipped with a guidance enable rocker switch, which allows
power to the steering valve. The switch is located on the right hand console This
switch must be set to the ENABLE position in order to auto steer the machine.
NOTE: If this switch is left in the ENABLE position during vehicle start up, it may need
to be cycled off and on to unlock the guidance system.

5. The vehicle is equipped with a guidance engage button. Press the button to
engage/disengage the auto steer system. The operator can either engage the
autosteer with the button switch on the console or with the display.

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3.2.6.3 Post-Installation Checklist
1. Display Bracket and Display installed, and all fasteners are tight.
2. GPS antenna is installed.
3. Steering Controller Module is installed firmly to frame, and all fasteners are tight.
4. All cable ends and terminations are connected.
5. All cables are secured with cable ties.

3.2.7 Radio antenna installation (Optional)

The installation of the radio antenna is not mandatory; it is only required when
customers are using the NX510 built-in radio mode. Typically, we recommend to
install the radio antenna on the vehicle's roof for better reception of base station
signals.
a) Place the magnetic radio antenna on the top of the vehicle in areas containing
metal, ensuring to keep the rubber protector at the bottom of the antenna. If
the vehicle roof is made of plastic, alternative methods such as double-sided
adhesive installation should be used.

b) Connect the radio antenna cable to the radio port on the PA-3 receiver.

3.2.8 ER-2 external Rx radio installation (Optional)

For the NX510PRO and NX510PLUS models, which do not include a built-in radio, if
customers want to use the internal radio mode, it is necessary to connect an external
ER-2 Rx radio to receive data from the base station.
a) Before install the radio module, please turn off the power of the NX510 system.
b) The ER-2 product package includes external radio module, radio antenna, wiring
harness.

Package box:

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ER-2 radio module:

Magnetic radio antenna and cable:

Radio converter cable:

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c) The wiring harness connection is as below,

1 means radio antenna port; 2 means communication port; 3 means tablet port3; 4
connects to main cable; 5 means two AMP ports for other CHCNAV devices and not
useful for NX510PRO/PLUS.

Software configuration please refer to Chapter 4.2.6.1 Internal & External Radio

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4 Software Functions

4.1 Main interface

1. Satellite status. There are two numbers displayed in the form of X / Y.

X represents the number of tracked satellites;
Y represents the RTK status:
1: Single/Autonomous 2: DGPS/SBAS 4: Fix 5: Float
2. Base station status. There are two numbers displayed in the form of X / Y.
X represents the signal latency. The smaller the X, the more stable the signal is,
usually the recommended value is less than 10 in auto steering mode for better
performance.
Y is the current radio channel number if it’s radio mode; Y will change to NET if it’s
network mode.
3. GNSS mode and position accuracy.

Tips: Click the Satellite status bar to enter the GNSS Correction Settings.

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4. Lateral deviation. The real-time deviation between the current vehicle location
and the marked guideline. The value is negative when the vehicle is on the left side
of the guideline and positive when the vehicle is on the right side of the guideline.
The default is 1cm per grid, and it’s adjustable. It is able to click this part to set the
grid configuration.

5. The current guideline number where the vehicle is located (the original guideline
is 0).
6. Real-time vehicle speed.
7. Worked area. Mu is default unit, and it’s adjustable in Basic Settings. Click this
button to view the detailed task report.

Worked Area: The painting/drawing area with overlap.

Remaining Area: The area which is subtracted effective area from boundary area.
Boundary Area: The inner area of boundary.
Effective Area: The painting/drawing area without overlap.
This interface allows to view historical tasks and create new tasks.
8. Help. It includes Reverse Heading, Calculate Inline Offset guidance, New AB Line
guidance, Remote Assistant, Setting Implement Width guidance, One-click uploading
of logs and Parameters.

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Reverse Heading: When the vehicle is driving forward and the software interface
indicates that it is reversing, please click it to get the correct heading. Also the
shortcut can be turned on/off in Other Settings-Reverse heading shortcut.
Calculate Inline Offset: Guide users on how to adjust the inline offset.
New AB Line: Guide users on how to create AB line.
Remote Assistant: Contact technicians for remote assistance via an identification
code.
Setting Implement Width: Guide users on how to input implement’s parameters.
One-click uploading of logs: Quickly send logs to the server for technicians checking.
Parameters: Vehicle, configuration and calibration parameters, etc.
9. Implement settings.

A: ISOBUS UT (Requires extra activation)

B: Implement configuration

Width: Implement width, and the default value is 6m.

Row Spacing: The distance between two passes, and the default value is 0m.
Hitch Point: The distance from hitch point to implement, and the default value is 0m.
The current algorithm do not use this value, so it has no practical significance.
Inline Offset: The offset from implements center to vehicle center.
If there is the row spacing issue with skip or overlap, it is necessary to click Inline
Offset Calculation to make offset calculation.

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There are two methods to choose, then follow the instruction.
C: Setup the Center offset. For example, if the row spacing is 50 cm, drive two passes,
then check the actual row spacing is 45 cm, click the left arrow 5 times to do the left
shift with 5 cm.

10. Brightness configuration. There are three modes including sunny, cloudy and
night modes.
11. Guideline switching button. Click the button to quickly switch guidelines when
the field has multiple guidelines.
12. Compass. Click it once to check the basic information and click it seven times
continuously to show the debugging information.

