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NorthStar 8700, Technical Reference Manual

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Tables

Table 1

 — 8700 parts  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   7

Table 2

 — 8800 parts  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   7

Table 3

 — 8801 parts  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   8

Table 4

 — 8900 parts  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   8

Table 5

 — 8901 parts  . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   9

Table 6

 — I/O ports. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .   29

Table 7

 — Standard configurations. . . . . . . . . . . . . . . . . . . .   30

Table 8

 — Configuration 7 . . . . . . . . . . . . . . . . . . . . . . . . . .   31

Table 9

 — Configuration 6 . . . . . . . . . . . . . . . . . . . . . . . . . .   31

Table 10

 — Configuration 5 . . . . . . . . . . . . . . . . . . . . . . . . .   32

Table 11

 — Configuration 4 . . . . . . . . . . . . . . . . . . . . . . . . .   32

Table 12

 — Configuration 3 . . . . . . . . . . . . . . . . . . . . . . . . .   32

Table 13

 — Hardware pin numbers/signal levels . . . . . . . . .   33

Table 14

 — 8700 connector pinouts/config. 3  . . . . . . . . . . .   37

Table 15

 — 8800 power/interface connector pins/config. 5 .   38

Table 16

 — 8900 standard connector pinouts/config. 7 . . . .   39

Table 17

 — 8900 alternate connector pinouts/config. 6 . . . .   40

Table 18

 — 8900 alternate connector pinouts/config. 4 . . . .   41

Table 19

 — Command parameters . . . . . . . . . . . . . . . . . . . .   44

Table 20

 — Command parameter examples . . . . . . . . . . . . .   44

Table 21

 — Approved sentence structure . . . . . . . . . . . . . . .   45

Table 22

 — NMEA field definitions. . . . . . . . . . . . . . . . . . .   45

Table 23

 — Primary port input sentences . . . . . . . . . . . . . . .   47

Table 24

 — Character/baud rate . . . . . . . . . . . . . . . . . . . . . .   47

Table 25

 — Initialization command . . . . . . . . . . . . . . . . . . .   48

Table 26

 — Example B sentence contents  . . . . . . . . . . . . . .   48

Table 27

 — Output-configuration message identifiers . . . . .   49

Table 28

 — Set output configuration command . . . . . . . . . .   50

Table 29

 — Switch to reprogramming mode command . . . .   50

Table 30

 — NVM command. . . . . . . . . . . . . . . . . . . . . . . . .   50

Table 31

 — Character/element . . . . . . . . . . . . . . . . . . . . . . .   51

Table 32

 — Radio-beacon command message . . . . . . . . . . .   51

Table 33

 — Primary-port output sentences. . . . . . . . . . . . . .   52

Table 34

 — Navigation status sentence  . . . . . . . . . . . . . . . .   53

Table 35

 — Self-test sentence. . . . . . . . . . . . . . . . . . . . . . . .   54

Table 36

 — Radio-beacon proprietary sentence . . . . . . . . . .   54

Summary of Contents for 8700

Page 1: ... Series GPS DGPS Position Sensors Technical Reference Manual Revision H May 1 1997 Part No GM8900 1997 Northstar Technologies a division of CMC Electronics Inc Northstar Technologies 30 Sudbury Road Acton Massachusetts 01720 Sales 508 897 6600 Service 508 897 7251 Fax 508 897 7241 ...

Page 2: ......

Page 3: ...Revision history Date Pages Revision May 1 1997 ALL H Ordering information To receive additional copies of this publication order the North star Sensors Technical Reference Manual Part No GM8900 ...

Page 4: ... in normal use The warranty does not apply to units with defects caused by improper installation physical damage abuse tampering lightning or other abnormal electrical dis charge or to units with defaced or altered serial numbers or to units repaired by unauthorized persons or repaired in a manner that violates Northstar s recommended service procedures All repairs and or replacements made under t...

Page 5: ...ng 5 Section 3 Packaging 7 3 1 Housing 7 3 2 Northstar 8700 parts 7 3 3 Northstar 8800 series parts 7 3 4 Northstar 8900 series parts 8 Section 4 GPS receivers 11 4 1 Northstar 8700 11 4 1 1 Features 11 4 1 2 Technical specifications 11 4 1 3 Operating modes 12 Section 5 Beacon receivers 15 5 1 Northstar 8800 series 15 5 1 1 About the Northstar 8801 15 5 1 2 Features 16 5 1 3 Technical specificati...

