Javad JNSGyro-4T Operator'S Manual Download

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viii

JNSGyro-4T Operator’s Manual

www.javad.com

L I S T O F F I G U R E S

Chapter 3. Setup and Measuring

Body reference frame  ...................................................  3-2
Local horizon frame  .....................................................  3-2
Antennas setup  .............................................................  3-5
Antennas Connection  ...................................................  3-6
Determination of the body frame by the self-calibration procedure 3-7

Chapter 4. Operation

Appendix A

File->Manual Mode ...................................................... A-1
Edit script ..................................................................... A-2

Summary of Contents for JNSGyro-4T

Page 1: ... March 2006 All contents in this manual are copyrighted by JNS All rights reserved The information contained herein may not be used accessed copied stored displayed sold modified published or distributed or otherwise reproduced without express written consent from JNS ...

Page 2: ......

Page 3: ...anadian Emissions Labeling Requirements xv Manual Conventions xv Screen Captures xv Chapter 1 Introduction Overview 1 2 Principles of Operation 1 3 GPS Overview 1 3 Calculating Positions 1 4 GPS Positioning 1 4 Conclusion 1 5 JNSGyro 4T Overview 1 6 JNSGyro 4T Accessory Kit 1 7 Cables 1 7 Software 1 7 Literature 1 7 Getting to Know Your JNSGyro 4T 1 9 ...

Page 4: ...yro 4T and a Computer 2 3 Establishing an RS232 Cable Connection 2 3 Establishing a PCView Connection 2 3 JNSGyro 4T Configuration 2 6 MinPad Configuration 2 11 Collecting Almanacs 2 17 Chapter 3 Setup and Measuring How to Work with JNSGyro 4T 3 2 Geometry and Coordinate Transformations 3 2 Differential corrections 3 3 Delay and extrapolation 3 3 Reference point determination 3 4 JNSGyro 4T Setup ...

Page 5: ... Deleting Files 4 11 Managing JNSGyro 4T Memory 4 12 Checking an OAF 4 13 Loading OAFs 4 15 Clearing the NVRAM 4 16 Using PCView to Clear NVRAM 4 16 Using GRIL to Clear NVRAM 4 17 Using MinPad to Clear NVRAM 4 17 Checking Firmware Version 4 18 Loading New Firmware 4 20 Chapter 5 Commands and messages The commands entered to Master 5 1 The messages output from Master 5 3 Chapter 6 Troubleshooting T...

Page 6: ...c A 4 m10 jpc A 5 m5 jpc A 6 m1 jpc A 7 s20 jpc A 8 s10 jpc A 9 s5 jpc A 10 s1 jpc A 11 Appendix B Specifications B 1 JNSGyro 4T Specifications B 1 Connector Specifications B 5 Power Connector B 5 Serial RS 232C Connector B 6 GPS External Antenna RF Connector B 7 EVENT and 1PPS Connectors B 7 Appendix C Safety Warnings C 1 General Warnings C 1 ...

Page 7: ...www javad com JNSGyro 4T Operator s Manual v TA BL E OF CONTENTS Usage Warnings C 2 Appendix D Warranty Terms D 1 ...

Page 8: ...vi JNSGyro 4T Operator s Manual www javad com Notes ...

Page 9: ... Window 2 4 RS 232 Connection Parameters 2 4 PCView Connection Established 2 5 Configuration Receiver 2 6 Receiver Configuration 2 7 Receiver Configuration MinPad Tab 2 8 Advanced Configuration Multipath Reduction 2 9 Advanced Configuration Loop Management 2 9 JNSGyro 4T MinPad 2 11 Connection Parameters RTS CTS Handshaking 2 12 Configuration Receiver 2 12 Receiver Configuration MinPad Tab 2 13 ...

Page 10: ...3 7 Chapter 4 Operation JNSGyro 4T MinPad 4 2 Connection Parameters RTS CTS Handshaking 4 8 File File Manager 4 8 Find Files to Download 4 9 Download Files 4 9 Download Files Status Indicators 4 10 Delete Files 4 11 Tools Receiver Options 4 13 Option Manager 4 14 Load OAF 4 15 Tools Clear NVRAM 4 16 Help About 4 18 About PCView 4 18 Floader Main Screen 4 21 Set Device Type 4 21 Program Tab Setting...

Page 11: ...www javad com JNSGyro 4T Operator s Manual ix LIST OF FIGURES Appendix B Power Connector B 5 RS 232C Connector B 6 ...

Page 12: ...x JNSGyro 4T Operator s Manual www javad com Notes ...

Page 13: ...operating inspecting or adjusting COPYRIGHT All information contained in this Manual is the intellectual property of and copyrighted material of JNS All rights are reserved You may not use access copy store display create derivative works of sell modify publish distribute or allow any third party access to any graphics content information or data in this Manual without JNS express written consent ...

Page 14: ...G SUBSTITUTE PRODUCTS OR SOFTWARE CLAIMS BY OTHERS INCONVENIENCE OR ANY OTHER COSTS IN ANY EVENT JNS SHALL HAVE NO LIABILITY FOR DAMAGES OR OTHERWISE TO YOU OR ANY OTHER PERSON OR ENTITY IN EXCESS OF THE PURCHASE PRICE FOR THE JNSGYRO 4T LICENSE AGREEMENT Use of any computer programs or software supplied by JNS or downloaded from a JNS website the Software in connection with the JNSGyro 4T constit...