Base Station: The distance to base station.

Heading Error: The angle between guideline and vehicle heading.
WAS: The angle between guideline and front wheel.
Error Code: The codes when there are system error messages. Clickce to open the
message box to view the historical error information.
13. G/B/M. The feature can be enabled in Other Settings-Show Headline Option
View.
G means guidelines, the vehicle will only recognize the guidelines and drive
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automatically after select.
B means boundary/headand, the vehicle will only recognize the boundary/headland
and drive automatically after select.
M means manual option, the vehicle will not be able to switch to the automatic
driving mode after select.
14. View switch. Switch to free view or lock the vehicle position.
15. Camera. When it is turned on, the real-time image will show up.
16. Zoom in / out. It can also zoom in and out of the interface by swiping fingers
across the screen.
17. Quick guideline. It can support AB line or curve quick creation.

18. Line offset.

A: The guideline is shifted to the left

B: Enter the offset distance, the maximum value is 999cm
C: The guideline is shifted to the right
D: Make the lateral deviation and current guideline counts return to zero
19. Quickly adjust the steering wheel amplitude and frequency parameters.

PGain: Steering wheel adjustment speed ratio. The smaller the value, the slower the
adjustment.
With wheel angle sensor, the recommended value is 20/25 but on the vehicle with
small horsepower or small steering ratio generally less than 13, the recommended
value is 25/30;
Without wheel angle sensor, the recommended value is 25/30 but on the vehicle
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with small horsepower or small steering ratio generally less than 13, the
recommended value is 30/35;
DGain: The higher the frequency, the more obvious the vibration of the steering
wheel movement; the smaller the frequency, the more stable the steering wheel
movement;
With wheel angle sensor mode, the recommended value is 80;
Without wheel angle sensor mode, the recommended value is 60/80.
20. Work coverage track. The track switching method can be set in Basic
Settings-Coverage Logging.
Switch Mode: Turn on/off the track manually.
Automatic Mode: Turn on the track automatically when engage the automatic mode.
21. Vehicle and guideline.
22. Settings. Click it to be direct to this interface with all functions.
23. Engage or disengage.
Automatic: Manual:

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4.2 System Settings

4.2.1 Guidelines
4.2.1.1 Guidelines Main Interface

A: Click it to Import/Export guidelines.

Currently AGNAV3.0 supports the SHP file, CHC XML file and Topcon file import. For
SHP files, it can include AB lines, curve lines and all path lines three types.
All-path lines means the line projects with hundreds/thousands of lines which are
planned desktop software in advance.

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AB line with coordinate input:

Share code: Get the code from another NX510

Also AGNAV3.0 can export guidelines via share code and SHP files. The exported SHP
files are stored in ES-CHCNAV-AgNav3.0-Shp Export-Navline.

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B: Search guidelines by name or type.
C: New guidelines.
D: Delete guidelines. The currently applied guideline and the last guideline cannot be
deleted.
E: Edit guidelines. Edit the guideline name or zero the offset values.
F: Apply the selected guideline.
G: Set the guideline U-Turn method.
H: Here it can record the current AB line azimuth and offset value.

4.2.1.2 New

In this interface, select the type of guidelines, then click Create to return to the main
interface and follow the instructions to complete creation.
AB Line: Create a guideline by locating two points. The current location will be used
as point A, then drive the vehicle to the other end of the field as point B.
A+ Line: The current position will be used as point A to create the A+ line, which uses
the heading of the vehicle as azimuth. This feature is recommended to be used for
special scenarios which requests fast line creation.
Regular/Irregular harrowing line: Harrowing in fields. It can be applied to the case
that the user need fuel-efficient target-ground routes.
Center Pivot(two/three points): The circular curve can be applied to the case where
the vehicle drives a circular automatically, like cutting grass.
90° Line: Rotate the AB line or A+ line for 90° so there must be an existed AB Line or

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A+ Line in the guideline list.
Parallel Curve: Create a curve and generate other curves that are parallel and
consistent with it.
Identical Curve: Create a curve and generate other curves that are consistent with its
trend.
Path line:
Free curve: With this curve mode, it can support to combine the straight line and
curve line, also it is with optimized algorithm so the curve line will be more stable
and it is recommended to use instead of parallel curve and identical curve.
Take the example of creating an AB line, harrowing Line and free curve,
AB line:
a) Click A in the current location;

b) Drive to another end of the field and click B;

c) New AB line will be created successfully.

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Harrowing Line:
a) Select Regular harrowing line and click Create;

b) click the icon on the bottom right corner[A],drive the vehicle to plan the border;

c) After painting, click the icon on the bottom right corner [B];

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d) The system will plan the most fuel-efficient diagonal line then the vehicle can
drive along with the planned lines automatically.

Free curve:
a) Select Free curve and click Create;

b) Click A to start the curve;

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c) Click Pause to create straight line;

d) Click Start to continue curve line;

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e) Click B to finish the line creation.