Page 6: ...3 Cable length 26 7 5 4 Mounting location 26 7 6 Whip antenna 8410 ACU 26 7 6 1 Description 26 7 6 2 Dimensions 26 7 6 3 Cable length 27 7 6 4 Mounting location 27 Section 8 Input output configurations 29 8 1 I O ports 29 8 2 Sensor signals 29 8 3 Standard configurations 30 8 4 Configuration details 30 8 5 Connector pin assignments 33 8 6 Input and output signals 33 8 6 1 RTCM SC 104 output 33 8 6...

Page 7: ...52 Section 11 Beacon receiver binary protocol 61 11 1 Beacon receivers 8800 series and 8900 series 61 11 1 1 Binary control messages 61 11 2 GPS binary protocol 62 Section 12 8X00 engine monitor program 63 12 1 Overview 63 12 1 1 BDM data 63 12 1 2 GPS data 63 12 1 3 Satellite data 64 12 1 4 Function key tasks 64 12 2 Installation 64 12 2 1 Hardware and software requirements 64 12 2 2 Start up 64 ...

Page 8: ...ig 6 40 Table 18 8900 alternate connector pinouts config 4 41 Table 19 Command parameters 44 Table 20 Command parameter examples 44 Table 21 Approved sentence structure 45 Table 22 NMEA field definitions 45 Table 23 Primary port input sentences 47 Table 24 Character baud rate 47 Table 25 Initialization command 48 Table 26 Example B sentence contents 48 Table 27 Output configuration message identif...

Page 9: ...entence 59 Table 44 Track made good ground speed sentence 59 Table 45 UTC time data and local time zone sentence 60 Figures Figure 1 8700 8800 series 8900 series dimensions 4 Figure 2 8700 ALLSTAR engine operating modes 12 Figure 3 Radio beacon coverage map 15 Figure 4 Northstar AN145 antenna 23 Figure 5 Northstar AN150 antenna 24 Figure 6 AN190 combination antenna 25 Figure 7 Northstar AN195 H Fi...

Page 10: ......

Page 11: ...ormation without sifting through unnecessary levels to find what you need The manual covers the following products Northstar 8700 GPS Position Sensor Northstar 8800 Series Beacon Sensors Northstar 8900 Series GPS DGPS Position Sensors Additional high level information about antennas pinouts and configura tions NMEA protocol beacon binary protocol RS 422 and RS 232 inter faces and the 8X00 ALLSTAR ...

Page 12: ...plete and accurate as possible when you describe an operating problem If you need immediate assistance feel free to call Northstar service at 508 897 7251 Each sensor is covered by a two year limited warranty which in sum mary states that if a sensor is returned to the factory by the owner during the warranty period Northstar will repair or replace free of charge any part found to be defective due...

Page 13: ...channel DGPS ready fast acquisition GPS receiver that continuously tracks all available satellites The 8700 accepts DGPS corrections from any source of Radio Technical Commis sion for Maritime Services RTCM SC 104 data See Section 4 GPS Receivers for complete information about the Northstar 8700 2 1 2 Northstar 8800 series The Northstar 8800 series comprised of either the 8800 or the 8801 an 8800 ...

Page 14: ...cator light All dimensions in inches CAUTION Before you apply power to the system double check all wiring A small but significant number of units sustain damage because of incorrectly wired connec tions This damage isn t covered under warranty Be sure you don t apply primary voltage directly to any of the signal input output wires of the GPS sensor this may vaporize circuit board conductors within...

Page 15: ...ors to a wide variety of external devices such as navigators computers yield monitors and so on These external devices or host systems receive and process the data from the sensor and in some applications may control the sensor Each sensor has two full duplex serial I O ports that may be connected to a host system in a variety of ways and for different applications The func tion of each I O port i...

Page 16: ...Section 2 Introduction PAGE 6 05 01 97 REV H ...