Page 15: ...ompelled to disclose any of the Confidential Information you shall give JNS immediate notice so that it may seek a protective order or other appropriate remedy WEBSITE OTHER STATEMENTS No statement contained at the JNS website or any other website or in any other advertisements or JNS literature or made by an employee or independent contractor of JNS modifies these Terms and Conditions including t...

Page 16: ...nt generates uses can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause interference to radio or television equipment reception which can be determined by turning the equipment ...

Page 17: ...lementary information that can have an affect on system operation system performance measurements or personal safety CAUTION Notification that an action has the potential to adversely affect system operation system performance data integrity or personal health WARNING Notification that an action will result in system damage loss of data loss of warranty or personal injury DANGER UNDER NO CIRCUMSTA...

Page 18: ...xvi JNSGyro 4T Operator s Manual www javad com PREFACE Regulatory Information connected operating system used and settings you have specified This is normal and not a cause for concern ...

Page 19: ...features and physical elements In addition a brief description of the principals of GPS operation is presented This information is split into the following sections Overview 1 2 Principles of Operation 1 3 JNSGyro 4T Overview 1 6 JNSGyro 4T Accessory Kit 1 7 Getting to Know Your JNSGyro 4T 1 9 Option Authorization File OAF 1 12 ...

Page 20: ...small box that is in turn connected to four antennas The dual frequency code and carrier data from four antennas are processed to determine the three orientation angles and three dimensional position up to 20 times per second The JNSGyro 4T can also be operated in RTK or DGPS mode from an external base station to provide highly accurate position and velocity Figure 1 1 JNSGyro 4T The JNSGyro 4T ca...

Page 21: ... standard 15 degree angle up to 10 or 12 GPS satellites are visible from any point on earth When a board can also track GLONASS satellites between 10 and 16 satellites are visible For information on the status of the GPS constellation visit http tycho usno navy mil or http www navcen uscg gov For GLONASS visit http www glonass center ru frame html Despite numerous technical differences in the impl...

Page 22: ...er of GPS and GLONASS satellites in view does not exceed twenty 20 Once locked on to a satellite the receiver collects ephemerides and almanacs saving this information to its NVRAM Non Volatile RAM GPS and GLONASS satellites broadcast ephemeris data cyclically with a period of 30 seconds GPS satellites broadcast almanac data cyclically with a period of 12 5 minutes GLONASS satellites broadcast alm...

Page 23: ...S and European Geostationary Navigation Overlay Service EGNOS creates and transmits DGPS correction messages Five or more visible satellites for only GPS or only GLONASS six or more satellites for mixed scenarios Current ephemerides and almanacs Several algorithms to detect and correct faulty information Conclusion GNSS users can use JNS GNSS receivers to collect data from a network of satellites ...

Page 24: ...e signal is locked in the channel it is demodulated and necessary signal parameters carrier and code phases are measured In addition broadcast navigation data are retrieved from the navigation frame After the JNSGyro 4T boards lock on to four or more satellites it is possible to solve the so called absolute positioning problem and compute the JNSGyro 4T boards coordinates in WGS 84 or another datu...

Page 25: ...ble extension Software Standard JNSGyro 4T software includes PCView Lite controller software that can run on a Windows based computer Please refer to the PCView Software Manual for detailed information on this software Software and software manuals are also available on the JNS website http www javad com The following software will also be useful for operating caring for and using your JNSGyro 4T ...

Page 26: ... s Manual www javad com I NT RO DU C T I O N JNSGyro 4T Accessory Kit 1 The following manuals will also be useful for operating and caring for your JNSGyro 4T PCView Software Manual FLoader User s Manual MinPad User s Manual ...

Page 27: ... power supply For JNSGyro 4T specifications see Specifications on page B 1 Internal Components Four Euro GPS GNSS Receiver Boards JNSGyro 4T combines four GGD 112T dual frequency GPS GLONASS receivers Table 1 1 lists the options available for these card models External Components The JNSGyro 4T includes panel for antennas attachment eight 3 color LED s 4 pairs for each board two function keys MinP...

Page 28: ...r interface for the JNSGyro 4T The MinPad consists of three keys and up to four eighth three color LEDs See Using MinPad on page 4 2 for detailed description Back Panel Figure 1 3 shows the back panel components Figure 1 3 Back Panel Serials The seven serial RS232 ports The first board is referred to as Master The other three boards 2nd 3rd and 4th are called Slaves MinPad 1 2 3 4 1A 2A 3A 4A 2C 3...

Page 29: ...ion between the Slaves boards and a controller or any other external device PWR The power input port to which an external power source 6 to 32 V DC is connected Event The BNC event marker connector provides event input synchronized with a specified reference time 1PPS The BNC connector for 1 pulse per second 1PPS generates 1PPS signals with programmable reference time period and offset synchronize...