4.2.1.3 U-Turn
There are two kinds of U-Turn modes supported currently.

With Mode 1 “Bulb” U-Turn, it can support to do rows skip. Also it can be configured
with some parameters as below;
Support U turn: The option to enable/disable the U-turn feature;
Distance to AB point: The option to enable/disable Auto U-turn which is triggered
based on the distance to AB point;
First line Turn: The option to set the turning direction of the first guideline;
Skip rows: The option to select how much rows skipping, currently 0-9 rows can be
supported.
Max Angle: The maximum angle vehicle can turn. The range is around 30° to 50°, the
default value is 30°.
Forecast Coef: Decrease the value if the vehicle enters the next guideline slowly after
U-turn. The range is from 2.5 to 3.0 and the adjustment interval is 0.5.

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Forecast Time: Increase the value if the vehicle deviation distance is large during
U-turn. The range is from 2.5 to 4.0 and the adjustment interval is 0.5.
Min Forecast Dis: Predict the turnaround path by the vehicle's current position to
give sufficient time for U-turn. The smaller the value, the later the vehicle turns
around. The range for transplanter is 1.7-2.5, for tractor is 2.0-4.0 and the
adjustment interval is 0.1.
Distance After Turn: Distance required for vehicle to fully enter the guideline after
U-turn.
If the selected skipping row is 0 or 1, it will have Left/Right icon for manual setup.

If the selected skipping row is 2 or above, it will follow the designed path as below,

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With Mode 2 “Fish tail” U-Turn, it can be configured with some parameters as below;
Minimum Turning Radius: Relate to the front wheels maximum turn angle, default
value is 5.
Enter Degree: The angle between vehicle and next guideline which is used for taking
to the line in advance. The default is 0, the range is 0-30 and the recommended value
is 15.

4.2.2 Farms
4.2.2.1 Farms Main Interface

A: Click this button to Import/Export farms with SHP file and ISOXML file.

40
SHP project import:

SHP project export:

41
Go to CHCNAV---AGNAV3.0---SHP Export---Farm folder to check the farms what
exactly export.

ISOXML file import:

42
B: Quickly search farms by the keywords if there are many farms.
C: New farms.
D: Delete farms. The currently applied farm and the last farm cannot be deleted.
E: Edit farms, edit the farm name.
F: Apply the selected farm.
G: Enter to the field creation interface.

4.2.2.2 Field

A: Click this button to Import/Export farms with SHP file, it has similar procedure as
farm SHP file export/import. The exported SHP files are stored in
ES-CHCNAV-AgNav3.0-Shp Export-Field.

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B: Search fields.
C: Click this button to switch to displaying fields sorted by Distance or by Create
Time.
D: New fields.
E: Delete fields. The currently applied field and the last field cannot be deleted.
F: Edit fields, edit the field name/operator.
G: Apply the selected field.
H: Enter the Field Detail interface to create boundaries, guidelines and view task
reports.

4.2.2.3 Field Detail

1 Boundaries

New: Click New to create the boundary, and select the planning way in the following
interface then click Plan.

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The software will return to the main interface to start creating, please follow the
instructions to complete.
a) Click Start to create boundary.

b) Drive the vehicle around the field and back to the starting point. Then click End.

After set the boundary, it can generate headlines according to the operational
requirements.

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The exported files are stored in ES-CHCNAV-AgNav3.0-Shp Export-Boundary.
Import: Please find the folder where the boundary is stored and select the boundary
file, then import it.

2 Guidelines
In this interface it can also create guidelines, please refer to 4.2.1 Guidelines for
details. The exported files are stored in ES-CHCNAV-AgNav3.0-Shp Export-NavLine.

3 Tasks

A: New task.
B: Export the tasks, the exported CSV files are stored in ES-CHCNAV-AgNav3.0-Task
Export.

46
C: Delete task. The currently applied task and the last task cannot be deleted.
D: Edit task.
E: Apply the selected task.
F: Click to view the detailed report.

4.2.3 Implements

Click New/Edit, then can set the implement’s parameters.

Please refer to Main interface - 9 Implement settings for details.

4.2.4 Tractor Manager

It is available to manage different vehicles in this interface.

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4.2.5 Steer Ready & Calibrations
Here it is available to select the supported hydraulic vehicle, such as New Holland,
Massey Ferguson, Deutz and MaCormick etc.

4.2.5.1 Installation settings

1. Go to settings and click Ready Model Selection, then select the correct brand and
model, finally click Apply to get it done.

48
2. Click Steering Calibrations

3. Select the correct vehicle type, steering controller and wheel angle sensor as the
picture below

49
4. Click Next then measure and enter the parameters of the vehicle

Wheelbase of front and rear wheels (A): Measure the distance between front wheel
rotation axis and rear wheel rotation axis. Note that the tape measure needs to be
parallel to the ground.

Implement Tow Point (B): Use the default value of 0 and it will be used in the futural
development.
Axle Height (F): Measure the vertical height from the rear axis center to the ground.

Front Hitch (G): Measure the distance between the two front wheels.

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To Middle Axle (C): If the receiver is not mounted on the central axis, measure the
distance from the receiver to the central axis. If it is on the central axis, enter 0. In
reality it is always better enter 0 and do the rest in assembly error calibration.

Antenna position of C: Fill in according to the receiver position.

To Rear Axle(D): Measure the horizontal distance from the antenna center to the
rear wheel center.(It is convenient and accurate to project the antenna center and
the rear wheel center onto the ground, then measure it.)

Antenna Location: The relative position between the antenna center(the position of
the antenna center should be referred to the blue indicator) and the rear axis. Select
Front if the antenna is in front of the rear axis, select Rear if the antenna is behind
the rear axis.
Antenna Height (E): Measure the vertical height from the antenna center to the
ground.

