CSI Wireless Vector Sensor Reference Manual Download

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Vector Sensor Reference Manual

Figure 6-1 PocketMAX Screen Capture

6.3

General Commands

This section presents various commands relating to the general operation and configuration of the
Vector Sensor.

The following table provides a brief description of the general commands supported by the Vector
Sensor.

Summary of Contents for Vector Sensor

Page 1: ...Vector Sensor Reference Manual Part Number 875 0075 001 Date March 2004 ...

Page 2: ... may cause undesired operation CSI Wireless Inc 4110 9th Street SE Calgary Alberta Canada T2G 3C4 Telephone number 1 403 259 3311 Fax number 1 403 259 8866 E mail address info csi wireless com Web Site www csi wireless com CSI Wireless Limited Warranty CSI Wireless Inc CSI hereby warrants solely to the end purchaser of the Products subject to the exclusions and procedures set forth herein below th...

Page 3: ...ment of Defense for GPS Positioning GPS OEM Receiver specifications of the appropriate manufacturer if applicable and DGPS service provider performance specifications CSI Wireless reserves the right to modify Products without any obligation to notify supply or install any improvements or alterations to existing Products No Other Warranties THE FOREGOING WARRANTY IS EXCLUSIVE OF ALL OTHER WARRANTIE...

Page 4: ... in full force and effect Obtaining Warranty Service In order to obtain warranty service the end purchaser must bring the Product to a CSI Wireless approved dealer along with the end purchaser s proof of purchase For any questions regarding warranty service or to obtain information regarding the location of any of CSI Wireless s dealers contact CSI Wireless at the following address CSI Wireless In...

Page 5: ...Sensors Reduced Search Time 19 1 4 3 Supplemental Sensors Heading System Backup 19 1 5 Installation Overview 20 1 6 Mounting Configurations and Offset Settings 21 1 7 Gyro Initialization Process 21 1 8 NMEA 0183 Message Interface 22 1 8 1 Tilt Aiding 22 1 8 2 Tilt Sensor Calibration 22 1 8 3 Magnetic Aiding 22 1 8 4 Magnetometer Calibration 23 1 8 5 Gyro Aiding 24 1 8 6 Time Constants 25 1 8 7 Lev...

Page 6: ...ray Mounting 37 2 7 1 Magnetic Mounting Optional Accessory 38 2 7 2 Pole and Rail Mounting 38 2 7 3 Routing and Securing the Antenna Cable 39 2 7 4 Connecting the CDA RTK and MBL 3 Antennas 40 2 7 5 Powering the Vector Sensor 40 2 7 6 Turning the Vector Sensor On 41 2 7 7 Connecting the Vector Sensor To External Devices 41 2 8 LED Indicators 43 3 Overview 45 3 1 GPS 45 3 1 1 Satellite Tracking 45 ...

Page 7: ...g the Vector Sensor 56 4 4 Configuring the Data Message Output 56 4 4 1 This Port and the Other Port 57 5 PocketMAX Utility 58 6 NMEA 0183 Messages 60 6 1 NMEA Message Elements 60 6 2 PocketMAX 60 6 3 General Commands 61 6 3 1 JASC D1 62 6 3 2 JAIR 63 6 3 3 JASC VIRTUAL 63 6 3 4 JALT 64 6 3 5 JLIMIT 65 6 3 6 JAPP 65 6 3 7 JBAUD 66 6 3 8 JCONN 66 6 3 9 JDIFF 67 6 3 10 JK 67 6 3 11 JPOS 68 6 3 12 JQ...

Page 8: ... GSV Data Message 82 6 6 6 RMC Data Message 82 6 6 7 RRE Data Message 83 6 6 8 VTG Data Message 83 6 6 9 ZDA Data Message 84 6 6 10 RD1 Data Message 84 6 6 11 PCSI 1 Beacon Status Message 86 6 6 12 HDT Data Message 87 6 6 13 ROT Data Message 87 6 6 14 HPR Data Message 87 6 7 Beacon Receiver Commands 87 6 7 1 GPMSK Beacon Tune Command 88 6 7 2 PCSI 1 Beacon Status Command 88 6 8 GPS Heading Command...

Page 9: ...TT HELP 101 7 Binary Data 102 7 1 Binary Message Structure 102 7 1 1 Bin 1 103 7 1 2 Bin 2 103 7 1 3 Bin 80 104 7 1 4 Bin 93 105 7 1 5 Bin 94 106 7 1 6 Bin 95 106 7 1 7 Bin 96 107 7 1 8 Bin 97 107 7 1 9 Bin 98 108 7 1 10 Bin 99 109 8 Frequently Asked Questions 111 8 1 Heading 111 8 2 General 111 8 3 Support and Repairs 112 8 4 Troubleshooting 112 8 5 Power Communication and Configuration 113 8 6 G...

Page 10: ...or Sensor Reference Manual x 8 10 Installation 116 9 Troubleshooting 117 Appendix A Specifications 119 Appendix B Interface 122 Appendix C Introduction to GPS and SBAS 125 Appendix D Resources 142 Index 144 ...

Page 11: ...4 Figure 6 1 PocketMAX Screen Capture 61 Figure B 1 GPS Data Interface 122 Figure B 2 RTCM Data Output Interface 123 Figure C 1 WAAS Coverage 135 Figure C 2 EGNOS Coverage 136 Figure C 3 Broadcast WAAS Inonspheric Correction Map 137 Figure C 4 Extrapolated WAAS Inonspheric Correction Map 138 Figure C 5 Broadcast EGNOS Inonspheric Correction Map 138 Figure C 6 Extrapolated EGNOS Inonspheric Correct...

Page 12: ...ntial Mode 52 Table 6 1 NMEA Message Elements 60 Table 6 2 General Commands 62 Table 6 3 GPS Commands 73 Table 6 4 SBAS Commands 76 Table 6 5 Data Messages 79 Table 6 6 GGA Data Message Defined 80 Table 6 7 GLL Data Message Defined 80 Table 6 8 GSA Data Message Defined 81 Table 6 9 GSA Data Message Defined 81 Table 6 10 GSV Data Message Defined 82 Table 6 11 RMC Data Message Defined 82 Table 6 12 ...

Page 13: ...n 95 Message 106 Table 7 8 Bin 96 Message 107 Table 7 9 Bin 97 Message 108 Table 7 10 Bin 98 Message 108 Table 7 11 Bin 99 Message 109 Table 9 1 Troubleshooting 117 Table A 1 Specifications 119 Table A 2 Vector Antenna Array Specifications 120 Table A 3 MBL 3 Specifications 120 ...