Page 17: ... 3 2 Northstar 8700 parts Table 1 8700 parts 3 3 Northstar 8800 series parts Table 2 8800 parts NOTE The housing isn t completely waterproof so keep the sensor away from direct contact with water spray or splash Part Description 8700 A 8700 GPS position sensor 8700 PK KS130 KS131 KS133 8700 parts kit consisting of 25 pin female DB 25 connector DB 25 shielded junction shell DB 25 short screw lock f...

Page 18: ...ar 8800 and 8801 Beacon Receivers Installa tion Manual Part Description 8900 A 8900 integrated GPS DGPS position sensor 8900 PK KS130 KS131 KS133 8900 parts kit consisting of 25 pin female DB 25 connector DB 25 shielded junction shell Short screw lock for KS131 8410 Optional DGPS antenna coupling unit not used with combo antenna WC100 DGPS antenna connecting cable RG 58U coaxial 25 feet Not used w...

Page 19: ...ion to 800 GPS or 800X GPS if specified at time of order Part Description 8901 A 8901 integrated GPS DGPS position sensor with internal splitter AN200 Combination antenna with 20 feet of RG 59U coaxial cable GM 625 Northstar 8901 8901AL Ag DGPS Sensors Field Instal lation Manual 8901 CA Optional interfacing cable for agricultural applica tions 8903 CA Optional interfacing cable for AgLeader applic...

Page 20: ...Section 3 Packaging PAGE 10 05 01 97 REV H ...

Page 21: ...uency 1 574 42 MHz for increased accuracy Very fast signal reacquisition after signal obscuration Two serial input output data ports One to transmit navigation data another for differential data input or other needs Either one can be used for maintenance reprogramming mode 4 1 2 Technical specifications Power requirements 10 to 40 VDC 6 watts power consumption 0 C to 55 C temperature range of oper...

Page 22: ... Coarse acquisition C A code 1 023 MHz chip rate code and carrier phase tracking Environment Operating temperature Zero to 55 C Relative humidity 95 percent non condensing 4 1 3 Operating modes The 8700 automatically switches between six operating modes Self test Initialization Acquisition Navigation includes four sub modes differential 3 D differential 2 D 3 D nav and 2 D altitude hold Dead recko...

Page 23: ...ach satellite in view is acquired the 8700 collects its ephem eris data by decoding the satellite down link data message When enough satellites are being tracked the unit computes position velocity and time then enters navigation mode If valid almanac data is absent and the 8700 can t acquire signals nor mally it initiates a search the sky acquisition attempting to acquire all satellites in the GP...

Page 24: ...uate geometry but no differential corrections Altitude Hold 2 D Nav This is the least preferred navigation mode If satellite measurements are insufficient to produce a 3 D navigation solution but sufficient when altitude information is available the 8700 operates in this mode where the altitude is assumed constant Dead reckoning mode The 8700 enters dead reckoning mode when it can t remain in navi...

Page 25: ...SA is the intentional degradation of satellite signals by the U S Department of Defense FIGURE 3 Radio beacon coverage map 5 1 1 About the Northstar 8801 The 8800 and 8801 sensors are functionally identical the only difference is their configuration The 8800 can be used with either the Northstar 8410 ACU or the Northstar AN195 H field antenna and is intended pri marily for marine applications The ...

Page 26: ...star 806 806X and Europa GPS navigators and the Northstar 8000 8100 8300 8700 and 9300 DGPS sensors used with the Northstar 800 and 9000 series navigators For other receivers use the Northstar dia grams as a guide and consult the interfacing diagrams supplied with your receiver You can use the 8800 with any brand of GPS receiver that supports the standard RTCM SC 104 DGPS corrections format 5 1 3 ...

Page 27: ...rn on pin 12 is connected to a source of 5 to 40 VDC 5 1 4 Operating modes The 8800 runs in two operating modes Automatic Manual Automatic mode At power up the 8800 enters automatic mode requiring no further supervision from the host GPS receiver The 8800 operates automatically by using two independent channels Channel 1 tracks the best beacon signal available the signal with the lowest data error...

Page 28: ...ride automatic station selection by issuing tuning commands on the serial interface In manual mode the 8800 will output DGPS corrections from the selected station restoring automatic mode either the next time the unit is powered on or when the controlling device specifies a station frequency of zero ...