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Confirm that all parameters are correct before clicking NEXT.

4.2.5.2 Angle sensor calibration

It is necessary to calibrate the original angle sensor manually for this vehicle.
1) Select manual mode
2) Turn the wheel to see if the raw data changes all the time
3) Turn the wheel to the middle to get a value then set up
4) Turn the wheel to left side with around 20 degrees to get a value then set it up
5) Turn the wheel to right side with around 20 degrees to get a value then set it up
6) Left value should be less than Mid value, if it is larger than it, pls click Swap then
repeat it again

4.2.5.3 Hydraulic valve calibration

Also it is necessary to calibrate the hydraulic system.
1) Volt Min: Set Volt Min around 2.0-3.0 and Response as 1, then try to turn left and
turn right, the wheel should turn a little bit within 5 degrees or just a light
vibration/shake, also the vibration/degrees to right and left should be similar. If not
working properly, pls adjust Volt Min and offset volt to make it work properly.
2) Volt Max: Set Volt Max around 3.5- 4.5 and Response as 100, then try to turn left
and turn right, the wheel should turn around 20 degrees, also the degrees to right
and left should be similar. If not working properly, pls adjust Volt Max and offset volt
to make it work properly.
Description:
a) Response Linearity: It represents the percentage between the minimum voltage
and the maximum voltage, 1 represents 1%, corresponding to the minimum
voltage value, 100 represents 100%, corresponding to the maximum voltage
value.
b) Swap: If click turn left, the wheel will turn right, so it is necessary to swap it.
52
c) High Frequency: Control the frequency of the solenoid valve; If it is off, the
solenoid valve control frequency is 20HZ; If it is on, the solenoid valve control
frequency is 40HZ
d) PF Gain: The proportional value when forward auto driving; The higher the value,
the more sensitive the front wheel steering; The smaller the value, the smoother
the front wheel steering;
Recommended value is 30 when high frequency mode is on; Recommended
value is 60 when high frequency mode is off.
e) PB Gain: The proportional value when reverse auto driving; The higher the value,
the more sensitive the front wheel steering; The smaller the value, the smoother
the front wheel steering;
Recommended value is 30 when high frequency mode is on; Recommended
value is 60 when high frequency mode is off.
f) D Gain: The proportional value when backward auto driving; The higher the
value, the more sensitive the front wheel steering; The smaller the value, the
smoother the front wheel steering;
Recommended value is 0.8 when high frequency mode is on; Recommended
value is 0.08 when high frequency mode is off.
g) Hydraulic Threshold: Oil pressure threshold which represents the force to
disengage auto driving. When the vehicle starts and keep the steering wheel
stationary, please observe the real-time oil pressure value, then set the
Hydraulic Threshold is 3000 higher than the real-time oil pressure value. If auto
driving is easy to disengage and please increase this value; If it is not easy to
disengage, please reduce the value.

4.2.5.4 Installation Error Calibration

Finally it is necessary to do the installation error calibration as regular NX510
procedure. Please complete the calibration according to the instructions in the
present interface.

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Click Guide, stop the vehicle on a flat and open place.

Then click Start and it will set a guideline automatically. The vehicle will get into the
auto mode. When the distance from start is over 30m, stop the vehicle, click Next.
Then it will record the END point and switch to manually mode.

54
Turn around and back to the same guideline. After enter the line, click Next and the
it will switch to Auto mode. Then drive forward automatically and keep the speed
between 2-3km/h. Stop the vehicle when the distance from start point is below 1m.
Click End, the system will calculate automatically.

Finally click Complete to finish the calibration.

4.2.5.5 Advanced Settings

In this interface, it can modify the advanced parameters, click Edit, enter the
password 012 to edit.

Integral Enable: It can optimize the fixed lateral deviation issue after turn off for front
steer vehicle and see the performance. It is unnecessary to turn off for other vehicles.
The default is on.
Terrain Compensation: It includes Slope and Standard two types. It is only useful for
tracked vehicle. When switch to algorithm mode NX01, please use the standard;
When switch to algorithm mode NX64, please use the slope.
Pose Accuracy: When the vehicle is standstill, the software displays a speed of
0.2/0.3/0.4 km/h, it can switch to level 1 which can eliminate the speed display. The
default is level0.
Ag_NX01_default, Ag_NX64: Two sets of control methods. NX01 is suitable for most
job scenarios
NX64 is suitable for the vehicle with medium/low speed and heavy load, or soft soil,
55
such as potato operations.

WAS Gain: The default is 20, which is only valid in the without-angle mode. The
smaller the steering sensitivity, the more sensitive the front wheel turns. When the
vehicle steering clearance is large or the working soil is soft and sloping, the value
needs to be reduced and set to 10.
Cross Track Gain, Heading Gain: No need to adjust, use online aggressiveness to
adjust sensitivity.
Reverse Gain: The default is 10. When the vehicle is reversed by automatic steering,
the deviation correction sensitivity is used. When the vehicle is reversed, the steering
wheel swings to the left and right, and the value need to be reduced.
PTime On: Judgment time ratio on the line. The default value is 1.0.
PTime Off: Judgment time of approaching to the line, the default value is 2.0.
Online Aggressiveness: The default is 100, the sensitivity of the vehicle's online
automatic driving bias correction. If deviation is prone to occur and deviation
correction is slow, increase this value, 130/150.
Approach Aggressiveness: The default is 70, which controls the speed of the vehicle
entering the guideline. If the steering wheel swings greatly when the vehicle enters
the line, reduce the value, 40/50.
Maximum WAS: The default is 25, which represents the maximum angle the vehicle
can turn.