Page 30: ...urchased new OAFs activate desired purchased options permanently Board options remain intact when clearing the NVRAM or resetting the system Because the JNSGyro 4T system consists of more than one receiver boards every board should have its own OAF The OAF enables the following kinds of functions for JNSGyro 4T s boards Type of signal standard L1 optional L2 Memory standard 0 MB optional up to 102...

Page 31: ...2 3 JNSGyro 4T Configuration 2 6 MinPad Configuration 2 11 Collecting Almanacs 2 17 Chapter Tip Before you can use your JNSGyro 4T you need to 1 Power you JNSGyro 4T See Powering the JNSGyro 4T on page 2 2 2 Configure the various parts of your JNSGyro 4T See Connecting the JNSGyro 4T and a Computer on page 2 3 JNSGyro 4T Configuration on page 2 6 MinPad Configuration on page 2 11 and 3 Collect an ...

Page 32: ... of the JNSGyro 4T there is the power connector marked PWR Connect an appropriate cable to this connector to power your unit Figure 2 1 Powering JNSGyro 4T Warning Before connecting the external power source and the JNSGyro 4T make sure that the power source matches the unit s voltage and current requirements Turning On Off the JNSGyro 4T To turn ON push on the ON OFF button To turn OFF press and ...

Page 33: ...figuration files to the board Establishing an RS232 Cable Connection 1 Using the RS232 cable connect the serial port of your computer usually COM1 to the unit s serial port 1A for the first Master board or 1B for the second board or 1C for the third board or 1D for the fourth board 2 Press the power buttons on the JNSGyro 4T and computer to turn them on 3 Continue with steps described in Establish...

Page 34: ...ters and click Connect Figure 2 3 Set the Connection mode Direct Set the port for your computer typically COM1 COM2 for RS232 connection from the Port drop down list Set the communication rate between the board and the computer usually 115200 from the Baud rate drop down list Enable RTS CTS handshaking Figure 2 3 RS 232 Connection Parameters Once a PCView connection with the board has been establi...

Page 35: ...GU R AT I O N Connecting the JNSGyro 4T and a Computer flow control if applicable display in the lower left corner of the main window of PCView A timer begins to count up in the lower right corner as well Figure 2 4 Figure 2 4 PCView Connection Established ...

Page 36: ...e PCView Software Manual to manage all possible JNSGyro 4T boards configurations The following configuration is recommended for the most common applications However you can select configuration parameters as needed for your particular jobsite Notice Click Apply after making any configuration change otherwise the board will not accept the change 1 Connect your JNSGyro 4T s board and computer See Co...

Page 37: ...N JNSGyro 4T Configuration Figure 2 6 Receiver Configuration 3 Click the MinPad tab configure the following settings and click Apply Figure 2 7 on page 2 8 Set the Recording interval in seconds Set the Elevation mask for Log file in degrees Enter the File name prefix ...

Page 38: ... has obstructions buildings trees etc and or the antenna location is near reflective objects configure the board to reduce errors from these sources 4 Click the Advanced tab on the Receiver Configuration screen and then click the Multipath Reduction subtab Enable the following boxes and click Apply Figure 2 8 on page 2 9 Code multipath reduction Carrier multipath reduction ...

Page 39: ...igure 2 8 Advanced Configuration Multipath Reduction 5 Click the Loop Management tab enable the following boxes and click Apply Figure 2 9 Enable Common Tracking Static Mode used for static receivers only disable if using the receiver as a Rover Figure 2 9 Advanced Configuration Loop Management ...

Page 40: ...sconnect and then File Exit to quit PCView Notice Disconnecting the JNSGyro 4T from the computer before exiting will eliminate any possible conflict in the management of your serial ports 8 Repeat these steps with other boards Once the JNSGyro 4T s boards are configured the configuration will remain until you change it either using PCView or clearing the boards NVRAM ...

Page 41: ...hange the JNSGyro 4T s information mode Show the number of GPS green and GLONASS orange satellites being tracked STAT LED by four boards Show data recording status REC LED by four boards Show each time data records to internal memory REC LED by four boards Show the status of post processing mode static or dynamic when performing a Post Processing Kinematic measuring with the help of FN key REC LED...

Page 42: ...guration Receiver Figure 2 12 Figure 2 12 Configuration Receiver 5 Click the MinPad tab set the following parameters and click Apply Figure 2 13 on page 2 13 See the following pages for descriptions of these parameters Recording interval on page 2 13 Elevation mask for log file on page 2 13 File name prefix on page 2 13 Always append to the file on page 2 14 Files Creation mode on page 2 14 Automa...

Page 43: ... but also when logging board data in AFRM mode Values are 1 86400 seconds The default value is one second Elevation Mask for Log File parameter This parameter specifies the minimum elevation angle for the satellites whose data will be put in the board files logged when pressing FN The default value is five degrees File Name Prefix parameter This parameter specifies what prefix will be added to the...

Page 44: ...rotation event the board closes the current file and opens a new one according to a user defined schedule The Period and Phase parameters specify this schedule File rotation launches the moment the board time module Period is equal to Phase More precisely a new log file opens immediately before the scheduled epoch causing data tagged with this epoch to be recorded to the new log file When opening ...