Page 14: ...ase centers Standard RF coaxial cables connect the antennas to the Vector Sensor You may configure the Vector Sensor for larger antenna separations up to 2 0 m maximum in order to increase the heading performance of the system The separate MBL 3 antenna provides beacon RF signals to the beacon demodulator within the Vector Sensor The Vector Sensor system provides industry standard HEHDT and HEROT ...

Page 15: ...Questions This chapter provides answers to frequently asked questions about the Vector Sensor system Chapter 8 Troubleshooting provides you with diagnostic information to aid in determining a source of difficulty for a particular installation Appendix A Specifications Details the technical characteristics of the Vector Sensor system Appendix B Interface Provides instructions to interface the Vecto...

Page 16: ...will issue an RMA number When providing the RMA number CSI Wireless will provide you with shipping instructions to assist you in returning the equipment World Wide Web Site CSI Wireless maintains a World Wide Web home page at the following address www csi wireless com A corporate profile product information application news GPS and DGPS literature beacon coverage information and software are avail...

Page 17: ...on of the Vector Sensor provides a functional heading foundation that satisfies many requirements little additional configuration Note Any increase in antenna separation beyond this measure is at your risk For separations beyond the default 0 5 m separation up to 2 0 meters maximum requires the gyro magnetometer and inclinometer The byproduct of increasing the antenna separation is longer search t...

Page 18: ...required for the Vector Sensor Note The Display Only port is currently used only for firmware updates of the secondary GPS receiver It is also present for future expansion of a Vector Sensor display system if developed Figure 1 1 Cable Interface 1 4 Understanding the Vector Sensor The purpose of the Vector Sensor system is to provide accurate reliable heading and position information at high updat...

Page 19: ...lt sensor and the magnetometer aid the rate at which a heading solution is computed on startup and also during reacquisition if the GPS heading is lost due to obstructions Each supplemental sensor may be turned on or off individually however the full functionality of the Vector Sensor system is realized only when each are used The tilt sensor reduces the search volume further beyond the volume ass...

Page 20: ...sition to the vessel centerline if the Antenna Array is not mounted on the centerline Install the Antenna Array in a horizon as best as can be accomplished this will provide a foundation for performance success when the internal tilt sensor is used to supplement Vector Sensor operation You may choose to increase the antenna separation of the Vector Sensor to increase the level of heading accuracy ...

Page 21: ...st and most common method is to mount the Antenna Array pointing in a direction parallel to the axis of the boat facing the bow This mounting configuration will provide the ability for the Vector Sensor system to output both heading and the pitch of the vessel With this approach to mounting the Vector Sensor must also be aligned to the axis of the boat such that the front panel is facing the boat ...

Page 22: ...with the following command JATT TILTAID YES CR LF To query the Vector Sensor for the current status of this feature issue the following command JATT TILTAID CR LF Note If you choose to increase the antenna separation beyond the default 0 5 m length use of tilt aiding is required 1 8 2 Tilt Sensor Calibration The tilt sensor within the Vector Sensor is pre calibrated during the manufacturing proces...

Page 23: ... is mandatory for the calibration process There are two different ways to calibrate the magnetometer The first way is to send a command to clear the current magnetic information to begin the initialization process JATT MAGCLR CR LF Then if you leave the unit powered continuously it will automatically save the magnetic calibration tables when the system has sufficiently sampled the magnetic field w...

Page 24: ...orten reacquisition times when a GPS heading is lost due to obstruction of satellite signals by reducing the search volume required for solution of the RTK It will also provide an accurate substitute heading for a short period depending on the roll and pitch of the vessel ideally seeing the system through to reacquisition This is why we highly recommend you leave the gyro aiding on Exceeding rates...

Page 25: ...y and therefore must be entered manually by the user Increasing the time constant will increase the level of heading smoothing The following command is used to adjust the heading time constant JATT HTAU htau CR LF Where htau is the new time constant that falls within the range of 0 0 to 3600 0 seconds Depending on the expected dynamics of the vessel you may wish to adjust this parameter For instan...

Page 26: ...etermining what the level of smoothing follows If you are unsure on how to set this value it s best to be conservative and leave it at the default setting ptau in seconds 10 maximum rate of pitch in s You may query the Vector PRO for the current pitch time constant by issuing the same command without an argument JATT PTAU CR LF Note If you are unsure of the best value for this setting it s best to...

Page 27: ...onds COG is computed using the primary GPS engine only and its accuracy is dependant upon the speed of the vessel noise is proportional to 1 speed and when stationary this value is invalid As with the heading time constant the setting of this value depends upon the expected dynamics of the vessel If a boat is highly dynamic this value should be set to a lower value since the filtering window needs...

Page 28: ...alue for this setting it s best to be conservative and leave it at the default setting spdtau in seconds maximum acceleration in m s2 10 You may query the Vector Sensor for the current heading time constant by issuing the same command without an argument JATT SPDTAU CR LF Note If you are unsure of the best value for this setting it s best to be conservative and leave it at the default setting of 0...

Page 29: ...re that the Vector Sensor is mounted accordingly If you install the Antenna Array in the parallel direction as the boat s axis you do not need to make any configuration changes to receive the pitch measurement you need to only turn the appropriate message on the PSAT HPR message If you wish to get the roll measurement you will need to install the Antenna Array perpendicular to the vessel s axis an...

Page 30: ...t if the Antenna Array is not installed in a horizontal plane The following NMEA message allows to you to calibrate the pitch roll reading from the Vector Sensor JATT PBIAS x CR LF Where x is a bias that will be added to the Vector Sensor s pitch roll measure in degrees The acceptable range for the heading bias is 15 0 to 15 0 The default value of this feature is 0 0 To determine what the current ...

Page 31: ...asure the separation of the two antennas center to center This measurement should be accurate to within one to two centimeters or better When mounting the CDA RTK antennas you should take care to mount the antennas such at the RF connectors face the same direction For example both connectors should point to the bow of the vessel The reason for this is that any systematic bias in the antenna phase ...

Page 32: ...is to statistically solve for the correct RTK solution Note The maximum antenna separation that we recommend is 2 0 m Any increase beyond this limit is at your risk or the Vector Sensor solving for the wrong RTK position of the secondary GPS antenna resulting in an incorrect heading 1 8 14 Summary Command This command is used to receive a summary of the current Vector Sensor settings This command ...

Page 33: ...ommand provides the current output rate setting for this message The details of this command and the HEHDT are described in Chapter 6 1 8 17 HEROT Message This message provides rate of turn of the vessel and has units of degrees per second The HEHDT message output rate may be configured with the following command JASC HEROT rate CR LF Where rate may be any of the following values expressed in Hz 0...