Page 29: ... you can easily interface the 8900 to other sources of differential corrections using the SC 104 correc tions format For further information see Section 8 Input Output Con figurations See Section 4 GPS Receivers and Section 5 Beacon Receivers for a description of the operation of the 8900 s GPS receiver and beacon receiver respectively 6 1 1 About the Northstar 8901 The 8900 and 8901 sensors are f...

Page 30: ...al strength 5 µV m 100 bps 100 dB dynamic range 50 dB at 1 kHz adjacent channel rejection Acquisition time Five seconds manual command 15 seconds auto matic warm start 15 minutes automatic cold start only at first turn on after installation time varies depending on local beacon frequen cies Predictive variable length noise blanker Signal detection acquisition via frequency locked loop FLL track in...

Page 31: ...Section 6 GPS beacon combination receivers 05 01 97 REV H PAGE 21 Environment Operating temperature Zero to 55 C Relative humidity 95 percent non condensing ...

Page 32: ...Section 6 GPS beacon combination receivers PAGE 22 05 01 97 REV H ...

Page 33: ...Northstar AN195 H field antenna and the 8901 is shipped with the Northstar AN200 GPS DGPS antenna See Section 3 Packaging to deter mine which antennas are appropriate for your particular sensor 7 2 GPS antenna AN145 7 2 1 Description The Northstar AN145 is a passive GPS antenna that s shipped with 25 feet of RG 59U coaxial cable 7 2 2 Dimensions FIGURE 4 Northstar AN145 antenna 7 2 3 Cables The AN...

Page 34: ...e a minimum of 20 feet of RG 59U coaxial but not more than 100 feet 7 3 5 Mounting location For land based applications mount the AN150 near the top of the vehi cle where a clear and unobstructed view of the horizon is available in all directions For marine applications mount the AN150 low on the vessel to avoid extra motion from pitching and rolling Be sure to install the AN150 lower than high po...

Page 35: ... 4 5 Mounting location For land based applications mount the AN190 near the top of the vehi cle where a clear and unobstructed view of the horizon is available in all directions For marine applications mount the AN190 low on the vessel to avoid extra motion from pitching and rolling Be sure to install the AN190 lower than high power transmitting antennas such as radar or satcom 7 5 DGPS only H fie...

Page 36: ...field antenna is generally less susceptible to impulse noise than the whip antenna see below the H Field antenna s location remains critical in achieving optimum performance 7 6 Whip antenna 8410 ACU 7 6 1 Description The Northstar 8410 Antenna Coupling Unit ACU consists of two poly carbonate pieces a base and an upper unit which is threaded to accept a standard four foot fiberglass whip antenna 7...

Page 37: ... antennas If you have several pos sible antenna locations evaluate each one by operating the receiver with the antenna temporarily mounted in each location The location provid ing the lowest Sferics count atmospheric impulse noise generated by thunderstorms and other weather conditions and highest Signal to Noise Ratio SNR is the best location Sferics and SNRs are best measured using the monitor p...

Page 38: ...rride the beacon signals and cause poor operation in bad weather The optimal antenna location is high and clear for fair weather operation but below the top of a metal mast or other antenna for best foul weather operation On sailing vessels the antenna might be mounted on top of a low mast or on the stern rail if no other suitable location is available ...

Page 39: ... O port Five program configurations are available with the standard product one of these is selected by grounding appro priate pins on the sensor s 25 pin data power connector The wiring dia gram for each sensor model shows the required configuration of these pins For other specialized applications requiring different configurations contact Northstar to determine the cost and feasibility of custom...

Page 40: ...a tions recommended for each sensor type these configurations relate to Northstar PAL Version 2 6 If problems occur contact Northstar customer service for assistance Table 7 Standard configurations The port connections of each of these standard configurations are detailed throughout Section 8 4 8 4 Configuration details Configurations 7 and 6 are used with the 8900 which contains both a GPS sensor...

Page 41: ...23 on the connector Pin I O port Sensor signal 6 RS 232 output 1 GPS primary output 20 RS 232 output 2 BDM SC 104 output 9 RS 232 output 3 BDM monitor output 5 18 RS 422 output 1 GPS primary output 16 4 RS 422 output 2 Echo of RS 232 input 1 or RS 422 input 1 7 or 15 3 RS 232 input 1 or RS 422 input 1 GPS primary input 21 or 1 14 RS 232 input 2 or RS 422 input 2 BDM control input 10 RS 232 input 3...