Page 45: ...ut feature The default value is off disabled FN Key Mode parameter You use these two radio buttons to program how the JNSGyro 2 T will react when pressing the FN key LED blink mode switch pressing FN will toggle between the MinPad s normal extended information modes and start stop data recording of Static measuring FN pressed less than 1 second changes the information mode Normal or Extended Infor...

Page 46: ...oard will resume data logging to the same file when power is restored Board will resume data logging to the same file when power is restored 2 Board data logged to default file Data logging will not resume when power is restored A new log file will open when power is restored and data will log to this file A new log file will open when power is restored and data will log to this file 3 File specif...

Page 47: ...eded in a location with a clear view of the sky 2 Turn on the JNSGyro 4T Wait for about 15 minutes while the unit collects almanac data from satellites Notice If 15 minutes have passed and the JNSGyro 4T does not lock on to satellites you may need to clear the NVRAM See Clearing the NVRAM on page 4 16 for this procedure You will need to collect or update the almanac If the JNSGyro 4T has been off ...

Page 48: ...2 18 JNSGyro 4T Operator s Manual www javad com Notes ...

Page 49: ...SURING 3 This chapter describes the following How to Work with JNSGyro 4T 3 2 JNSGyro 4T Setup 3 5 How to Setup JNSGyro4 T for the First Time 3 9 Chapter Tip To set up your JNSGyro 4T system configure the JNSGyro 4T boards as described in Chapter 2 Configuration ...

Page 50: ...are called Nose Right and Belly Figure 3 1 Figure 3 1 Body reference frame The inertial reference frame the local horizon frame is shown in Figure 3 2 Its axes are called North East and Down Figure 3 2 Local horizon frame The attitude angles describe orientation of the body frame with respect to the local horizon and are defined as follows Suppose that the two frames are aligned First the body fra...

Page 51: ...d to the port A of any Slave receiver Differential corrections received from the remote base can be formatted as CMR or RTCM To instruct Master about the format the following setting is used set att remote imode mode where mode none rtcm cmr with none being default value The value none means that differential corrections are not received Delay and extrapolation The attitude system operates as foll...

Page 52: ...cause there is no antenna at this point This point will be referred to as a reference point This point can be for example the center of mass or another point important from the standpoint of a certain application The vector directed from the point of the antenna Master 1 to the reference point will be referred to as the lever arm vector That is it is supposed that the user knows components of this...

Page 53: ...Figure 3 3 on page 3 5 The rear antenna is connected to Master1 Antenna input 1 The front antenna is connected to Slave2 Antenna input 2 The left wing antenna is connected to Slave3 Antenna input 3 The right wing antenna is connected to Slave4 Antenna input 4 Figure 3 3 Antennas setup The antennas should be located as far from one another as possible for a given geometry of the vehicle body All an...

Page 54: ...ocess the data and send results back to Master It processes the results and calculates the attitude To provide data exchange between the boards they are interconnected as shown in Figure 3 4 Figure 3 4 Antennas Connection The modem for receiving the differential corrections from the remote base can be connected to any port of any Slave for example to the port A of Slave2 as shown in the figure To ...

Page 55: ... settings set att bl 0 n13 r13 b13 set att bl 0 n14 r14 b14 To measure the components of the above three vectors in the body frame the user must use measurement devices different from GNSS If they are not available the following procedure called self calibration is used The self calibration makes the body frame determination easier Figure 3 5 Determination of the body frame by the self calibration...

Page 56: ...ation time of a multipath error is around 10 minutes and Ten minutes calibration time requires 600 secG20 12000 samples at 20 Hz update rate To start the calibration the command set att tune on is used To determine angle corrections to the body frame the setting set att aoff poff roff hoff is used where poff roff hoff are the pitch roll and heading correction offsets respectively To learn the angl...

Page 57: ...the Master script to the Master board and the Slave script to the Slave 2 4 boards Scripts are loaded using any available serial port terminal or in PCView Manual Mode There are several scripts available on the website http www javad com Their names are m1 jpc m5 jpc m10 jpc and m20 jpc for loading to Master1 when working at 1 5 10 or 20 Hz respectively or s1 jpc s5 jpc s10 jpc and s20 jpc for loa...

Page 58: ...3 10 JNSGyro 4T Operator s Manual www javad com Notes ...

Page 59: ...s the following standard JNSGyro 4T operating procedures Using MinPad 4 2 Downloading Files to a Computer 4 8 Deleting Files 4 11 Managing JNSGyro 4T Memory 4 12 Checking an OAF 4 13 Loading OAFs 4 15 Clearing the NVRAM 4 16 Checking Firmware Version 4 18 Loading New Firmware 4 20 ...

Page 60: ...nd off Status LEDs When the JNSGyro 4T is on and no satellites are tracked the STAT LED of each board will blink red When satellites are tracked the STAT LED will produce one blink for each tracked satellite green for GPS orange for GLONASS Reset Key Pressing the reset key for about one second causes a hard reset of the JNSGyro 4T system FN Key and Record LED Table 4 1 summarizes FN key functions ...

Page 61: ...e Recording Interval parameter on page 2 21 for information on setting this function Each time you turn off or on data recording either a new file opens or data appends to a particular file See Always Append to the File parameter on page 2 22 and Files Creation Mode parameter on page 2 22 for information on setting this function Pressing the FN key for more than five and less than eight seconds wi...

