Hemisphere GPS V104s User Manual Download

Page: 41 / 61

Chapter 3: Operation

Common Commands and Messages

Note:

When selecting your baud rate and message types, use the following

calculation to determine your baud rate for your required data throughput.

Messages * Message output rate * Message length (bytes) * bits in byte
Ex: 5 * 10Hz * 40 bytes * 10 = 20,000 bits/sec

For information on message output rates refer to GPS Technical Reference
available from the Hemisphere GNSS website at

www.hemispheregnss.com

Table 3-2 below through Table 3-4 provide brief descriptions of common
commands and messages for the V104s. Refer to the Hemisphere GNSS’
GPS Technical Reference for more detailed information.

Table 3-2: Commands

Command

Description

$JAGE

Specify maximum DGPS (COAST) correction age (6 to 8100
seconds)

$JAPP

Query or specify receiver application firmware

$JASC

Specify ASCII messages to output to specific ports (see ASCII
messages in Table 3-3)

$JBAUD

Specify RS-232, RS-422 (output) communication rate

$JBIN

Specify binary messages to output to specific ports (see
Table 3-4)

$JDIFF

Query or specify differential correction mode

$JGEO

Query or specify SBAS for current location and SBAS satellites

$JI

Query unit’s serial number and firmware versions

$JOFF

Turn off all data messages

$JQUERY,GUIDE

Query accuracy suitability for navigation

$JRESET

Reset unit’s configuration to firmware defaults

$JSAVE

Save session’s configuration changes

Summary of Contents for V104s

Page 1: ...V104s GPS Compass User Guide Part No 875 0346 0 Rev A1 ...

Page 2: ...ective owners Patents Hemisphere GNSS products may be covered by one or more of the following patents Other U S and foreign patents pending Notice to Customers Contact your local dealer for technical assistance To find the authorized dealer near you Hemisphere GNSS Inc 8444 N 90th St Suite 120 Scottsdale AZ 85258 USA Phone 480 348 6380 Fax 480 270 5070 precision hemispheregnss com www hemispheregn...

Page 3: ...SS is committed to the quality and continuous improvement of our products and services We urge you to provide Hemisphere GNSS with any feedback regarding this guide by writing to the following email address techsupport hemispheregnss com ...

Page 4: ...6 VHF Interference 7 Mounting Orientation 9 V104s Alignment 11 Mounting Options 12 V104s Dimensions 12 Power Data Cable Considerations 14 Flush Mount 15 Pole Mount 17 Powering the V104s 21 Power Considerations 21 Connecting to a Power Source 21 Electrical Isolation 21 Connecting the V104s to External Devices 22 Power Data Cable Considerations 22 Power Data Cable Pin out Specifications 23 ...

Page 5: ... GPS Overview 28 GPS Operation 28 Differential Operation 29 V104s Overview 30 Supplemental Sensors 31 Time Constants 34 Watchdog 35 Common Commands and Messages 36 Appendix A Troubleshooting 41 Appendix B Specifications 45 End User License Agreement 49 Warranty Notice 52 ...

Page 6: ...V104s GPS Compass User Guide 1 Chapter 1 Introduction Overview Parts List ...

Page 7: ...orts multiple RF front ends enabling tighter coupling of measurements from separate antennas for use in heading based products Users will achieve excellent accuracy and stability due to Crescent s more accurate code phase measurements improved multipath mitigation and fewer components The V104s s GPS antennas are separated by 13 5 cm between their phase centers resulting in better than 2 rms headi...

Page 8: ...tion 4 4 exposed to the weather The V104s GPS Compass and the power data cable accessory item are the only two required components This User Guide is available for download from the Hemisphere GNSS website at www hemispheregnss com Table 1 1 Parts list for Serial version of the V104s Part Name Qty Part Number V104s GPS Compass Serial 1 804 0114 0 Screw Housing Caps 2 675 0173 0 Serial Cable 5m 1 0...

Page 9: ...4 Chapter 1 Introduction ...