Page 34: ...vides the heading pitch roll information and time in a single data message The output of this data message is controlled using the following message JASC HPR rate CR LF Where rate may be any of the following values expressed in Hz 0 1 5 10 or 0 2 The details of this command and the PSAT HPR data message are described in Chapter 6 ...

Page 35: ...11 022 One Vector Sensor Manual P N 875 0075 000 The Antenna Array has two CDA RTK antennas pre installed along with two 1 14 UNS 2B threaded PVC mounting bases 2 2 Cable Interface The Vector Sensor power data and antenna cable interfaces The following figure shows the various connections located on the rear panel of the Vector Sensor Evaluation enclosure Please note that the Vector requires conne...

Page 36: ...s the correction source selecting an appropriate location for installation of the MBL 3 antenna will influence beacon receiver performance The following list provides some general guidelines for deciding upon an MBL 3 beacon antenna location Ensure that the antenna is as far as possible from all other equipment that emits Electromagnetic Interference EMI including DC motors alternators solenoids r...

Page 37: ... W maximum The Vector Sensor power supply features reverse polarity protection but will not operate with reverse polarity power Also each of the RF connectors feature short circuit protection 2 6 Electrical Isolation The Vector Sensor features a power supply that is isolated from the metal enclosure and also from the communication lines and the Antenna Array is isolated from the mounting structure...

Page 38: ... Array will need to be installed orthogonal to the vessel axis If you don t require roll install the Array parallel with the vessel s axis Choose a location that meets the requirements of Section 3 3 Place the Antenna Array in the desired location and align the axis of the Antenna Array parallel or perpendicular to the axis of the vessel Check to make sure that antenna is secure in its mounting po...

Page 39: ...of the longer cable exceeds 15 dB the cable material will need to be changed This normally means a more expensive material that has a larger diameter and less flexibility The standard cables that come with the Vector Sensor are an RG58 material family Their attenuation is approximately 0 8 dB m Including connector losses the nominal loss of these RF cables is approximately 10 dB which is within th...

Page 40: ...wires of the power cable as required There are a variety of power connectors and terminals on the market from which to choose depending on your specific requirements Caution do not apply a voltage higher than 40 VDC as this will damage the receiver and void the warranty To interface the Vector Sensor power cable to the power source Connect the red wire of the cable s power input to DC positive Con...

Page 41: ...serial ports of the Vector Sensor are compatible with the RS 232C interface level to communicate with navigation systems and other devices You may use either the A or B port for operation of the system however Port A should be used for firmware updates Either port may be used for the input of external differential corrections if desired The Display Only port is present only for firmware upgrades o...

Page 42: ...e for extension cable s DB9 socket connectors female The associated numbering for the plug connector male is a mirror reflection of scheme showed in this figure 1 2 3 4 6 7 9 5 8 Figure 2 2 DB9 Socket Numbering Figure 2 3 and 2 4 illustrate the standard interface for the Vector Sensor when interfaced to an external device with either the Port A or Port B serial ports 2TX 3 RX NMEA Binary RTCM 5 GN...

Page 43: ... GPS Orange Secondary GPS lock indicator this LED will blink a few times on startup before the lamp test Once the secondary GPS achieves a solid lock this LED will remain illuminated DIFF Yellow Differential lock indicator This indicator will illuminate continuously when the Vector Sensor has achieved a solid SBAS lock with better than a 150 bit error rate BER or when it is successfully receiving ...

Page 44: ...ector Sensor Reference Manual 44 The following figure displays the front panel layout of the Vector Sensor including the location and labeling of each LED Figure 2 5 Vector Sensor Evaluation Front Panel ...

Page 45: ...source of RTCM SC 104 differential corrections may be used If you choose to use an external source of correction data you will need to ensure that the external source supports RS 232 and an eight data bit no parity and one stop bit configuration 8 N 1 and also configure the Vector Sensor for external correction operation 3 1 GPS The following sections describe the general operation of the GPS tech...

Page 46: ...onsult Chapter 6 for further information on individual NMEA messages 3 2 SBAS The following sections describe the general operation and performance monitoring of the SBAS WAAS EGNOS MSAS and SNAS demodulator within the Vector Sensor SBAS are described in further detail in Appendix A 3 2 1 Automatic Tracking The SBAS demodulator featured within the Vector Sensor will automatically scan and track th...

Page 47: ...the general operation and performance monitoring of the SBX beacon engine within the Vector Sensor 3 3 1 Tune Modes The internal beacon sensor may be operated in either Automatic or Manual beacon tune modes In Automatic Beacon Search ABS mode the receiver will identify and tune to the station providing the strongest DGPS signal In Manual Tune mode you specify the frequency to which the receiver wi...

Page 48: ...se measured values to compute an average SS noise floor and to sort the frequencies in descending order of SS The beacon receiver s two channels cooperatively examine the frequencies with the highest SS measurements above the computed noise floor to determine the station providing the strongest RTCM signal The receiver s primary channel locks to the first identified DGPS broadcast while the ...

Page 49: ...uency and bit rate for the receiver to tune or specify the frequency only allowing the Vector Sensor to identify the correct MSK bit rate on its own This mode of operation is most useful when working in an area where you know the frequency though not necessarily the MSK bit rate of the closest beacon 3 3 2 Receiver Performance The Signal to Noise Ratio SNR best describes the Vector Sensor s intern...

Page 50: ...CM SC 104 corrections 3 5 Default Parameters This section outlines the default parameters of the Vector Sensor The following tables provide details on the firmware types port settings default NMEA messages elevation mask differential age mask default differential mode and beacon receiver settings Note Any changes you make to the Vector Sensor configuration need to be saved with the JSAVE NMEA comm...

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Page 52: ... simultaneously devoting 2 of the primary GPS engine s 12 parallel channels to SBAS tracking while using the remaining 10 channels for GPS This provides effective tracking of multiple SBAS satellites if available 3 6 2 GPS Firmware The software that operates the internal components of the Vector Sensor operates within internal low level devices and is often referred to as firmware There are two ty...

Page 53: ...ations This alleviates any issue in the field with using the wrong version application 3 6 4 Beacon Firmware The Vector Sensor s internal beacon module incorporates its own version of firmware that controls its operation This firmware can be updated independent of the Vector GPS firmware if needed through Port A or B ...

Page 54: ...mation 4 2 Communicating with the Vector Sensor The Vector Sensor features dual serial ports that may be configured independently from each other Port A and B The ports may be configured for a mixture of NMEA 0183 binary and RTCM SC 104 data The usual data output is only required NMEA data messages Note If you require different data types to be output from the Vector Sensor simultaneously you may ...