Page 62: ... 1 second If FN key mode is LED blink mode switch Orange Release to charge information mode If FN key mode is Occupation mode switch Orange No function Pressed for 1 5 seconds If FN key mode is LED blink mode switch Green Release to start data recording post processing occupation mode undefined If FN key mode is Occupation mode switch Green Release to start recording Kinematic or Static post proce...

Page 63: ...ng occupation mode Orange Data recording started Static post processing occupation mode Pressed for 1 second If FN key mode is LED blink mode switch Orange Release to change information mode If FN key mode is Occupation mode switch Orange Release to toggle between Static and Kinematic post processing modes Pressed for 1 5 No light Release to stop data recording Pressed for 5 8 seconds Red Release ...

Page 64: ...ink that shows the overall status of tests performed in EIM The STAT LED color for delimiter is calculated from the colors of other STAT LED blinks Orange at least one blink is orange Red no orange blink and at least one red blink Green all other cases Sufficient data for position computation GPS S N ratios are good Table 4 2 GLONASS S N ratios are good Table 4 2 Oscillator s frequency offset is l...

Page 65: ...EIM press and quickly release within one second the FN key on the MinPad 2 Watch for the delimiter double blink With good JNSGyro 4T antenna and observation conditions all blinks should be green within 15 minutes of powering on Green ok Orange wait Red some tests failed 3 To switch back to normal press the FN key ...

Page 66: ...puter ensures that no files are lost You should download files as soon as possible after collecting data at the jobsite PCView provides a File Manager to download files to your computer and delete files from the JNSGyro 4T boards 1 Connect your JNSGyro 4T and computer See Connecting the JNSGyro 4T and a Computer on page 2 3 for this procedure 2 Start PCView 3 On the Connection Parameters dialog bo...

Page 67: ...ich to download and store files Or type a new folder name and click Create to create a new folder in which to download and store files Open this new folder 7 Select the Download files tab 8 Select the file s you want to download Figure 4 5 To select multiple files hold down the shift key and click on nonsequential files to select several files at once or hold down the Ctrl key and click on individ...

Page 68: ...splay next to each file Figure 4 6 Blue indicator file in queue for downloading Red indicator file currently downloading Green indicator file has successfully downloaded Figure 4 6 Download Files Status Indicators 10 When finished click Exit on the File Manager dialog box 11 Continue with other operations Or click File Disconnect then File Exit to quit PCView ...

Page 69: ...n page 4 8 4 Click File File Manager See Figure 4 3 on page 4 8 5 On the Download files tab select the file s you want to delete Figure 4 7 To select multiple files hold down the shift key and click on nonsequential files to select several files at once or hold down the Ctrl key and click on individual files Figure 4 7 Delete Files 6 Click Delete Figure 4 7 7 Click Yes at the delete files confirma...

Page 70: ...t of memory the boards log file occupies The specific memory size depends on the type of data being recorded Use the formulas below to compute the approximate size of the boards log files SS the estimated size of one epoch of raw data in the board s log file expressed in bytes N the number of observed satellites per epoch When recording only L1 data SS 183 22 N When recording L1 and L2 data SS 230...

Page 71: ...s procedure 2 Start PCView 3 Click Tools Receiver Options Figure 4 8 Figure 4 8 Tools Receiver Options The Options Manager screen displays Figure 4 9 on page 4 14 and contains the following information Option name a name description of the option Current the current status of the option Purchased if the option is purchased or not Leased if the option is leased or not Expiration date the date the o...

Page 72: ... com OPERATION Checking an OAF 4 yes or no the option is either enabled or disabled Figure 4 9 Option Manager 4 When finished click Exit on the Option Manager screen and then click File Disconnect to prevent conflicts with serial port management ...

Page 73: ...tom of the Option Manager screen see Figure 4 9 on page 4 14 3 Navigate to the location of the new Option Authorization File OAFs have jpo extension and are unique to each board Figure 4 10 Figure 4 10 Load OAF 4 Select the appropriate file and click Open Figure 4 10 The new board option loads onto the board and the Option Manager table updates 5 When finished click Exit on the Option Manager scre...

Page 74: ...oot in your computer After clearing the NVRAM your board will require some time to collect new ephemerides and almanacs around 15 minutes Clearing the NVRAM of your board will reset your board settings to factory default values In addition the NVRAM keeps information about the board file system You can clear the NVRAM using PCView Using PCView to Clear NVRAM Notice Because the JNSGyro 4T system co...

Page 75: ...omputer on page 2 3 2 Press the power key to turn on the JNSGyro 4T 3 Using any available serial port terminal send the command init dev nvm a Using MinPad to Clear NVRAM Notice Using MinPad NVRAMs of all four boards are cleared at once 1 Press the power key to turn off the JNSGyro 4T 2 Press and hold the FN key 3 Press and hold the power key for about one second Release the power key while contin...

Page 76: ...See Connecting the JNSGyro 4T and a Computer on page 2 3 for this procedure 2 Start PCView 3 Click on Help About Figure 4 12 Figure 4 12 Help About The About PCView dialog box opens Figure 4 13 Figure 4 13 About PCView About PCView lists important information about the different hardware accessories and software properties This list includes the following which you will need if you contact JNS or ...