Page 10: ...V104s GPS Compass User Guide 5 Chapter 2 V104s Installation Mounting Location Mounting Orientation Mounting Options Powering the V104s Connecting the V104s to External Devices ...

Page 11: ...ocated on the side of the recessed arrow on the underside of the enclosure Locate any transmitting antennas away from the V104s by at least several feet to ensure tracking performance is not compromised giving you the best performance possible Make sure there is enough cable length to route into the vessel to reach a breakout box or terminal strip Do not locate the antenna where environmental cond...

Page 12: ...ndwidth is 2MHz to 10 MHz which is dependent on the GPS antenna and receiver design see next page VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GPS to degrade significantly The radiated harmonic signal strength of different brands models varies Follow VHF radio manufacturers recommendatio...

Page 13: ...owing diagram to ensure there are no nearby devices that may cause VHF interference Figure 2 1 V104s distance from nearby VHF radios 1 5 m radius at top minimum 1 0 m radius at base minimum Use these minimum distances to determine where to place the V104s VHF Antenna ...

Page 14: ...el to and along the centerline of the axis of the boat This provides a true heading In this orientation If you use a gyrocompass you can enter a heading bias in the V104s to calibrate the physical heading to the true heading of the vessel You may need to adjust the pitch roll output to calibrate the measurement if the Vector is not installed in a horizontal plane Perpendicular Orientation You can ...

Page 15: ...ntation examples Figure 2 2 Recommended orientation and resulting signs of HPR values Figure 2 3 Alternate orientation and resulting signs of HPR values Forward motion Recessed arrow located on bottom of enclosure Forward motion Recessed arrow located on bottom of enclosure ...

Page 16: ...igure 2 4 and Figure 2 5 Alignment accuracy when looking through the site Figure 2 4 and Figure 2 5 is approximately 1 Figure 2 4 Long site alignment channel Figure 2 5 Long sight alignment center post If you have another accurate source of heading data on your vessel such as a gyrocompass you may use its data to correct for a bias in V104s alignment within the V104s software configuration PocketM...

Page 17: ...Mounting Options The V104s allows for both pole or flush mounting Follow directions below for detailed mounting directions V104s Dimensions Figure 2 6 illustrates the physical dimensions of the V104s Figure 2 6 V104s dimensions ...

Page 18: ...V104s GPS Compass User Guide 13 V104s dimensions with adapter ...

Page 19: ...device that accepts GPS data Avoid running the cable in areas of excessive heat Keep cable away from corrosive chemicals Do not run the cable through door or window jams Keep cable away from rotating machinery Do not crimp or excessively bend the cable Avoid placing tension on the cable Remove unwanted slack from the cable at the V104s end Secure along the cable route using plastic wraps Improperl...

Page 20: ...radar mounting plate or an existing surface on your vessel Note Hemisphere GNSS does not supply the mounting surface hardware You must supply the appropriate fastening hardware required to complete the installation of the V104s Figure 2 7 Flush mounting with holes in the V104s Note You do not necessarily need to orient the antenna precisely as you can enter a software offset to accommodate for any...

Page 21: ...punch to mark the hole centers 4 Drill the mounting holes to a diameter of 6 8mm 0 26 in appropriate for the surface 5 Drill the connector hole to a diameter of 28 6mm 1 13 in appropriate for the surface 6 Pull the cable through the center connector hole and attach the cable directly to the V104s ensuring the connector clicks 7 Place the V104s over the mounting holes and insert the mounting screws...

Page 22: ...If accurate roll measurements are important to your use case we recommend mounting the V104s perpendicular to the vessel s axis If roll measurements are less important install the V104s parallel with the vessel s axis Choose a location that meets the mounting location requirements Mark and drill the mounting holes as necessary for the threaded pole ...

Page 23: ... the bottom of the unit 5 Insert the base adapter into V104s by placing the tongue of the base into the groove of the V104s unit When the tongue is properly seated in the groove the rest of the base can be pressed into place to create a smooth seam between the base and V104s unit 6 Use 5 mm Allen key to fasten two M6 screws to secure V104s onto adapter Use 15 in lb torque 7 Insert each o ring onto...