Page 42: ...S 232 input 2 or RS 422 input 2 or RS 232 input 3 BDM control input 21 or 1 14 RS 232 input 1 or RS 422 input 1 BDM monitor input Pin I O port Sensor signal 6 RS 232 output 1 GPS primary output 20 RS 232 output 2 Time mark output 9 RS 232 output 3 GPS auxiliary output 5 18 RS 422 output 1 BDM monitor output 16 4 RS 422 output 2 BDM SC104 output 7 RS 232 input 1 GPS primary input 21 or 1 14 RS 232 ...

Page 43: ...ault of 9600 8 bits no parity 1 stop bit Jumper selectable 21 or 1 14 or 10 RS 232 input 2 or RS 422 input 2 or RS 232 input 3 GPS auxiliary input Pin Signal level Pin Signal level 1 RS 422 input 2A 14 RS 422 input 2B 2 Ground 15 RS 422 input 1A 3 RS 422 input 1B 16 RS 422 output 2A 4 RS 422 output 2B 17 Ground 5 RS 422 output 1A 18 RS 422 output 1B 6 RS 232 output 1 19 Ground 7 RS 232 input 1 20 ...

Page 44: ...ristics are listed below Signal type RS 232 C or RS 422 Data format ASCII status messages Baud rate 9600 8 bits no parity 1 stop bit 8 6 5 GPS auxiliary input The auxiliary input port is used to receive RTCM SC 104 V2 1 differential correction messages The port characteristics are listed below Signal type RS 232 C or RS 422 Data format NMEA 0183 or binary control commands Baud rate 300 to 38 400 d...

Page 45: ... CMC Binary protocols The port characteristics are listed below Signal type RS 232 or RS 422 Data format NMEA 0183 or binary control commands Baud rate 300 to 38 400 default of 4800 8 bits no parity 1 stop bit jumper selectable 8 6 9 Remote POWER ON control 5 to 40 VDC 8 6 10 DC power input 10 to 40 VDC 8 6 11 Time mark 1 Hz timing pulse with 1 Hz duty cycle ...

Page 46: ...Section 8 Input output configurations PAGE 36 05 01 97 REV H ...

Page 47: ...low in Table 14 functions highlighted in bold indicate the suggested pins for a normal installation and are the minimum connections required to operate the 8700 Use either RS 422 or RS 232 connections Table 14 8700 connector pinouts config 3 NOTE Be sure to always connect pin 25 to DC power and pin 13 to ground no matter which way you wire power control to the sensor Pin Description Pin Descriptio...

Page 48: ...tion 10 2 GPS Serial Protocol and Section 10 2 1 Input Sentences Time mark 1 Hz timing pulse available during navigation mode 9 1 3 8800 connector pinouts The 8800 s configuration pins should be wired as shown in Table 15 with connector pins 23 and 24 left open and pin 11 grounded With this con figuration signals appear on the connector pins as described below in Table 15 functions highlighted in ...

Page 49: ... and 24 left open With this configuration SC 104 signals pass directly from the BDM receiver to the GPS receiver In this configuration signals appear on the connector pins as described below in Table 16 functions highlighted in bold indicate the suggested pins for a normal installation and are the minimum connections required for oper ation of the 8900 Table 16 8900 standard connector pinouts conf...

Page 50: ... SC104 output RS 232 8 Ground 21 BDM control input 2 RS 232 9 BDM monitor output 3 RS 232 22 Not used 10 BDM monitor input 3 RS 232 23 Configuration pin A leave OPEN 11 Configuration pin B leave OPEN 24 Configuration pin C leave OPEN 12 Remote POWER ON control 25 DC power input 13 DC power input Ground Pin Description Pin Description Pin Description Pin Description 1 GPS auxiliary input 2A RS 422 ...

Page 51: ...or See Section 10 2 GPS Serial Protocol and Section 10 2 1 Input Sentences Time mark 1 Hz timing pulse available during navigation mode Table 18 8900 alternate connector pinouts config 4 Pin Description Pin Description 1 BDM control input 2A RS 422 14 BDM control input 2B RS 422 2 Ground 15 BDM monitor input 1A RS 422 3 BDM monitor input 1B RS 422 16 BDM SC 104 output 2A RS 422 4 BDM SC 104 output...