Page 77: ...rator s Manual 4 19 OPERATION Checking Firmware Version Receiver IDs Firmware version 4 When finished click OK and then click File Disconnect to prevent conflicts with serial port management 5 Repeat these steps with other boards ...

Page 78: ... released as a compressed file that you download and decompress This file contains the following three files ramimage ldr the Receiver board RAM file main ldp the Receiver board Flash file Notice You must load two files when loading new firmware These files must come from the same firmware package Use FLoader a Windows based utility to load firmware onto the boards You can download FLoader to your...

Page 79: ...ure 4 14 Floader Main Screen 5 On the Connection tab select the COM port on your computer that connects with your board and select its speed usually 115200 6 Select the Device tab and set the Device Type as Receiver Figure 4 15 Figure 4 15 Set Device Type 7 Click Get from Device for device information Figure 4 15 ...

Page 80: ...eceiver board s RAM file and Flash file Figure 4 16 10 Click Load and wait until 100 of the files load into your board Notice If you selected an incorrect RAM or Flash file an error message displays at the bottom of the dialog box Reselect the correct file 11 Click File Exit 12 Clear the board s NVRAM see Clearing the NVRAM on page 4 16 and update the almanac after loading new firmware 13 Repeat a...

Page 81: ...body frame set att bl 0 n12 r12 b12 the nose right and belly components of the base line X12 set att bl 1 n13 r13 b13 the nose right and belly components of the base line X13 set att bl 2 n14 r14 b14 the nose right and belly components of the base line X14 by default all values are zero and belong to the range 100000 100000 5 To set the pitch roll heading offsets set att aoff p r h all default val...

Page 82: ...eter belonging to 0 1 10000 It controls ability of the filter to respond fast 1 by default The greater the value of this parameter the faster the filter responds Generally for fast and unpredictable dynamics the sound values are tcor 0 1 and gain 100 For slow and smooth dynamics the sound values are tcor 10 and gain 1 12 set att arm n r b coordinates of the lever arm in the body frame 0 0 0 by def...

Page 83: ... estimated accuracy for 3 base lines U1 type 3 solution type for 3 base lines 4 for fixed 3 for float U1 flag good bad flag F4 bl0 3 the base line M S0 for the current epoch F4 bl1 3 the base line M S1 for the current epoch F4 bl2 3 the base line M S2 for the current epoch U1 cs checksum 2 The rotation matrix MR struct MR U4 time day time in ms F4 q00 q01 q02 q12 the entries of the rotation matrix...

Page 84: ... component of the reference point rad f8 lon longitude component of the reference point rad f8 alt ellipsoidal height of the reference point m f4 pSigma position SEP m u1 type enum SolutionType u1 cs Checksum 6 The ASCII message NR of the type shown below NR05B ARMPOS V 151545 10 A 10 01 N55o47 55 232915 E037o31 14 022980 339 4515 2 243 3 270 72 where first 10 entries have the same meaning as the ...

Page 85: ...few problems with your JNSGyro 4T system This chapter will help you diagnose and solve some common minor problems you may encounter with your JNSGyro 4T system This chapter provides the following sections Things to Check First 5 2 JNSGyro 2 T Problems 5 3 Obtaining Technical Support 5 7 Chapter Tip For assistance with complex problems see Obtaining Technical Support on page 6 6 ...

Page 86: ...he cables Cables became defective more often than the devices do Check the sections below for available solutions Reset the unit s boards using PCView Tools Reset receiver Restore factory default settings of the boards using PCView click Configuration Receiver then Set all parameters to defaults Clear the NVRAM see Clearing the NVRAM on page 4 16 Initialize the file system click Tools Initialize f...

Page 87: ...for information on the receiver s connectors The cable is damaged Use an undamaged cable Contact your Dealer to replace the cable The receiver port used for connection is not in Command mode Connect your board and a computer using a free port see Connecting the JNSGyro 4T and a Computer on page 2 3 and start PCView Click Configuration Receiver Ports Change the Input for the serial port used for co...

Page 88: ...onfigured as a Rover Ensure the JNS Gyro 4 T has the proper configuration The corresponding board s options may be disabled or expired See Checking an OAF on page 4 13 for details on how to check current options Enable or prolong the validity of the corresponding options by ordering a new OAF with the desired options activated The elevation mask is above 15 degrees Lower the elevation mask The boa...

Page 89: ...e modem s manual for link rate support information The specified baud rate is not compatible with the baud rates the modem supports The baud rate is the rate at which the receiver transmits differential messages to the modem and vice versa Change the baud rate to that which your modem supports See the modem s manual for baud rate support information The distance between Base and Rover is too far C...

Page 90: ...oubt which e mail address to use for your particular question please send it to support javad com Website The Javad Navigation Systems website provides current information about JNS s line of products The support area of the website provides access to frequently asked questions configuration procedures manuals etc To access the JNS website home page use http www javad com Table 6 1 For Questions R...

