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Serial Port Output

83

Serial Port Output

The header field always contains "$PASHR". The message identifier field contains 
a three character string and is followed by a field containing the binary data string. 
The header, identifier, and data fields are comma delimited. Depending on the 
message selected, the checksum is contained in the last one or two bytes of the 
binary data string. All real-time messages are terminated with a Carriage Return/
Line Feed [CRLF] delimiter. The MBEN message comes out as shown below 
when binary format is selected:

"$PASHR,MPC,<Binary Data String>[CRLF]"

The structure for messages output in ASCII format is similar, but the data string is 
divided into comma delimited fields. Most of the fields contain numeric data 
comprised of either integers, real numbers, or values in which integers and real 
numbers are combined. The MBEN message has a three-digit checksum in the 
last data field before the carriage return/line feed. The PBEN message does not 
have a checksum when output in ASCII format:

"HEADER,MESSAGE ID,DATA+CHECKSUM[CRLF]"

The MBEN message comes out as shown below when ASCII format is selected:

"$PASHR,MPC,<ASCII Data String>*Checksum[CRLF]"

 Table 4.2 contains symbols and the types of data represented by them used to 
illustrate real-time message structures in the ASCII format:

MBEN Message

MBEN messages contain satellite measurement data, including satellite PRN, 
elevation, azimuth, SNR, channel index, and more. MBEN can be output in either 
ASCII or binary format. A separate message is generated for each tracked 
satellite above the elevation mask. Table 4.3 and Table 4.4 outline the contents of 
the MBEN message for the binary and ASCII formats.

 Table 4.2.  

ASCII Message Parameter Symbols 

Symbol

Parameter Type

Example

d

Numeric integer

3

f

Numeric real

2.45

m

Combined numeric (integer and real) for lat/lon

037:21.0682

s

Character string

PALO

h

Hexadecimal number

A5

Содержание ZY-12

Страница 1: ...Z Xtreme GPS Receiver Opern nca www thalesnavigation com THALES NAVIGATION ZY 12 GPS Receiver Information Supplement www thalesnavigation com THALES NAVIGATION ...

Страница 2: ......

Страница 3: ... the pin outs for the Power and Port X connectors A Specifications section gathering a number of ZY 12 specific features Chapter 2 is a copy of chapter 2 from P N 630810 01 with an additional section about RTCM differential at the end of the chapter plus revised screen 4 Chapter 3 is a copy of chapter 3 from P N 630810 01 with an additional section about the SEC Module subscreen Chapters 5 and 6 a...

Страница 4: ......

Страница 5: ... and Tracking 8 C A Acquisition and Y Tracking 8 Direct Y with L2 8 Selective Availability 8 Zeroizing Procedure 8 Getting Started 9 Operating the Receiver 9 Receiver Configuration 12 Saving and Resetting User Parameters 13 Resetting Memory 14 Creating a File 14 Closing a File 15 Downloading a File 15 Deleting a File 15 System Level Commands 16 RTCM Differential Set Up 17 General 17 Setting RTCM F...

Страница 6: ... Subscreen 45 SEC Module Subscreen 46 Screen 5 Differential Information Residuals Error MSK Status 47 Range Residuals 49 MSK Status Menu 50 Screen 6 Waypoint Control 51 Screen 7 Satellite Selection Control 65 Screen 8 File Display and System Control 66 Screen 9 Site and Session Control 69 Screen 10 All in View Information 71 Screen 11 Visibility Information 74 Screen 12 Bar Code Control 76 Serial ...

Страница 7: ...f the Navstar Global Positioning System provides state of the art precision surveying and navigation The ZY 12 is the first to offer true all in view automatic tracking With 12 independent channels it automatically tracks all the satellites in view eliminating the need for manual programmed or pre programmed selection of common satellites between survey sites The system includes a microstrip anten...