Page 55: ... allows you to control the operation of the Vector Sensor and also receive all necessary data regarding status and positioning information Binary messages are described in Chapter 7 4 2 3 RTCM SC 104 Protocol RTCM SC 104 is a standard that defines the data structure for differential correction information for a variety of differential correction applications It has been developed by the Radio Tech...

Page 56: ...error per 100 miles This error is often seen as a bias in positioning resulting in a position offset The scatter or the receiver is likely to remain close to constant The RTCM SC 104 data output by the Vector Sensor is converted from the RTCM SC 159 data broadcast by SBAS Appendix D Resources contains the contact information should you wish to purchase a copy of the RTCM SC 104 specification 4 3 C...

Page 57: ...ed to as This port If you wish to turn a data message on the opposite port on or off that port is referred to as the Other port For example if you are communicating with the Vector Sensor Port B and wish to turn the GPGGA message on at an update rate of 5 Hz on Port A the following command would be used JASC GPGGA 5 OTHER CR LF If you wish to turn the GPGGA message on at 5 Hz on Port B you would i...

Page 58: ...which works on the 2003 platform You must have the corresponding cable for your PDA to connect to a serial port on your product If you don t have the latest version of PocketMAX you can download it from the CSI Wireless website www csi wireless com For a detailed discussion on the PocketMAX software please refer to the PocketMAX Manual also available for download from the CSI Wireless website Caut...

Page 59: ...Vector Sensor Reference Manual 59 ...

Page 60: ...ocketPC software that runs on PocketPC 2000 2002 and 2003 platforms It can be used to configure and monitor your differential source GPS messages and it also records various types of data It is available for download from CSI s website This utility is discussed in the PocketMAX Manual and a screen shot is shown in the following figure Caution It is important to note that when you are using PocketM...

Page 61: ...AX Screen Capture 6 3 General Commands This section presents various commands relating to the general operation and configuration of the Vector Sensor The following table provides a brief description of the general commands supported by the Vector Sensor ...

Page 62: ...is is not normally needed JQUERY GUIDE This command is used to poll the Vector Sensor for its opinion on whether or not it is providing suitable accuracy after the both SBAS and GPS have been acquired up to 5 min JRESET This command is used to reset the configuration of the Vector Sensor JSAVE This command is used to save the configuration of the Vector Sensor JSHOW This command is used to query t...

Page 63: ...ector Sensor will reply with the following response 6 3 3 JASC VIRTUAL When using an external correction source this command is used to daisy chain RTCM data from being input from one port and output through the other For example if RTCM is input on Port B this data will correct the position and also be output through Port A The Vector Sensor acts as a pass through for the RTCM data Either port ma...

Page 64: ... be well suited for use of this feature however it s not normally required for Vector Sensor operation This command has the following layout JALT c v GEOID CR LF Where feature status variable c and threshold variable v may be one of the following c Description NEVER This is the default mode of operation where altitude aiding is not used SOMETIMES Setting this feature to SOMETIMES allows the receiv...

Page 65: ...or the currently installed applications and to choose which application to use Both internal GPS engines each have two copies of their firmware in both application slots This ensures that the application is not accidentally changed such that the receiver fails to function correctly To poll the receiver for the current applications send the following message JAPP CR LF There are no data fields to s...

Page 66: ...ication to overwrite Note When running an application you can issue a JI command to determine the version of that application 6 3 7 JBAUD This command is used to configure the baud rates of the Vector Sensor This command has the following structure JBAUD r OTHER CR LF Where r may be one of the following baud rates Baud Rates 4800 9600 19200 38400 When this command has been issued without the OTHER...

Page 67: ...alues diff Description OTHER Specifying OTHER instructs the Vector Sensor to use external corrections input through the opposite port from which you are communicating BEACO N Specifying BEACON instructs the Vector Sensor to use corrections from the internal SBX beacon engine WAAS Specifying WAAS instructs the Vector Sensor to use SBAS corrections NONE In order for the Vector Sensor to operate in a...

Page 68: ...cimal degrees This component does not have to be more accurate than half a degree lon Longitude component must be entered in decimal degrees This component does not have to be more accurate than approximately half a degree Note this command is not normally required for operation of the Vector Sensor module 6 3 12 JQUERY GUIDE This command is used to poll the Vector Sensor for its opinion on whethe...

Page 69: ...wing structure JSAVE CR LF The Vector Sensor will reply with the following two messages Ensure that the receiver indicates that the save process is complete before turning the receiver off or changing the configuration further Saving Configuration Please Wait Save Complete No data fields are required The receiver will indicate that the configuration is being saved and will notify you when the save...

Page 70: ...s output at a rate of 1 Hz from the other port 7 This line indicates that D1 is output at a rate of 1 Hz from the other 8 This line indicates that the current differential mode is WAAS 9 This line indicates the status of the altitude aiding feature 10 This line indicates the threshold of estimated differential performance that allows the green DGPS LED to illuminate 11 This line indicates the curr...

Page 71: ...esponse will provide the JSHOW GP message header followed by each message currently being output through the current port and also the update rate for that message 6 3 16 JT This command displays the type of receiver engine within the Vector Sensor and has the following format JT CR LF The receiver will return the following response indicating that the receiver is an SX1a a for attitude system whe...

Page 72: ...te as shown in the table below msg r Hz Description Bin1 5 1 0 or 2 Binary GPS position message Bin2 5 1 0 or 2 Binary message containing GPS DOP s Bin80 1 or 0 Binary message containing SBAS information Bin95 1 or 0 Binary message containing ephemeris information Bin96 1 or 0 Binary message containing code and carrier phase information Bin97 5 1 0 or 2 Binary message containing process statistics...

Page 73: ...e the choice of various update rates available depending on what your requirements are This command has the following layout JASC msg r OTHER CR LF Where msg is the name of the data message and r is the message rate as shown in the table below Sending the command without the optional OTHER data field will enact a change on the current port Sending a command with a zero value for the r field turns ...

Page 74: ... has the following structure JAGE age CR LF Where maximum differential age timeout variable age may be a value from 6 to 8100 seconds The Vector Sensor will reply with the following response 6 4 3 JOFF This command allows you to turn off all data messages being output through the current or other port including any binary messages This command has the following definition JOFF OTHER CR LF When the...

Page 75: ...d will turn on the four NMEA messages on the other port The Vector Sensor will reply with the following response 6 4 6 JSMOOTH There is a new command JSMOOTH that enables the user to change the carrier smoothing interval between 15 minutes and 5 minutes This command was designed to offer the user flexibility for tuning in different environments You may find a slight improvement in positioning perf...