Page 91: ...ript instead of typing each individual command Use the following procedure to create script files Tip For more information on script files see the PCView Software Manual 1 Connect selecting board of JNSGyro 4T and computer See Connecting the JNSGyro 4T and a Computer on page 2 3 for this procedure 2 Start PCView 3 Click on File Manual Mode Figure A 1 File Manual Mode ...

Page 92: ...nsion For example m20 jpc 7 Click Yes to create the file 8 Type in the appropriate commands pressing Enter or clicking Send command after each one use the commands from Scripts on page A 3 9 Click Save script 10 Click Close editor Once you have created a script file 1 Click Load script on the Manual Mode dialog box 2 Navigate to the folder that contains your script file 3 Select the appropriate sc...

Page 93: ...w The up to date versions are available at the website http www javad com The scripts consist of commands Some of them are specific for the JNSGyro 4T system these commands have been described above The other commands are common for all JNS receivers and are described in the GRIL GPS Receiver Interface Language Manual see http www javad com for the reference ...

Page 94: ...t pos mode cur sp set dev ser b rate 460800 set dev ser c rate 460800 set dev ser d rate 460800 set pos msint 1000 set raw msint 50 set pos elm 5 set raw elm 5 set lock elm 5 set out elm dev ser b 5 set out elm dev ser c 5 set out elm dev ser d 5 set att mode 1 dm em dev ser b jps RT SI rc 2r cp 2p PO ET 0 05 em dev ser c jps RT SI rc 2r cp 2p PO ET 0 05 em dev ser d jps RT SI rc 2r cp 2p PO ET 0 ...

Page 95: ...et pos mode cur sp set dev ser b rate 460800 set dev ser c rate 460800 set dev ser d rate 460800 set pos msint 1000 set raw msint 100 set pos elm 5 set raw elm 5 set lock elm 5 set out elm dev ser b 5 set out elm dev ser c 5 set out elm dev ser d 5 set att mode 1 dm em dev ser b jps RT SI rc 2r cp 2p PO ET 0 1 em dev ser c jps RT SI rc 2r cp 2p PO ET 0 1 em dev ser d jps RT SI rc 2r cp 2p PO ET 0 ...

Page 96: ...et pos mode cur sp set dev ser b rate 460800 set dev ser c rate 460800 set dev ser d rate 460800 set pos msint 1000 set raw msint 200 set pos elm 5 set raw elm 5 set lock elm 5 set out elm dev ser b 5 set out elm dev ser c 5 set out elm dev ser d 5 set att mode 1 dm em dev ser b jps RT SI rc 2r cp 2p PO ET 0 2 em dev ser c jps RT SI rc 2r cp 2p PO ET 0 2 em dev ser d jps RT SI rc 2r cp 2p PO ET 0 ...

Page 97: ...d set pos mode cur sp set dev ser b rate 460800 set dev ser c rate 460800 set dev ser d rate 460800 set pos msint 1000 set raw msint 1000 set pos elm 5 set raw elm 5 set lock elm 5 set out elm dev ser b 5 set out elm dev ser c 5 set out elm dev ser d 5 set att mode 1 dm em dev ser b jps RT SI rc 2r cp 2p PO ET 1 em dev ser c jps RT SI rc 2r cp 2p PO ET 1 em dev ser d jps RT SI rc 2r cp 2p PO ET 1 ...

Page 98: ... set out elm dev ser c 5 set out elm dev ser d 5 set rover mode off set dev ser b rate 460800 set dev ser b imode jps set pos mode cur pd set pos pd usebasedop off set pos msint 1000 set raw msint 50 set pos pd ion off set pos pd period 0 05 set hd uselen off set hd mode on set pos pd mem 0 9997 set att mode 1 em dev ser b jps BL 0 05 set pos grid cur NONE set lock notvis off set pos tropo off set...

Page 99: ... set out elm dev ser c 5 set out elm dev ser d 5 set rover mode off set dev ser b rate 460800 set dev ser b imode jps set pos mode cur pd set pos pd usebasedop off set pos msint 1000 set raw msint 100 set pos pd ion off set pos pd period 0 1 set hd uselen off set hd mode on set pos pd mem 0 9997 set att mode 1 em dev ser b jps BL 0 1 set pos grid cur NONE set lock notvis off set pos tropo off set ...

Page 100: ...5 set out elm dev ser c 5 set out elm dev ser d 5 set rover mode off set dev ser b rate 460800 set dev ser b imode jps set pos mode cur pd set pos pd usebasedop off set pos msint 1000 set raw msint 200 set pos pd ion off set pos pd period 0 2 set hd uselen off set hd mode on set pos pd mem 0 9997 set att mode 1 em dev ser b jps BL 0 2 set pos grid cur NONE set lock notvis off set pos tropo off set...

Page 101: ...5 set out elm dev ser c 5 set out elm dev ser d 5 set rover mode off set dev ser b rate 460800 set dev ser b imode jps set pos mode cur pd set pos pd usebasedop off set pos msint 1000 set raw msint 1000 set pos pd ion off set pos pd period 1 set hd uselen off set hd mode on set pos pd mem 0 9997 set att mode 1 em dev ser b jps BL 1 set pos grid cur NONE set lock notvis off set pos tropo off set po...

Page 102: ...A 12 JNSGyro 4T Operator s Manual www javad com Notes ...