Page 52: ...Section 9 Connector pinouts PAGE 42 05 01 97 REV H ...

Page 53: ...commended The messages end with a carriage return line feed CR LF sequence NMEA 0183 format control messages are buffered within the beacon receiver until the messages are ready to be processed then they re ech oed back to the controlling device Messages received on either the con trol input port or the monitor input port are echoed to the monitor output port All alphabetical characters must be up...

Page 54: ...C 104 ASCII messages to the monitor port B Do not output parsed RTCM SC 104 messages default C Erase the stored beacon directory and perform a power on reset D List the stored beacon directory to the monitor port F Test Mode 2 Tune both channels to the specified frequency and bitrate with AFC disabled R Perform a power on reset S Skip channel 2 to next search frequency T Test Mode 1 Tune both chan...

Page 55: ...structure Table 22 NMEA field definitions PSLIB 0 CR LF Return to automatic mode The best broad cast available will be demodulated PSLIB R CR LF Restart PSLIB 284 5 0 CR LF Demodulate data from a DGPS beacon broadcast at 284 5 kHz with the bit rate to be automatically determined Data field Contents PMCAG xxx xxx xx xx CK CR LF Record sync character P Special ID P proprietary MCA Originator ID MCA ...

Page 56: ... to contain pre defined constants mostly alpha characters Such a field is indicated in this standard by the presence of one or more valid characters The following characters are excluded from the list of allowable ones which are used to indicate field types A a c hh hhmmss ss llll lll x yyyy yy Numeric value fields Variable numbers x x Variable length integer or floating numeric field Optional lea...

Page 57: ...LLSTAR OEM CMT 1200 Specifications Rev H To order this document call the Northstar sales department On power up with non volatile memory NVM the primary port stays in the same mode without NVM the default mode is monitor mode CMC binary Header Contents of data fields PMCAG 000 x hh CR LF x Baud rate selection see Table 24 below Table 24 Character baud rate Message iden tifier Name Maximum sentence...

Page 58: ...6C CR LF Table 26 Example B sentence contents 6 9600 7 19200 8 38400 Character Baud rate Data field Contents PMCAG 001 xx xx xxxx hhmmss ss xx xx llll ll a yyyyy yy a x x c hh C R LF xx xx xxxx UTC date day 1 31 month 1 12 year 1980 2079 hhmmss ss UTC time hour 0 23 minutes 0 59 seconds 0 59 xx xx Reserved must be 00 llll ll a Latitude N S with respect to WGS 84 yyyyy yy a Longitude E W with respe...

Page 59: ...below in Table 27 Example D Request the approved sentence GPGGA PMCAG 004 GGA 2D CR LF Set output configuration command PMCAG 005 This message configures the output of the primary port The message contains the primary port baud rate and the list of message identifiers with the minimum time interval between consecutive transmissions Table 27 Output configuration message identifiers Longitude 1 33 4...

Page 60: ...mode command Example G PMCAG 006 19 2 7A CR LF Erase NVM command PMCAG 007 This message erases the NVM element Table 30 NVM command Data field Contents PMCAG 005 x x ccc xxx ccc xxxx hh CR LF x x Baud rate Valid baud rates 0 3 0 6 1 2 2 4 4 8 9 6 19 2 and 38 4 in KBaud units 0 keep the same baud rate no effect 1 save the included list in NVM and overwrite the previous one ccc xxx first ccc xxx nth...

Page 61: ...tput message MSS and PMCAG 903 Table 32 Radio beacon command message xx Element NVM element to erase as shown below in Table 31 Characters Element 00 All Note 1 01 04 Reserved 05 Almanac 06 Ionospheric data 07 08 Reserved 09 TCXO parameters 10 UTC parameters 11 Position 12 Time 13 DGPS configuration 14 Default NMEA message list 15 RS 232 configuration This com mand forces the 8700 to go into binar...

Page 62: ... Auto manual bit rate x x Interval for sending PCMCAG 903 and MSS mes sage in seconds When status data won t be trans mitted this field is null If not null the MSS and PCMCAG 903 sentences are sent at the specified rate Data field Contents Message identifier Name Maximum sentence length characters Rate 900 Navigation status 21 Adjustable 901 Data request list overflow 15 N A 902 Self test results ...