4.2.6 Receiver
Before calibrating and using the software, please set up the satellite signal reception
and check availability. Click the arrow to select the signal reception method (It can
also access to this interface by clicking the Satellite status bar on main interface).

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4.2.6.1 Internal & External Radio
After set the radio mode of the base station, please note that the channel, frequency,
protocol, bandwidth and baud rate are the same as the base station.

If use the external radio mode, the system will automatically recognize the radio
module and enter the configuration interface.

57
Click to enter the configuration mode, select the corresponding channel, protocol,
frequency, baud rate to link the radio base station.

4.2.6.2 Multiple work modes

Display Network: Use the network with SIM card inserted in the tablet.
Controller Network: Use the network with SIM card inserted in the receiver.
Multi-Network: Automatically applying the best signal in Display Network or
Controller Network.

58
Click New to set up the base station information. Currently it supports CORS(NTRIP)
and APIS protocols. APIS protocol is CHC own protocol and only works between CHC
base station and agriculture systems.

59
If APIS protocol is selected, please make sure that the IP, port and base station
number are the same as the base receiver settings.

If CORS(NTRIP) protocol is selected, please make sure that the IP, port, source table,
user name and password are typed correctly as local provider provided.

4.2.7 GNSS Mode

It is available to select the appropriate GNSS mode here based on practical
operational scenarios.

SPP: Single Point Positioning Single Point Positioning. Traditional Single Point
Positioning (SPP) relies on measuring pseudo-range observations (C/A code or P code)
for positioning. Generally, it can only achieve an accuracy of tens of meters or even
worse. Therefore, it is not considered a high-precision positioning method..
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DGPS/RTD: It is regional augmentation system which includes WAAS, EGNOS, MSAS,
etc by using geostationary orbit (GEO) satellites to carry satellite navigation enhanced
signal transponders, various correction information such as ephemeris errors,
satellite clock errors, and ionospheric delays can be broadcasted to users, achieving
improvements in the positioning accuracy of the original satellite navigation system.
RTK: Real - time kinematic, this is the most used mode for usual operations based on
radio mode or CORS network mode.
E-PPP:
1) Satellites correction service from BDS B2b signal (Free but only for part of Asia
with 10cm accuracy) for new NX510 SE PA-3 (J1PA01980102010005)
2) NX510 PRO Trimble RTX (Extra charged)
3) NX510 Plus NovAtel TerraStar (Extra charged)
DRSmooth: It is CHC own positioning mode without base correction for new
NX510SE PA-3 (J1PA01980102010005) to realize centimeter accuracy or submeter
accuracy, but it keeps short time around 20 minutes then the accuracy will get worse,
so it is necessary to reset per 20 minutes in the software.
It is available to switch to DRSmooth mode, then set a value to get Fix solution (The
default time to fix value is 3 seconds and the range is from 3-100s);

After getting worse accuracy as time goes, so it is necessary to do a reset;

61
Do a RZ function based on previous guidelines, then it is able to continue to work as
before.

GLIDE: NovAtel’s GLIDE technology offers superior 15 cm pass-to-pass performance

for applications, such as agricultural guidance, where relative positioning is critical.

4.2.8 Satellite Settings

Clear ephemeris: Click Clear ephemeris, the receiver will reset and track satellites
again.
Multiple constellations enable/disable: Click the green switch behind the
constellations to turn it on or off.

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4.2.9 Troubleshooting
Check the failure status of each hardware modules and software functions in this
interface.

This interface can also be accessed by the icon in the lower right corner of the main
interface when there is a fault.

4.2.10 System Settings

4.2.10.1 Basic Settings

Units, languages, etc, basic settings can be configured here.

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System units includes international metric and imperial units.
Language includes Bulgarian, Chinese, Czech, Danish, German, English, French,
Croatian, Hungarian, Italian, Japanese, Korean, Lithuanian, Dutch, Norwegian,
Romanian, Russian, Slovenian, Spanish, Serbian, Thai, Turkish, Vietnamese, Finnish,
Portuguese, Latvian, Polish and Ukrainian.

Area Units includes mu, ha, ㎡，acre and da.

Data Source: Demo mode can work when use the CAN Data with PA-3 receiver; Demo
mode can work when use the Simulation Data without PA-3 receiver.
Coverage Logging: Work track need to be opened manually in Switch Mode; Work
track will be opened automatically when entering autopilot in Automatic Mode.
Curve Sample Distance(m): The interval to record points when use curve line. The
default is 2 meters and the minimum can be 1 meter for better smooth. The
maximum points are 1800.
Camera Channel: Currently only the default Channel 5 is available for camera.

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4.2.10.2 Alarm Settings
It is available to set the alarm modes and thresholds here based on practical
operational scenarios.
End of Row Distance: It will sound the alarm when close to boundary/AB line within
the threshold. If there is only an AB line, the system will recognize the distance from
the A/B point; if there is only a boundary, the system will recognize the distance from
the boundary; if there is both an AB line and a boundary, the system will only
recognize the distance from the boundary.
Automatic Alarm: It will have sound and message alarm when exceeds the thresholds
during auto steering mode.
Manual Alarm: It will have sound and message alarm when exceeds the thresholds
during manual mode.