Page 24: ...dapter And then connect the mating end of the cable to the V104 connector located on the bottom of the unit 5 Insert the base adapter into V104s by placing the tongue of the base into the groove of the V104s unit When the tongue is properly seated in the groove the rest of the base can be pressed into place to create a smooth seam between the base and V104s unit 6 Use 5 mm Allen key to fasten two ...

Page 25: ...onnector key way with the V104s connector key 2 Rotate the cable ring clockwise until it locks The locking action is firm but you will feel a positive click when it has locked Note See V104s Dimensions on page 12 for information on routing the power data cable Key way alignment ...

Page 26: ...the market from which to choose depending on your specific requirements Do not apply a voltage higher than 36 VDC This will damage the receiver and void the warranty To interface the V104s power cable to the power source Connect the red wire of the cable s power input to DC positive Connect the black wire of the cable s power input to DC negative The V104s will start when an acceptable voltage is ...

Page 27: ...o shorten this cable However if you require a longer cable run than 15 m you can bring the cable into a break out box that incorporates terminal strips within the vessel When lengthening the cable keep the following in mind To lengthen the serial lines inside the vessel use 20 gauge twisted pairs and minimize the additional wire length When lengthening the power input leads to the V104s ensure the...

Page 28: ... cable pin out while Table 2 1 shows the cable s pin out specifications Figure 2 9 Power data cable pin assignment Table 2 1 Power data cable pin out Pin Function Wire Color 1 CH GND Drain 1 DGND Brown 2 RXB Blue 3 Power Input Red 4 Power Ground Black 5 TXB Green 6 RXA Orange 7 TXA Purple 8 1PPS Yellow ...

Page 29: ...e Port A or Port B of the GPS receiver to output any combination of data that you want Port A can have a different configuration from Port B in terms of data message output data rates and the baud rate of the port This allows you to configure the ports independently based upon your needs For example if you want one generalized port and one heading only port you can configure the ports as follows P...

Page 30: ...to the V104s s configuration for the changes to be present in subsequent power cycles Table 2 2 Default port settings Port Baud Rate NMEA Messages Update Rate Port A RS 232 19200 GPGGA GPVTG GPGSV GPZDA GPHDT GPROT 1 Hz Port B RS 232 19200 GPGGA GPVTG GPGSV GPZDA GPHDT GPROT 1 Hz Power RED BLK 6 36 VDC Table 2 3 Additional default settings Parameter Specification Max DGPS age correction age 2700 s...

Page 31: ...26 Chapter 2 Installation ...

Page 32: ...V104s GPS Compass User Guide 27 Chapter 3 Operation GPS Overview V104s Overview Common Commands and Messages ...

Page 33: ...llowing sections describe the general operation of the V104s s internal GPS receiver Note Differential source and status have no impact on heading pitch or roll They only have an impact on position and heave Automatic Tracking The V104s s internal GPS receiver automatically searches for GPS satellites acquires the signals and manages the navigation information required for position and tracking Re...

Page 34: ...fferential GPS DGPS is to remove the effects of selective availability SA atmospheric errors timing errors and satellite orbit errors while enhancing system integrity Autonomous position capabilities of the V104s will result in position accuracies of 3 m 95 of the time In order to improve position quality to better than 1 0 m 95 the V104s is able to use differential corrections received through th...

Page 35: ... references the vector formed from the primary GPS antenna phase center to the secondary GPS antenna phase center The heading arrow located on the bottom of the V104s enclosure defines system orientation The arrow points in the direction the heading measurement is computed when the antenna is installed parallel to the fore aft line of the vessel The secondary antenna is directly above the arrow Fi...

Page 36: ...plemental sensors are mounted on the printed circuit board inside the V104s The sensors act to reduce the search volume which improves heading startup and reacquisition times This improves the reliability and accuracy of selecting the correct heading solution by eliminating other possible erroneous solutions Table 3 1 on page 32 provides a sensor operation summary ...