Page 76: ...BAS diagnostic information JASC RTCM This feature allows you to configure the Vector Sensor to output RTCM data from the WAAS demodulator The following subsections provide detailed information relating to the use of each command Note Please ensure that you save any changes that you wish to survive beyond the current power up by using the JSAVE command and wait for the Save Complete response 6 5 1 ...

Page 77: ...location of the SBAS satellites can be very useful when troubleshooting a reception problem as in some geographic regions these satellites may appear quite low on the horizon To query the Vector Sensor for the currently used SBAS satellite information use the following query JGEO CR LF The receiver will respond with the following data message JGEO Sent 1575 4200 Used 1575 4200 PRN prn Lon lon El e...

Page 78: ...ation from the Vector Sensor The following section details the contents of this message To command the Vector Sensor to output the diagnostic information message for the currently used SBAS satellites at a rate of 1 Hz use the following query JASC D1 1 OTHER CR LF The receiver will respond with the following data message Setting the update rate to zero as follows will turn off this message JASC D1...

Page 79: ...A 1 Hz GNSS Global Navigation Satellite System DOP and Active Satellites GPGST 1 Hz GNSS Pseudorange Error Statistics GPGSV 1 Hz GNSS Satellites in View GPRMC 5 Hz Recommended Minimum Specific GNSS Data GPRRE 1 Hz Range residual message GPVTG 5Hz Course Over Ground and Ground Speed GPZDA 5 Hz Time and Date RD1 1 Hz SBAS diagnostic information proprietary NMEA message PCSI 1 1 Hz This is a propriet...

Page 80: ...n computed using almanac qq Number of satellites used in position computation pp p HDOP 0 0 to 9 9 saaaa aa Antenna altitude M Altitude units M meters xxxx xx Geoidal separation needs geoidal height option M Geoidal separation units M meters sss Age of differential corrections in seconds aaa Reference station identification cc Checksum CR LF Carriage return and line feed 6 6 2 GLL Data Message The...

Page 81: ...9 9 r r Vertical Dilution of Precision VDOP 1 0 to 9 9 cc Checksum CR LF Carriage return and line feed 6 6 4 GST Data Message The GST message contains Global Navigation Satellite System GNSS psuedorange error statistics Table 6 9 breaks down the GST message into its components This message has the following format GPGST hhmmss ss a a b b c c d d e e f f g g cc CR LF Table 6 9 GST Data Message Defi...

Page 82: ... RMC Data Message The RMC message contains recommended minimum specific GPS data Table 6 11 breaks down the RMC data message into its components This message has the following format GPRMC hhmmss ss a ddmm mmm n dddmm mmm w z z y y ddmmyy d d v cc CR LF Table 6 11 RMC Data Message Defined Field Description hhmmss ss UTC time in hours minutes seconds of the GPS position a Status is valid if a A sta...

Page 83: ...eturn and line feed 6 6 8 VTG Data Message The VTG message contains velocity and course information Table 6 13 breaks down the VTG data message into its components This message has the following format GPVTG ttt c ttt c ggg gg u ggg gg u cc CR LF Table 6 13 VTG Data Message Defined Field Description ttt True course over ground ttt 000 to 359 in degrees c True course over ground indicator c T alway...

Page 84: ...ler DSPStat ARMStat DiffStatus NavCondition cc CR LF Table 6 15 RD1 Data Message Defined Field Description SecOfWeek The second of GPS week may be a couple of seconds old WeekNum The GPS week number FreqMHz The L band frequency in MHz 1475 4200 is used for SBAS DSPLocked 1 if DSPStat 1B or 1F BER BER2 Bit error rate bit error rates are given for both SBAS satellites being tracked AGC L band Signal...

Page 85: ... 08 DGPS solution 10 DGPS solution is good 20 Not used 40 Not used An example of the NavCondition is presented in the following table for the 179889A value Field Description A The number of satellites with lock and carrier phase 9 The number of satellites with ephemeris received 8 The number of satellites with healthy ephemeris 8 The number of satellites that are tracked have an ephemeris which is...

Page 86: ...either Port A or B PCSI CS0 PXXX Y YYY SN fff f M ddd R SS SNR MTP Q ID H T Field Description CS0 Channel 0 PXXX Y YYY Resident SBX 3 firmware version S N SBX 3 receiver serial number fff f Channel 0 current frequency M Frequency Mode A Auto or M Manual ddd MSK bit rate R RTCM rate SS Signal strength SNR Signal to noise ratio MTP Message throughput Q Quality number 0 25 number of successive good 3...

Page 87: ...ow turns to port 6 6 14 HPR Data Message The PSAT HPR message is a proprietary NMEA sentence that provides the heading pitch roll information and time in a single data message This message has the following format PSAT HPR time pitch roll 7B CR LF Field Description time GPS time HHMMSS SS heading Heading degrees pitch Pitch degrees roll Roll degrees 6 7 Beacon Receiver Commands As mentioned above ...

Page 88: ... non zero value the SBX will output the CRMSS message at that period through the serial port from which the SBX was tuned When issuing the tune command with a non zero n field through the secondary port the periodic output of the CRMSS message will not impact the output of RTCM on the main port However when tuning the SBX with a non zero n field through the primary port the NMEA status message wil...

Page 89: ...period in seconds If you wish to have the CS0 message output for every power cycle use the following derivative of this command PCSI 1 x S CR LF The beacon receiver will provide the following response PCSI ACK 1 x S Where x is the desired output period in seconds The S field must be present and be capitalized 6 8 GPS Heading Commands This section details the various settings that relate to the GPS...

Page 90: ...t setting SPDTAU Command to set the speed time constant and to query the current setting HBIAS Command to set the heading bias and to query the current setting PBIAS Command to set the pitch bias and to query the current setting NEGTILT Command to turn on the negative tilt feature and to query the current setting ROLL Command to configure the Vector Sensor for roll or pitch output SEARCH Command t...

Page 91: ...mand JATT MAGAID YES CR LF You may turn this feature back off with the following command JATT MAGAID NO CR LF To query the Vector Sensor for the current status of this feature issue the following command JATT MAGAID CR LF Note Magnetic aiding is now always required 6 8 4 JATT MAGCAL Metallic structures on the vessel affect a compass reading so this effect must be removed through the calibration pr...

Page 92: ...ibration performed Note It is very important to perform the calibration only after the installation of the Vector Sensor has been confirmed to be complete If the Vector Sensor s location is changed you will need to clear the calibration and recalibrate A valid GPS heading is required during the calibration process 6 8 5 JATT MAGCLR This command is used to clear the magnetic calibration table insid...