4.2.10.3 Port Settings

Here is the port settings to output NMEA information, set 5V pulse signal output and
set Speed converter.

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4.2.10.3.1 Receiver NMEA output

When set receiver COM2 to output NMEA, it is necessary to use COM2 NMEA cable
(PN: 4103020118).

Please go to Receiver NMEA Output, then it is able to select header is GP or GN

format which depends on the terminal devices decoding method, and 7 different
NMEA message types including GGA, VTG, GSA, GST, GSV, ZDA and RMC with 5s to
10hz outputting frequency, then users can configure the baud rate from 9600 to
115200, finally it is necessary to enable the message status what configured. On the
terminal side, it will decode the NMEA messages and get the correction information
to display.

4.2.10.3.2 Tablet NMEA output

When set tablet to output NMEA, it is necessary to use adapter NMEA cable(PN:
4103020151).

Please go to Tablet NMEA Output, then it is able to find header is GP or GN, and 7
different NMEA message types including GGA, VTG, GSA, GST, GSV, ZDA and RMC
with 5s to 10hz outputting frequency, then users can configure the baud rate from
66
9600 to 115200, finally it is necessary to enable the message status what configured
and click Open in the last step. On the terminal side, it will decode the NMEA
messages and get the correction information to display.

4.2.10.3.3 5V pulse signal output

5V pulse output is mainly for planting trees scene which can output signal to terminal
devices and also can mark/display some information in the AGNAV3.0 software, this
feature is mostly based on AB line and A+ line as well.
Also with the extra adaptive cable(PN: 4103020151) to connect to tablet Port3, then
the these 2pin can be connected to terminal devices with outputting the signal.

Signal output switch: The switch to turn it/off the 5V pulse signal.
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Signal output type: It includes Transplanter and Seeder these two types, 5V pulse
signal advanced settings can be edited only after select the Seeder.
Signal spacing: The distance interval of outputting 5V pulse signal.
Signal turning on duration: The duration of outputting the 5V pulse signal.
Lateral deviation limit: Keep output 5V signal output within he tolerance of auto
driving away the guidelines.
Operation area numbers: Every area with one interval as one operation number
which is only used when turn on the Work area limit option.
Turn alignment: Keep the same output as the first guideline.
Work area limit: Set the area close to headland where not output the signal.
Distance from the headland: The distance from start point or end point when set the
Work area limit.
All guidelines take point A as the starting point of the operation, and then calculate
the position of the end point based on the Operation area numbers.
End point output switch: Output the signal at the end point when set the Work area
limit.
Click Apply, it will skip to main menu automatically, it is able to click Start output this
icon to start output after start auto steering and take to the line.

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4.2.10.3.4 Speed Converter

For some implements that cannot get the tractor speed/coordinate with NMEA
protocol or ISOBUS protocol, but can get the speed by receiving the speed pulse
signal. It is necessary to use the speed pulse module to convert the NMEA
GPGGA/GPVTG information from the tablet/receiver into pulse signal for the
terminal implements to identify.
GPGGA: Output GPS positioning information
GPVTG: Output speed information

Connection Methods
When set PA-3 com2 to output NMEA, it is necessary to use COM2 NMEA cable.

When set tablet to output NMEA, it is necessary to use adapter NMEA cable.

Then the NMEA information will be fed into the pulse module.

69
Take the tablet output as an example:

1 2 3

1. Pulse Module：A→F, B→Implements, C→H, D→GA-Sensor

2. Adapter NMEA cable: E→Port3, G→I
3. Main cable: J→Port1

Secondly, set the output method:

A: Set the output parameters, please note that the range is 10.00-60.00;

70
B: Check the connection status of the pulse module;
C: Select the corresponding NEMA data output method based on the used cable.
Finally, click Confirm when the setup is complete. When Succeed message appears
on the screen, the NMEA data will be converted into a speed pulse signal and output
to your implement.

4.2.10.4 Other Settings

The automatic backup function, the demo mode function, reverse heading function
and the minimum operating speed, etc can be configured in the other settings.

Conversion Interface: If the main cable has some issues with serial connection, so it is
necessary to convert to CAN connection. This is only for old cables and not very
common.
Heading Float: It is CHC own RTK algorithm which is able to improve the fix rate
under some cases which have RTK float issue and continue to get auto steering work,
but it can not fully guaranteed to be fixed.
Auto backup: It is able to support data backup automatically. The maximum backup
folder is 5 days. It will start to do backup after turn on software in 1 hour, also refresh
again each 5 hours.
Demonstration Mode: It is able to perform simulation demonstration of all functions
with the CAN Data on in the Basic Settings.
Reverse Heading: When the vehicle is driving forward but the software indicates that
71
it is reversing, please click it to get the correct heading. It is due to reversed heading
initialization when the vehicle starts.
Reversing heading shortcut: The shortcut in Help interface can be turned on/off here.
Minimum Speed Limit: This is to set the minimum speed for Auto mode. When the
speed exceeds the minimum speed, the electric steering wheel will steer left and
right according to the command; When the speed is lower than the set value, the
electric steering wheel will be locked and won’t rotate.
RTX Parameter: In the NX510 PRO RTX mode, there may be a significant variation in
positioning accuracy when the latitude is high, and this value can be increased. The
default is 0.03 and the range is from 0.03 to 0.15.
RTK setting protection: It can protect dealers’ CORS station and radio information
with defined password, so end users will not be able to delete or modify the related
information. If it is necessary to reset the password, pls turn off RTK setting
protection with the previous password, then turn on RTK setting protection to define
the new password again. Also please remember passwords for different devices in
your database.