Page 103: ...ional position up to 20 times per second The JNSGyro 4T can also be operated in RTK or DGPS mode from an external base station to provide highly accurate positionand velocity Notice Performance specifications assume a minimum of 6 GPS satellites above 15 degrees in elevation and adherence to the procedures recommended in this manual Notice In areas of high multipath during periods of large PDOP an...

Page 104: ...uminum extrusion rainproof Color JNS Green and Black Dimensions 92 x112 x 178 mm Weight 1 47 kg Seals Silicon molding in Color Keys Three keys Power On Off Function FN start stop data logging switch information mode Reset receiver hardware reset LEDs Eight LEDs Four STAT satellite and receiver status Four REC record and data status Environment Operating temperature 40 C to 55 C Storage temperature...

Page 105: ...d 0 1mm carrier phase precision RTCM SC104 version 2 1 2 2 2 3 and 3 0 I O Multiple Base RTCM Geoid and Magnetic Variation models RAIM Different DATUMs support Output of grid coordinates CMR and CMR support Technology Common tracking Low signal tracking Advanced Multipath mitigation WAAS Adjustable PLL and DLL parameters NMEA NMEA version Ver 2 1 2 2 2 3 3 0 output Messages GGA GLL GNS GRS GSA GST...

Page 106: ...l boards Multipath Rejection Strobed Sequence Sampler Performance Specifications Real time position accuracy Autonomous 3 0 m 3D RMS Carrier Phase Differential 0 01 m 3D RMS Real time attitude accuracy Heading 0 004 L rad RMS where L is the antenna separation in m Roll Pitch 0 008 L rad RMS Cold Start Warm Start Reacquisition 60 sec 10 sec 1 sec Table B 1 JNSGyro 4T General Specifications Continue...

Page 107: ...le Common tracking loop setting On Off Static Mode Bandwidth of individual PLL Bandwidth of common PLL Smoothing interval Code and Carrier WAAS EGNOS WAAS optional EGNOS optional Data Output Real time data formats RTCM 104 version 2 1 and 2 2 messages1 2 3 6 9 16 18 19 20 21 22 CMR ASCII Output NMEA 0183 version 2 1 2 2 2 3 and 3 0 Memory Internal Memory Compact flash card not removable Capacity S...

Page 108: ...ONASS receiver for 24 hours every other Tuesday at GPS midnight Refer to JNS s website for more information and specific Cinderella day dates Period 10 to 1000000000 ms Offset 500000000 to 500000000 msec Reference time GPS GLONASS UTC USNO UTC SU Event Marker Number of event Marker ports 1 Edge Rise Fall Reference time GPS GLONASS UTC USNO UTC SU Table B 2 GPS Board Specifications Continued ...

Page 109: ...onnector The power connector Figure B 1 is a sealed receptacle 5 pin ODU p n G80F1C T05QF00 0000 Figure B 1 Power Connector Table B 3 gives power connector specifications Table B 3 Number Signal Name Dir Details 1 Power_INP P 6 to 32 volts DC input 2 Power_INP P 6 to 32 volts DC input 3 Power_GND P Ground power return 4 Power_GND P Ground power return 5 Not used ...

Page 110: ...ors Figure B 2 are sealed receptacle 7 pin ODU p n G80F1C T07QC00 0000 Figure B 2 RS 232C Connector Table B 4 gives the RS 232C cable connector specifications Table B 4 Number Signal Name Dir Details 1 Power_OUT P Power Output supplied voltage 2 GND Signal ground 3 CTS I Clear to send 4 RTS O Request to send 5 RXD I Receive data 6 TXD O Transmit data 7 Not used ...

Page 111: ...nectors type Table B 5 is a TNC RF connector with an Applied Engineering Product part number 6001 7051 003 EVENT and 1PPS Connectors The EVENT and 1PPS connectors are coaxial female receptacles of BNC series Kings Electronics part number KC 79 108 Table B 5 Type Signal Name Dir Details TNC ANT_IN I RF input from LNA 100 mA at 5 0 VDC output ...

Page 112: ...B 10 JNSGyro 4T Operator s Manual www javad com Notes ...

Page 113: ...les and depths This product should never be used Without the user thoroughly understanding this manual After disabling safety systems or altering the product With unauthorized accessories Without proper safeguards at the measuring site Contrary to applicable laws rules and regulations DANGER THE JNSGYRO 4TSHOULD NEVER BE USED IN DANGEROUS ENVIRONMENTS USE IN RAIN OR SNOW FOR A LIMITED PERIOD IS PE...

Page 114: ...d without proper packaging or otherwise treated without care erroneous measurements may occur CAUTION The owner should periodically test this product to ensure it provides accurate measurements CAUTION Inform JNS immediately if this product does not function properly CAUTION Only allow authorized JNS warranty service centers to service or repair this product ...

Page 115: ... service to repair damage to the product resulting from an accident disaster misuses abuse or modification of the product Warranty service may be obtained from an authorized JNS warranty service dealer If this product is delivered by mail purchaser agrees to insure the product or assume the risk of loss or damage in transit to prepay shipping charges to the warranty service location and to use the...

Page 116: ...D 2 JNSGyro 4T Operator s Manual www javad com Notes D ...

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