Page 37: ...t to the primary antenna The search space defined by the tilt sensor will be reduced to a horizontal ring on the sphere s surface by reducing the search volume This considerably decreases startup and reacquisition times see Figure 3 2 Figure 3 2 V104s s tilt aiding Gyro Aiding The V104s internal gyro offers several benefits It reduces the sensor volume to shorten reacquisition times when a GPS hea...

Page 38: ... the V104s begins outputting null fields in the heading output messages There is no user control over the timeout period of the gyro Calibration which is set at the factory is required for the gyro to remove latency from the heading solution as well as provide backup heading when GPS is blocked The receiver will calibrate itself after running for a while but it may be important to follow the manua...

Page 39: ...time constant Use the JATT HTAU command to adjust the level of responsiveness of the true heading measurement provided in the GPHDT message The default value of this constant is 20 0 seconds of smoothing when the gyro is enabled The gyro is enabled by default but can be turned off By turning the gyro off the equivalent default value of the heading time constant would be 0 5 seconds of smoothing Th...

Page 40: ...l noise is proportional to 1 speed This value is invalid when the vessel is stationary as tiny movements due to calculation inaccuracies are not representative of a vessel s movement Speed time constant Use the JATT SPDTAU command to adjust the level of responsiveness of the speed measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Increasing th...

Page 41: ...PS Technical Reference for more detailed information Table 3 2 Commands Command Description JAGE Specify maximum DGPS COAST correction age 6 to 8100 seconds JAPP Query or specify receiver application firmware JASC Specify ASCII messages to output to specific ports see ASCII messages in Table 3 3 JBAUD Specify RS 232 RS 422 output communication rate JBIN Specify binary messages to output to specifi...

Page 42: ...nd active satellites Yes GPGST S GNSS pseudo range error statistics and position accuracy Yes GPGSV S GNSS satellites in view Yes GPHDG H Provides magnetic deviation and variation for calculating magnetic or true heading see last bullet in Note at end of this table Yes GPHDM H Magnetic heading based on GPS derived heading and magnetic declination see last bullet in Note at end of this table No GPH...

Page 43: ... message in the commonly used TSS1 message format No Notes The GP of the message is the talker ID You can change the message header for the HDG HDM HDT and ROT messages to either GP or HE using the JATT NMEAHE command For more information refer to GPS Technical Reference available from the Hemisphere GNSS website at www hemispheregnss com GPGRS GPGSA GPGST and GPGSV support external integrity chec...

Page 44: ...ommand Parameter Description Query Specify COGTAU Set query COG time constant 0 0 to 3600 0 sec X X CSEP Query antenna separation X EXACT Enable disable internal filter reliance on the entered antenna separation X X FLIPBRD Turn the flip feature on off X X GYROAID Enable disable gyro X X HBIAS Set query heading bias 180 0º to 180 0º X X HELP Show the available commands for GPS heading operation an...

Page 45: ...e headers between Talker IDs GP and HE X X PBIAS Set query pitch roll bias 15 0º to 15 0º X X PTAU Set query pitch time constant 0 0 to 3600 0 sec X X ROLL Configure for roll or pitch GPS orientation X X SEARCH Force a new GPS heading search X SPDTAU Set query speed time constant 0 0 to 3600 0 sec X X SUMMARY Display a summary of the current Crescent Vector settings X TILTAID Enable disable accele...

Page 46: ...V104s GPS Compass User Guide 41 Appendix A Troubleshooting ...

Page 47: ...tMax Vector PC or JSHOW in any terminal program Ensure the baud rate of the V104s matches that of the receiving device Check integrity and connectivity of power and data cable connections Random data from V104s Verify the RTCM or binary messages are not being output accidentally send a JSHOW command Ensure the baud rate of the V104s matches that of the remote device Potentially the volume of data ...

Page 48: ...ated then lost at consistent time intervals Heading is from primary GPS antenna to secondary GPS antenna so the arrow on the underside of the V104s should be directed to the bow side JATT SEARCH command forces the V104s to acquire a new heading solution unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GPS signal loss Enable TILTAID to reduce heading search ti...