Page 93: ...o request the status of this message send the following command JATT GYROAID CR LF Every time the Vector is powered the gyro goes through a warm up procedure This warm up calibrates the gyro to a point where it is operational to its fullest potential The gyro will automatically warm up by itself over the span of several minutes This self calibration is the equivalent to performing the procedure be...

Page 94: ...rement send the following command to the Vector Sensor JATT MSEP sep CR LF Where sep is the measured antenna separation entered in meters To show the current antenna separation issue the following command JATT MSEP CR LF 6 8 10 JATT HTAU The heading time constant allows you to adjust the level of responsiveness of the true heading measurement provided in the HEHDT message The default value of this...

Page 95: ...llowing command is used to adjust the pitch time constant JATT PTAU ptau CR LF Where ptau is the new time constant that falls within the range of 0 0 to 3600 0 seconds Depending on the expected dynamics of the vessel you may wish to adjust this parameter For instance if the vessel is very large and is not able to pitch quickly increasing this time is reasonable The resulting pitch would have reduc...

Page 96: ...e command without an argument JATT HRTAU CR LF Note If you are unsure of the best value for this setting it s best to be conservative and leave it at the default setting of 2 0 seconds 6 8 13 JATT COGTAU The course over ground COG time constant allows you to adjust the level of responsiveness of the COG measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of ...

Page 97: ...shorter resulting in a more responsive measurement However if a vessel is very large and has must more resistance to change in its motion this value can be increased to reduce measurement noise The following formula provides some guidance on how to set this value initially however we recommend that you test how the revised value works in practice If you are unsure what is the best value for this s...

Page 98: ...LF Note The pitch roll bias is added after the negation of the pitch roll measurement if so invoked with the JATT NEGTILT command 6 8 17 JATT NEGTILT When the secondary GPS antenna is below the primary GPS antenna the angle from the horizon at the primary GPS antenna to the secondary GPS antenna is considered negative Depending on your convention for positive and negative pitch roll you may wish t...

Page 99: ...r enclosure to be installed upside down This command should only be used with the Vector Sensor and the Vector OEM board since flipping the board or Vector Sensor enclosure doesn t affect the antenna array which needs to remain facing upwards When using this command the enclosure needs to be flipped about roll so that the front still faces the front of the vessel To turn this upside down feature o...

Page 100: ...code that summarizes the heading feature status and is described in the following table Value Flag Feature On Feature Off Gyro aiding 02 0 Negative tilt 01 0 Roll 08 0 Magnetic aiding 04 0 Tilt aiding 02 0 Level 01 0 The GN RMTL field is two separate hex flags GN and RMTL The GN value is determined by computing the sum of the gyro aiding and negative tilt values depending if they are on or off If ...

Page 101: ...10 On Off On Off 11 On Off On On 12 On On Off Off 13 On On Off On 14 On On On Off 15 On On On On 6 8 22 JATT HELP The Vector Sensor supports a command that you can use to get a short list of the supported commands if you find yourself in the field without documentation This commands has the following format JATT HELP CR LF The response to this command will be the following JATT HELP CSEP MSEP EXAC...

Page 102: ... structure Note For clarity each table begins on a new page Table 7 1 Binary Message Structure Group Components Type Bytes Value Synchronization String 4 byte string 4 BIN BlockID a number which tells the type of binary message Unsigned short 2 1 2 80 93 94 95 96 97 98 or 99 Header DataLength the length of the binary messages Unsigned short 2 52 16 40 56 96 128 300 28 68 or 304 Data Binary Data va...

Page 103: ...tude above the ellipsoid in meters Float 4 VNorth Velocity north in m s Float 4 VEast Velocity East in n s Float 4 VUp Velocity up in m s Float 4 Positive NavMode Navigation mode 0 No fix 1 2D no diff 2 3D no diff 3 2D with diff 4 5 or 6 3D with diff If bit 7 is set left most bit then this is a manual mark position Unsigned short 2 Bits 0 through 6 Navmode Bit 7 Manual mark Extended AgeOfDiff Exte...

Page 104: ...2 Mask of satellites used by first WAAS satellite Bit 03 Mask of satellites used by second WAAS satellite Bit 04 Unused Bit 05 09 Value used to find PRN of first WAAS satellite This value 120 PRN Bit 10 14 Value used to find PRN of second WAAS satellite This value 120 PRN Bit 15 Unused 7 1 3 Bin 80 This message has a BlockID of 80 and is 40 bytes excluding the header and epilogue This message cont...

Page 105: ...ot used at this time Unsigned short 2 Future use TOWSecOfWee k Time at which this arrived LSB 1 sec Unsigned long 4 IODE Unsigned short 2 URA Consult the ICD GPS 200 for definition in Appendix D Resources Unsigned short 2 T0 Bit 0 1 sec Long 4 XG Bit 0 0 08 m Long 4 YG Bit 0 0 08 m Long 4 ZG Bit 0 0 4 m Long 4 XGDot Bit 0 0 000625 m s Long 4 YXDot Bit 0 0 000625 m s Long 4 ZGDot Bit 0 0 004 m s Lo...

Page 106: ...tive Unsigned short 2 dn Day of week 1 7 when dtlsf becomes effective Unsigned short 2 dtls Cumulative past leap Short 2 dtlsf Scheduled future leap Short 2 Spare Not used at this time Unsigned short 2 Future use 7 1 6 Bin 95 This message has a BlockID of 95 and is 128 bits excluding the header and epilogue This message contains ephemeris data of all 12 channels The following table describes the c...

Page 107: ... L1 wave 0 190293672798365 m Double 8 x 12 96 Where UlCS_TT_SNR_PRN Bits 0 7 PRN PRN is 0 if no data Bits 8 15 SNR value SNR 10 0 log10 0 8192 SNR value Bits 16 23 Phase Track Time in units of 1 10 second range 0 to 25 5 seconds see next word Bits 24 31 Cycle Slip Counter Increments by 1 every cycle slip with natural rollover after 255 UlDoppler_FL Bit 0 1 if Valid Phase 0 otherwise Bit 1 1 if Tra...

Page 108: ...d short 2 Future use Spare 5 Not used at this time Unsigned short 2 Future use 7 1 9 Bin 98 This message has a BlockID of 98 and is 68 bytes excluding the header and epilogue This message contains data derived from the satellite almanacs The following table describes the contents of this message in order Table 7 10 Bin 98 Message Name Components Type Bytes Value AlmanData Almanac derived data 8 sa...