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Production Testing: It is used for production team to test.
Boundary cut out: When it is on, it will display guidelines only within the boundary.

Show Headline Option View: It supports software recognizes only guideline, or

boundary, or allows only manual mode. The shortcut will be displayed on the main
interface.
Fields and implements information: Display the current fields, implements, Row
spacing value and guideline information on the main interface.

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4.2.10.5 Backup and Restore Settings
Information such as calibration parameters and farms can be manually backed up
here and the backed up files are stored in CHCNAV-AgNav3.0-Backup. But usually
software has auto backup so it is dispensable step.

4.2.10.6 Parameters
In the parameters interface, users can view real-time IMU information, all vehicle size,
configuration information and hardware information, etc.

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4.2.10.7 Set Parameter
It can modify some parameters through this page and usually it is not necessary.

4.2.11 APN Setting

It is available to set up APN information according to the local SIM card provider.

After insert the SIM card into the tablet/receiver, it’s necessary to manually enter the
information got from the local SIM card provider, then click Apply.

4.2.12 Safety
In order to ensure the safety, currently it is available to support users to set the
maximum autopilot speed and the max speed allowed to engage the autopilot. It is

75
also possible to set the level to manually disengage the autopilot.

4.2.12.1 Maximum autopilot speed

Set the maximum autopilot speed, when the vehicle in autopilot mode, it’s speed
cannot exceed the set thresholds.

If the current speed is 2km/h below to the threshold, it will have message prompts
and audible alarms which remind users the current speed is close to max limit
and auto steering will be disengaged.
The default maximum autopilot speed is 16km/h and the configuration range is from
1km/h to infinity.

If the current speed exceeds the operators set, the auto steering will be disengaged.

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4.2.12.2 Max speed allowed to enable auto steering mode
Set the max speed allowed to engage the autopilot, if the current speed exceeds the
threshold, it can not enter autopilot mode.
The default maximum speed allowed to enable autopilot is 12km/h and the
configuration range is from 1km/h to infinity. Also it should be less than the
maximum autopilot speed as above.

4.2.12.3 Manual override

Manual override function allows users to turn the steering wheel to disengage
autopilot mode in an emergency. It is allowed to set the different level to manually
disengage the autopilot which includes the Simple, Medium, Hard, Prohibitive four
modes.

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4.2.12.4 Fatigue driving
In order to ensure the safety, currently it is available to support users to set the
fatigue driving alert and trigger time.

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4.2.13 About
Check the software and firmware version on this interface.

4.2.13.1 Cellular Network

Check SIM card information like IMEI.

4.2.13.2 Register
There are two methods to register software common feature.

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a) File/code registration.
1) Get into [Settings]-[About]-[Register]
2) Provide the SN Number of the tablet to CHCNAV technicians and will provide you
the registration file/code.

3) Copy the registration file to specific directory: Home/CHCNAV/AgNav3.0

4) Restart the software which will register by itself, then go to [Settings] - [About] -
[Register] again to check the registration status and expiration date.

b) Online registration.
Connect tablet to internet, and provide tablet SN to CHCNAV technicians, finally
restart the software to activate the new registration after informed by CHCNAV
technicians.

Also on the right side of this page, it is able to register the PPP feature includes
Trimble RTX and Novatel TerraStar depending on which device customers use.
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4.2.13.3 Upgrade
Software and firmware can be upgraded via online upgrade or local file upgrade.

1. PA-3 Firmware online upgrade

Click PA-3 firmware online upgrade to download and upgrade the firmware with the
tablet network. If software version is 1026 version below, it is necessary to select the
multiple network mode before updates.

2. Software online upgrade

Click Released software online upgrade, then click Upgrade-INSTALL-OPEN after the
message box pops up.

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3. Firmware local upgrade
a) Ask technical engineer for the latest firmware and copy it into a U disk. For
example 2.9.5.5firmware version as below.

b) Connect USB disk to the tablet, then copy the file under the root directory on the
tablet.
c) Click PA-3 firmware local upgrade, and go to root directory and select the firmware
bin file to upgrade the firmware.

4. Firmware web page upgrade

a) Ask technical engineer for the latest firmware. For example 2.9.5.5 firmware
version as below.

b) Connect to receiver’s WiFi named ‘GNSS-XXXXXXX’.

c) Open Google browser and enter 192.168.1.1, then go to Firmware-Firmware
Update.

d) Select the firmware file and click Confirm. Wait around 5 min to finish the update.

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5. Software local upgrade
a) Ask technical engineer for the latest software apk file and copy it into a U disk. For
example 3.8.2.10 software version as below.

b) Connect USB disk to the tablet, then copy the file under the root directory on the
tablet and click apk file to install.