Page 63: ...hrough input message identifier 004 to retrieve the current status of the sensor without initiating a self test sequence Data field Contents PMCAG 900 ccc c hh CR LF ccc Navigation mode 3DD 3 D fix with differential aiding 3 D 3 D fix 2DD 2 D fix constant altitude with differential aiding 2 D 2 D fix constant altitude D R Dead reckoning INI Initialized from last good fix or external initialization...

Page 64: ...CAG 902 xxxxxx xxx a aaaa xx xx hh CR LF xxxxxx Software part number root number xxx Software variation number a Software revision letter aaaa Sensor self test result from the last initiated test PASS FAIL xx Number of active faults xx Faults identifier Data field Contents PMCAG 903 x x aa x x x x x x x x x x hh CR LF x x Impulse noise count aa Radio beacon self test result zeroes mean all tests p...

Page 65: ...ongitude with respect to WGS 84 Three digits of degrees two digits of minutes four digits of decimal fraction of minutes a E W East or West x Quality indicator GPS quality indicator 0 fix unavailable or invalid 1 GPS fix 2 DGPS fix xx SVs in use may be different from number in view xx x HDOP xxxxx x Altitude with respect to mean sea level M Units of antenna altitude in meters xxxx Geoidal separati...

Page 66: ...61 5619 2837 N 17235 8964 E 1 05 02 3 00034 2 M M 66 CR LF UTC 01 23 38 61 Latitude 56 19 2837 North Longitude 172 35 8964 East Quality GPS fix Satellites used 5 HDOP 2 3 Altitude 34 2 m below sea level Data field Contents GPGLL llll llll a yyyyy yyyy a hhmmss ss A hh CR L F llll llll Latitude with respect to WGS 84 Two digits of degrees and minutes four digits of decimal fraction of minutes a N S...

Page 67: ...t in the second or third sentence Table 41 GPS satellites in view sentence Data field Contents GPGSA a x xx xx xx xx xx xx xx xx xx xx xx xx xx x xx x xx x hh CR LF a Mode M manual forced to operate in 2 D or 3 D mode A automatic allowed to automatically switch 2 D 3 D x Mode 1 fix unavailable 2 2 D 3 3 D xx xx xx xx xx xx xx xx xx xx xx xx PRNs of SVs used PRN numbers of satellites used in soluti...

Page 68: ...s 187 SNR is 8 2 dB PRN is 17 elevation is 35 azimuth is 323 and SNR is 11 1 dB MSS radio beacon receiver signal status GPMSS This message sends the information about the SNR and signal strength frequency and bit rate from an MSK beacon receiver Table 42 MSS radio beacon signal status sentence Example R GPMSS 32 13 288 0 100 68 CR LF Recommended minimum specific GPS data GPRMC This message provide...

Page 69: ...ld Contents GPRMC hhmmss ss A llll llll a yyyyy yyyy a xxx x xx x x xxxxxx hh CR LF hhmmss ss UTC of position fix A Status A data valid V nav receiver warning llll llll Latitude Two digits of degrees and minutes four dig its of decimal fraction of minutes a N S North or South yyyyy yyy y Longitude Three digits of degrees two digits of min utes four digits of decimal fraction of minutes a E W East ...

Page 70: ...224512 45 12 01 2003 6 00 hh CR LF In this message UTC is 22 45 12 45 date is 01 12 2003 and local zone are 6 zones hours east of GMT K hh Km speed in kilometers per hour Data field Contents GPZDA hhmmss ss xx xx xxxx xx xx hh CR LF hhmmss ss UTC time xx Day xx Month xxxx Year xx Local zone description The number of whole hours added to local time to obtain UTC Zone description is negative for Eas...

Page 71: ...contain two bit type flags there isn t any interference with normal RTCM SC 104 data processing Frequency select The frequency select command consists of the hexadecimal byte CE fol lowed by a two byte frequency selection code Divide the desired tuning frequency by 100 Hz then encode that number into two bytes The first byte is hexadecimal C0 plus the six most significant bits msb6 the sec ond byt...