Page 109: ...is message in order Table 7 11 Bin 99 Message Name Components Type Bytes Value NavMode2 Navigation mode data lower 3 bits hold the GPS mode upper bit set if differential is available Byte 1 Lower 3 bits 0 time not valid 1 no fix 2 2D fix 3 3D fix Upper bit bit 7 is 1 if differential is available UTCTimeDiff Whole seconds between UTC and GPS time GPS minus UTC Byte 1 Positive GPSWeek GPS week assoc...

Page 110: ...valid 3 has data not yet validated AlmHealth Almanac health from sub frame 4 of the GPS message Byte 1 See ICD GPS 200 Elev Elevation angle in degrees Char 1 90 to 90 Azimuth the azimuth in degrees Byte 1 0 to 180 degrees represents 0 to 360 degrees URA User range error from sub frame 1 of the GPS message Byte 1 See ICD GPS 200 Spare Not used at this time Byte 1 Future use CliForSNR Code lock indi...

Page 111: ...est to test the system with and without the secondary sensors to see if you feel that the performance suffers too much without them 8 2 General Q Do you recommend beacon or SBAS differential services A It partially depends on regulations regarding on the size of your vessel and if you re going to use the Vector Sensor for positioning in addition to heading You may be required to use beacon correct...

Page 112: ...our dealer first as they would be your local support They may be able to solve your problem more promptly than us due to their location and experience with our equipment 8 4 Troubleshooting Q What do I do initially if I have a problem with the operation of the Vector Sensor A Try to isolate the source of the problem Problems are likely to fall within one of the following categories It s important ...

Page 113: ...em with that equipment Q Am I able to configure the two serial ports with different baud rates A Yes the ports are independent For instance you may have one port set to 4800 and the other to 19 200 or vice versa Q Am I able to have the Vector Sensor output different NMEA messages through the two ports A Yes you may have different NMEA messages turns on for the two serial ports Further these NMEA m...

Page 114: ...what the GPS inside the Vector Sensor is doing A The GPS engine supports standard NMEA data messages The GPGSV data message contains satellite tracking information Since the GPS automatically tracks GPS satellites when powered this will give you information on the tracking status If your receiver has computed a position this will be contained within the GPGGA data message Also the front panel LEDs...

Page 115: ...latively often Using the COAST technology the Vector Sensor will be able to perform well for up to 30 to 40 minutes with old correction data depending on the degree of tolerable drift In order to obtain a full set of corrections the Vector Sensor receives the ionospheric map over a period of a few minutes This is the minimum amount of time required to get a full set of corrections for SBAS operati...

Page 116: ...m an external correction source what could be the problem A This could be due to a number of issues Make sure that the corrections are of an RTCM SC 104 protocol Check to see that the baud rates of the port used by the Vector Sensor matches that of the external correction source The external correction source should be using an 8 data bit no parity and 1 stop bit serial port configuration Inspect ...

Page 117: ...M or the Bin95 and Bin96 messages are not being output accidentally send a JSHOW command Verify baud rate settings of Vector Sensor and remote device match correctly Potentially the volume of data requested to be output by the Vector Sensor could be higher than the current baud rate supports Try using 38 400 as the baud rate for all devices or reduce the amount of data being output No GPS lock Che...

Page 118: ... to receive of the RTCM input port and grounds must be connected Refer to Appendix B Non differential GPS output Verify Vector Sensor SBAS and beacon lock status or external source is locked Confirm baud rates match an external source correctly Issue a JDIFF CR LF command and see if the expected differential mode is in fact the current mode ...

Page 119: ...ity 2 4 µV for 6 dB SNR 200 bps Frequency Selection Manual or automatic Frequency offset 5 Hz Dynamic Range 100 dB Adjacent Channel Rejection 61 dB 1 fo 400 Hz Demodulation Minimum shift keying MSK Decoding RTCM SC 104 6 8 Serial Interface Specifications standard cable Item Specification Serial Port Interface Level RS 232C Port A Connector DB9 Socket Port B Connector DB9 Socket Available Baud Rate...

Page 120: ... 2B threaded mounts Antenna Connectors TNC socket Mounting Thread 1 14 UNS 2B Length 64 8 cm 25 5 Width 6 74 cm 2 655 Height 13 8 cm 5 435 Weight 1 5 kg 3 3 lb no cable un mounted Environmental Specifications Item Specification Storage Temperature 40 C to 85 C Operating Temperature 30 C to 70 C Humidity 95 Non condensing Table A 3 MBL 3 Specifications Operational Specifications Item Specification ...

Page 121: ...Vector Sensor Reference Manual 121 Environmental Specifications Item Specification Storage Temperature 40 C to 80 C Operating Temperature 30 C to 70 C Humidity 100 Non condensing ...

Page 122: ...atellites tracked and more This is the normal data output and mode of operating the Vector Sensor To establish communications between the Vector Sensor and your data logging or navigation device in this mode of operation you must Connect Pin 2 transmit TX of either Port A or B to the receive pin RX of the data logging or navigation device Connect Pin 3 receive RX of either Port A or B to transmit ...

Page 123: ... Connect Pin 5 Common Ground of the serial port to the signal return or common ground of the separate GPS receiver Figure B 2 illustrates the required interface between the Vector Sensor and device that receives position information 2TX RTCM 5 GND GND RX Port A B External Device Figure B 2 RTCM Data Output Interface Note For successful communications the baud rate of the Vector Sensor port must be...

Page 124: ...ust Connect Pin 3 receive RX of the RTCM input port to transmit pin TX of the external correction source Connect Pin 5 Common Ground of the RTCM input port to the signal return or common ground of the external correction source Figure B 3 illustrates the interface between the Vector Sensor and an external correction source 3 RX RTCM 5 GND GND TX Port A B External Device Figure B 3 External Correct...

Page 125: ...of these signals allows a GPS receiver to compute 3D coordinates Tracking of only three satellites reduces the position fix to 2D coordinates horizontal with fixed vertical The GPS receiver calculates its position with respect to the phase center of the GPS antenna The latitude longitude and altitude of the antenna are referenced according to the World Geodetic System 1984 ellipsoid WGS 84 GPS Ser...

Page 126: ...ess performance can be from many centimeters to millimeter precision A variety of 3rd party software packages are available to post process GPS raw measurement data The Vector Sensor can be configured to output raw measurement data at rates of up to 5 Hz in a proprietary format This data can be converted to an industry standard RINEX format if needed Real Time Kinematic This method uses more sophi...