Page 49: ...ween the RTCM source and the RTCM input port transmit from the source must go to receive of the RTCM input port and grounds must be connected Ensure corrections are being transmitted to the correct port using the JDIFF PORTB command on Port A will cause the receiver to expect the corrections to be input through Port B Table A 1 Troubleshooting continued Symptom Possible Solution ...

Page 50: ...V104s GPS Compass User Guide 45 Appendix B Specifications ...

Page 51: ... SBAS tracking 2 channel parallel tracking Update rate 10 Hz standard position and heading Position accuracy Single Point1 SBAS2 1 m 95 3 m 95 Heading accuracy 2 RMS Heave accuracy 30 cm RMS 3 Pitch Roll accuracy 2 RMS Rate of turn 90 s maximum Cold start 60 s typical no almanac or RTC Warm start 20 s typical almanac and RTC Hot start 1 s typical almanac RTC and position Heading fix 10 s typical v...

Page 52: ... voltage 8 to 36 VDC Power consumption 2 W nominal Current consumption 165 mA 12 VDC Power isolation Isolated to enclosure Reverse polarity protection Yes Table B 4 Mechanical specifications Item Specification Enclosure UV resistant white plastic Geloy CR7520 ASA Dimensions not including mount Dimensions including mount 25 9 L x 12 9 W x 4 5 H cm 10 2 L x 5 1 W x 1 8 H in 25 9 L x 12 9 W x 12 8 H ...

Page 53: ... view SBAS coverage and satellite geometry 3 Based on a 40 second time constant 4Hemisphere GNSS proprietary Table B 5 Environmental specifications Item Specification Operating temperature 30 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Water and Dust IP69 Humidity 100 non condensing Vibration IEC 60945 EMC CE IEC 60945 Emissions and Immunity FCC Part 15 Subpart B CISPR22...

Page 54: ...8 environmental considerations 6 external devices 22 F flush mount 15 G GPHEV 9 37 GPS automatic SBAS tracking 29 automatic tracking 28 operation 28 overview 28 receiver performance 28 reception 6 sensor specifications 46 gyro aiding 32 H heading time constant 34 heave 9 37 accuracy 46 HRTAU 34 39 HTAU 34 40 L long sight alignment 11 M mechanical specifications 47 message common 36 mounting alignm...

Page 55: ...40 R rate of turn ROT time constant 34 receiver performance 28 RS 232 22 23 24 25 36 47 S sensor specifications 46 short site alignment 11 SPDTAU 35 40 specifications communication 47 environmental 48 GPS sensor 46 mechanical 47 power 47 speed time constant 35 supplemental sensors 31 T tilt aiding 32 time constants 34 COGTAU 35 HRTAU 34 HTAU 34 PTAU 34 SPDTAU 35 tracking automatic 28 automatic SBA...

Page 56: ...tions to existing Software 4 SUPPORT Hemisphere may make available directly or through its authorized dealers telephone and email support for the Software Contact Hemisphere to find the authorized dealer near you As well Hemisphere may make available user and technical documentation regarding the Software Hemisphere reserves the right to reduce and limit access to such support at any time 5 BACKUP...

Page 57: ...that Hemisphere has set its prices and the parties have entered into this Agreement in reliance on the limited warranties warranty disclaimers and limitations of liability set forth herein that the same reflect an agreed to allocation of risk between the parties including the risk that a remedy may fail of its essential purpose and cause consequential loss and that the same forms an essential basi...

Page 58: ... the fault of the non performing party 25 FORUM FOR DISPUTES The parties agree that the courts located in Calgary Alberta Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and Hemisphere concerning this Agreement or Licensee s use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdictio...

Page 59: ...ormance or accuracy of any Product HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER S NEGLIGENCE OR UNAUTHORIZED USES OF THE PRODUCT IN NO EVENT SHALL Hemisphere GNSS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING FROM PURCHASER S OWN NEGLIGENCE OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS SPECIFIED IN Hemisphere GNSS S RELEVANT USER S MANUAL AND SPECIFICATIONS Hemisphere GNSS is NOT ...

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