Page 72: ...ce of bytes on the RTCM SC 104 output port The struc ture of this reply follows C5 message identifier C0 msb6 encoded signal strength six MSBs C0 lsb6 encoded signal strength six LSBs C0 snr encoded SNR six bits The signal strength is a 12 bit value that gives the strength in units of dBµV with the special value 1 indicating that the 8800 isn t currently decoding RTCM SC 104 DGPS correction data T...

Page 73: ... sensor s output data and status This program runs on most IBM compatible PCs and interfaces with the 8700 8800 and 8900 s data ports letting you monitor and log a sensor s out put Status information fields are included in screen sections for BDM data GPS data and satellite data 12 1 1 BDM data Noise count Frequency Signal strength Beacon bit rate Signal noise 12 1 2 GPS data Latitude Longitude Al...

Page 74: ...monitor port to allow direct message observa tion F6 Start a GPS log file F7 Start a BDM log file F8 Send a file to the BDM F10 Quit the program Baud rates are fixed at 4800 GPS and 9600 beacon receiver 12 2 Installation 12 2 1 Hardware and software requirements An IBM compatible PC 386 or faster The executable file 8X00MON EXE The self test message file SELFTEST ALL The initialization message fil...

Page 75: ...ble or updated while scrolling data is active The function key that activates the scroll screen F4 for GPS F5 for beacon also restores the monitor screen In addition an ESC key restores the monitor screen 12 2 5 About the monitor message line Operator messages including error and prompt messages appear on the bottom line of the screen This line is for data entry such as a Log file name Pressing an...

Page 76: ...Section 12 8X00 engine monitor program PAGE 66 05 01 97 REV H ...

Page 77: ...l degrading by the U S Department of Defense of satellite signals tracked and measured by GPS receivers to determine position time and velocity SA limits civilian GPS accuracy to about 100 meters and velocity accuracy to about one to two knots Sentence A group of data in one of several formats defined by the National Marine Electronics Association NMEA For standard applications the Northstar senso...

Page 78: ...Section 13 Glossary PAGE 68 05 01 97 REV H ...

Page 79: ...ta between electronic navigation equipment NMEA 0183 is the current standard which specifies the for mat for sentences containing specific types of data NVM Non Volatile Memory OEM Original Equipment Manufacturer PLL Phase locked loop PRN A satellite s two digit Pseudo Random Number DVVLJQHGýE ýWKHý8ï6ïýJRYð HUQPHQW RTCM Radio Technical Commission for Maritime Services SC 104 The specification for...

Page 80: ...Section 14 Abbreviations and initialisms PAGE 70 05 01 97 REV H ...

Page 81: ... 27 DGPS only 8410 ACU 26 AN195 H field 25 dimensions 23 27 GPS AN145 23 AN150 24 GPS DGPS combination AN190 24 AN200 25 Applications for Northstar sensors 3 B Beacon receivers 15 binary protocol 61 features 16 manual control of 43 operating modes 17 special applications 43 technical specifications 16 data ports 17 data processing 17 electrical requirements 17 environment 17 power requirements 16 ...

Page 82: ...tocol 45 input sentences 47 output sentences 52 technical specifications 11 acquisition time 12 coarse acquisition 12 dynamics 11 position accuracy 11 power requirements 11 reacquisition time 12 sensitivity 12 GPS beacon combination receivers 19 features 19 technical specifications data ports 20 data processing 20 electrical requirements 20 environment 21 power requirements 20 signal processing 20...

Page 83: ...ng self test 13 in 8X00 ALLSTAR engine monitor program 63 sentence defined 67 Northstar 8700 introducing 3 parts 7 Northstar 8800 introducing 3 parts 7 Northstar 8801 applications 16 introducing 3 parts 8 Northstar 8900 series introducing 3 parts 8 Northstar 8901 applications 19 introducing 19 parts 9 Northstar Sensors Technical Reference Manual contents of 1 using 1 O Operating modes GPS receiver...

Page 84: ...beacon coverage 15 Registration card filling out 2 S Search the sky 13 Selective Availability and satellite signals 15 defined 67 Service and repair procedure 2 Sferics 27 Shipping address for returns 2 Status indicator light functions of the 4 W Web address 15 Wiring power to the sensors 4 ...

Page 85: ...Index 05 01 97 REV H PAGE 75 ...

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