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5 Quick Guide

5.1 Power On
Press the rocker switch once, the system will boot if the green indicator light is on.

5.2 Receiver Settings and Check

Click the status bars in the upper left corner to enter the GNSS Correction Settings,
please refer to 4.2.7 GNSS Mode for details.

Then check the status bars, when they are both grey, the system is ready to use.

5.3 Steer Ready & Calibrations

Please refer to 4.2.5 Steer Ready & Calibrations for details.

5.4 Implement Settings

Click in the main interface to enter the implements settings, please refer to
Main interface - 9 Implement settings for details.

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5.5 Guideline Settings

Click in the main interface to enter the guidelines settings, please go to

Guidelines for details.

5.6 Starting Autopilot

Click to start autopilot after completing the above steps.

5.7 Turn Off

Press the button, the green light is off and the system is switched off.

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6 Main hardware specifications

Receiver PA-3
GNSS Board, GNSS Antenna, Radio Module, 4G module and
Build-in Module
4G antennas, IMU
BDS: B1I/B2I/B3I/B1C/B2a/B2b; GPS: L1CA/L2C/L2P(Y)/L5;
GNSS board GLONASS: L1/L2/L3; Galileo: E1/E5a/E5b; QZSS: L1/L2/L5;
SBAS: L1/L5
Frequency range: GPS L1/L2/L5;
BDS B1I/B2I/B3I/B1C/B2a/B2b;
GLONASS L1/L2/L3; GALILEO E1/E5a/E5b/E6;
QZSS L1/L2/L5/L6; IRNSS L5; L-Band
4G. WIFI(2.4GHz)
Impedance: 50Ω
GNSS antenna Maximum gain: GNSS 5.5dBi
WIFI 0.5dBi
4G 0.5dBi
Operating voltage: +3.3~+12VDC
Operating current: s40mA
Size: L 152mm*W 145mm*H 16.9mm
Operating temperature: -40°C~+85°C
Horizontal: ±8mm + 1ppm RMS
Accuracy（RTK）
Vertical: ±15 mm + 1 ppm RMS
Channel 1408
Correction Format CMR, RTCM 3.3/3.2/3.1/3.0
Output NMEA 0183, up to 10HZ
Frequency Up to 10Hz
I/O 2*CAN, 2*RS232, Wi-Fi
4G module (EG25)
LTE(FDD): B1,B2,B3,B4,B5,B7,B8,B20
Cellular Module
DC-HSPA+/HSPA+/HSPA/UMTS: B1, B2, B5, B8
EDGE/GPRS/GSM 850/900/1800/1900MHz
Built-in Rx Radio
Radio module 410-470MHZ
TT450S/Transparent/CHC/SATEL 3AS
Size: 14.5*17*3.7mm
Weight: 2g
Operating temperature: -40℃ ~ 85℃
IMU module Power supply: 3.3V
Gyroscope accuracy: 3.0 °/h zero bias stability
0.04/s zero bias repeatability
0.05 °/s output noise

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 Acceleration accuracy: 30ug zero bias stability
1mg zero bias repeatability
0.7mg output noise
Heading angle accuracy: ±2.5°
Roll and pitch angle: ±0.3/0.8°
Power Supply （9-36）V DC
Dimensions 220*205*60mm
Weight 1.5Kg
Material PC+PBT, ADC12
Working Temperature -25℃~＋70℃
Storage Temperature -40℃~+85℃
Water Proof IP67
5-10Hz: +5 dB/oct;
10-75Hz: 0.10m²/s3(0.00104 g2/Hz)
Shock Proof
75-100Hz: -5 dB/oct
Total root mean square acceleration: 7.8Grms
Controller PLC ONE
Output PWM*6
Communication CAN*2
Power Supply 9-36 V DC
Protection Over current and over voltage protection
Working Temperature -20℃~+70℃
Storage Temperature -40℃~+85℃
Water Proof IP67
Tablet CB-H10
CPU quad-core, 1.8 GHz
2G RAM
Memory
16G ROM
Screen 10.1 inch
Resolution 1024*600
Screen Type Capacitive Touch Screen
Brightness 750nits
I/O 2*CAN, 2*RS232, camera input*2
4G: EG25;
WIFI/BT: AW-NM372SM
Communication
2.4GHz WIFI, IEEE 802.11 b/g/n; BT 4.0, BLE
USB 2.0*1
Power Supply (9-36) V DC
Buttons 1* Power, 3*Button
Dimensions 281*181*42mm
Material PC
Working Temperature -20℃~+70℃

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 Storage Temperature -40℃~+85℃
Water Proof IP65
Shock Proof MIL-STD-810G
Rear Camera F23A220
Resolution 1280x720 pixels
Angle view 120°
Tablet 4G antenna QC400SI
Frequency range(MHZ) 450-470
Bandwidth 20
Polarization Vertical
Gain (dBi) 3.6
Impedance (Ω) 50
VSWR ≤3
Maximum power (W) 100
Length (cm) 45
Connector TNC male
Cable length (cm) 50
Weight (kg) 0.15
Rated wind velocity (km/h) 120
Mounting Magnetic mount

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CHC Navigation

Building C, 577 Songying Road, Qingpu, District,

201702 Shanghai, China

Tel: +86 21 542 60 273 | Fax: +86 21 649 50 963

Email: [email protected] | [email protected]

Skype: chc_support

Website: www.chcnav.com

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