Page 127: ...tions generated by DGPS radiobeacons will provide a horizontal accuracy of 1 to 5 meters with a 95 confidence More sophisticated short range DGPS systems 10 to 15 km can achieve centimeter level accuracy but are expensive and often limited to precise survey applications due to technical constraints on their use DGPS Format For manufacturers of GPS equipment commonality is essential to maximize the...

Page 128: ...re taken at both the rover and base station however in addition to the C A code based range measurement the carrier phase is also measured The additional measurement of the carrier phase is used to compute the number of carrier cycles between the rover antenna and each of the satellites in view Computing the number of cycles to each satellite from the rover antenna is easier said than done since b...

Page 129: ...ion relative to one another on a metallic bracket the sum of the antennas and the bracket is referred to as the Vector Antenna Array In the case of the Vector Sensor being used on a marine vessel for heading when differencing the measurements only the relative motion of the rover antenna with respect to the base will remain Since the separation between the two antennas remains fixed with the anten...

Page 130: ...d layer of the atmosphere responsible for the Northern Lights Charged particles from the sun ionize this portion of the atmosphere resulting in an electrically active atmospheric layer This charged activity affects the GPS signals that penetrate this layer affecting the measured ranges The difficulty in removing the effect of the ionosphere is that it varies from day to day and even hour to hour d...

Page 131: ...l for better accuracy than a high DOP Generally more satellites visible to both the reference and remote receivers will provide a lower DOP any satellites seen by either receiver and not the other are not used in the position solution Additionally if the satellites are evenly spread around the receiver rather than grouped in a few regions of the sky a lower DOP stronger solution will result GPS Si...

Page 132: ... SNAS The Vector Sensor is capable of receiving correction data from all compatible SBAS EGNOS is currently in a prototyping phase referred to as the EGNOS System Test Bed ESTB and which has been broadcasting a test signal since February 2000 EGNOS should be used at your risk only MSAS has yet to begin transmitting data publicly SNAS is transmitting correction data currently on a military communic...

Page 133: ...AS transmits correction data on the same frequency as GPS from a geostationary satellite the space segment allowing the use of the same receiver equipment used for GPS Another advantage of having SBAS transmit on the same frequency is that only one antenna is required Reception Since SBAS broadcast in the L band the signal requires a line of sight in the same manner as GPS to maintain signal acqui...

Page 134: ...y the leased Inmarsat Atlantic Ocean Region East AOR E and Indian Ocean Region IOR satellites This figure approximates signal coverage with white shading where each satellite is 5 elevation or greater Figure 1 3 also shows additional contours for 10 15 and 20 elevations Within the white shaded coverage area at least one of the two satellites is available by line of sight Within the overlap area bo...

Page 135: ...Vector Sensor Reference Manual 135 Figure C 1 WAAS Coverage ...

Page 136: ... ionospheric map from the broadcast coverage map extending its effective coverage This allows the Vector Sensor to be used successfully in regions that competitive products may not For WAAS this is especially important in Canada for regions north of approximately 54 N latitude and east of 110 W longitude Extrapolation also provides enhanced coverage throughout much of the Gulf of Mexico ...

Page 137: ...the CSI Wireless extrapolated version respectively As can be seen from Figure 1 2 the coverage compared to Figure 1 1 extends further in all directions enhancing usable coverage Similar to the WAAS ionospheric map extrapolation Figures 1 3 and 1 4 depict the broadcast EGNOS ionospheric map extent and the CSI Wireless extrapolated version respectively As can be seen from Figure 1 2 the coverage com...

Page 138: ...6 Extrapolated EGNOS Ionospheric Correction Map Radiobeacon DGPS Many Marine authorities such as Coast Guards have installed networks of radiobeacons that broadcast DGPS corrections to users of this system With the increasing utility of these networks for terrestrial applications there is an increasing trend towards densification of these networks inland ...

Page 139: ...s along the surface of the earth losing strength due to spreading loss atmospheric refraction and diffraction and attenuation by the surface over which it travels dependent upon conductivity The portion of the beacon signal broadcast skywards is known as the sky wave Depending on its reflectance the sky wave may bounce off the ionosphere and back to Earth causing reception of the ground wave to fa...

Page 140: ...ns exclusively when approaching harbors or navigating in specific waterways It is your responsibility to know what these regulations are and if you need to comply with them By default the Vector Sensor uses SBAS corrections This second provides a brief comparison of beacon and SBAS services in the event that you are able to choose which service that you wish to use Beacon signals are not affected ...

Page 141: ...ation can occur Beacon signals are more susceptible to radio frequency interference than SBAS signals however the state of CSI Wireless beacon technology has progressed such that beacon systems provide very good immunity to environmental noise If RF noise presents a continuing problem with your installation you should first try relocating the MBL 3 beacon antenna If this doesn t solve the problem ...

Page 142: ... Global Positioning System Wide Area Augmentation System Airborne Equipment Document RTCA DO 229A Special Committee No 159 RTCA 1998 1828 L Street NW Suite 805 Washington DC 20036 USA Tel 1 202 833 9339 ARIC Research Corporation Interface Control Document Navstar GPS Space Segment Navigation User Interfaces ICD GPS 200 April 12 2000 2250 E Imperial Highway Suite 450 El Segundo CA 90245 3509 www na...

Page 143: ...l time performance and broadcast schedule of EGNOS www esa int export esaEG estb html Solar and Ionospheric Activity Web Sites The following sites are useful in providing details regarding solar and ionospheric activity iono jpl nasa gov latest html iono jpl nasa gov gim_dailymovie html www spaceweather com www maj com sun noaa html ...

Page 144: ...ce 49 Beacon Receiver Signal to Noise Ratio SNR 49 Bit Error Rate WAAS 47 C Cable Interface 18 35 Cables Antenna 39 Power 40 CDA 2MAX Antenna Placement 36 Routing and Securing Cable 39 COAST Feature 50 Connectivity 41 122 123 124 Customer Service xv D DATA Pin out 41 42 Default NMEA Message Output 50 Default Parameters 50 DGPS Errors 129 Age of Correction 131 Geometry 131 Latency 131 Multipath 131...

Page 145: ... A Pin out 41 42 Port B Pin out 41 Positioning Accuracy 45 Power Cable Fuse 40 R RTCM SC 104 127 S SBAS Performance 46 Selective Availability SA 126 Serial Port Defaults 50 Signal to Noise Ratio SNR 49 T Temperature 37 Troubleshooting 117 Tune Mode Automatic Beacon Search ABS 47 49 Manual 49 WAAS Automatic Tracking 46 U Update Rates 46 W WAAS Bit Error Rate 47 Receiver Performance 46 WGS 84 125 ww...

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