Страница 8: ... of a screen means display only Control in the title indicates a screen you interact with such as Screens 4 and 9 Screens are described in detail in Chapter 3 Screen Descriptions Table 1 1 Screen Summary Screen Display Function 0 Skysearch Information 1 Orbit Information 2 Navigation Information 3 Tracking Information 4 Mode Control 5 Differential Information 6 Waypoint Control 7 Satellite Selecti...

Страница 9: ...latitude antenna height site name Depending on the particular screen number keys may have other functions for example the 8 key for yes c c Use the c key to cancel the current entry e Press the e key to enter data entry mode to save values you have entered and to go back to higher level displays It functions much like the ENTER key on a computer E F In display mode use the right arrow E key or the...

Страница 10: ... keyboard inactivity the backlighting automatically turns off to extend the life of the battery To restore the display push any key The e key is recommended since it does not change the display Back Panel Figure 1 3 shows the connectors and power switch on the back panel The receiver operates with an input voltage between 10 and 32 Vdc from an external power supply Two POWER IN sockets let you use...

Страница 11: ...onized with GPS time POWER Two power connectors in parallel to apply input voltage to ZY 12 see previ ously PWR OFF Toggle switch for Power Red LED Crypto not keyed Green LED Crypto successfully keyed ZEROIZE Pushbutton used to zeroize the security key ANT Connector for the GPS antenna cable PORT 1 and PORT 2 Four RS 232 serial ports are available embedded within two 16 pin connectors labeled PORT...

Страница 12: ... B is ground Pin C open Figure 1 4 below shows one of the two power connectors located at the back of the receiver RS 232 Connectors The RS 232 cables used with the ZY 12 receiver should mate with the female 16 pin circular connectors on the receiver see Figure 1 5 below Figure 1 4 Power Connector Figure 1 5 RS232 Connector Port 1 Port 2 ...

Страница 13: ... Power Down The receiver automatically turns itself off if input voltage drops below 10 volts A beep sounds to indicate low battery at which time you must shut down and connect a fresh battery Table 1 4 RS232 Connector Pin Out Pin Number Description Abbreviation 1 Ground GND 2 Transmit data port A B TXD0 3 Receive data port A B RXD0 4 Request to send port A B RTS0 5 Clear to send port A B CTS0 6 D...

Страница 14: ...t Y Acquisition and Tracking Automatic when keyed C A Acquisition and Y Tracking Automatic when keyed Direct Y with L2 Automatic when keyed Selective Availability Selective Availability SA is removed if it is active when the ZY 12 is keyed When it is not keyed SA will degrade the accuracy Currently SA is not active Zeroizing Procedure The ZY 12 is operational when keyed The zeroizing key will put ...

Страница 15: ... in the following procedure 1 Connect one end of the power cable to a 10 32 VDC power source generally a battery pack and the other end to either of the two POWER connectors on the rear panel of the receiver Figure 2 1 Figure 2 1 Receiver Setup Receiver DC Input 10 32 VDC POWER GPS Antenna Antenna Cable ANTENNA ...

Страница 16: ...d on it automatically Searches and locks onto all available satellites Makes GPS measurements and computes its position Opens a file and saves all data into this file When the receiver is turned off after a survey it automatically saves the collected data and closes the file At this point the data stored in the receiver must be transferred downloaded to a PC for post processing There are two prima...

Страница 17: ...s the e key to save the changes or the c key to abandon changes 8 Call Screen 9 Site and Session Control Figure 2 4 by pressing the 9 key Like Screen 4 you do not have to alter information to successfully conduct a static survey However entering information now assists in automatic processing Site information can be entered during data collection and do not affect or interrupt the data collection ...

Страница 18: ...a and closes the data file Receiver Configuration To check the factory installed receiver configuration go to Screen 8 Figure 2 5 Issue command 888 by pressing the e key the 8 key three times then the e key again The configuration of your receiver appears on the display Figure 2 6 You need this information when contacting Customer Support Figure 2 5 Screen 8 o Figure 2 6 Receiver Configuration ...

Страница 19: ...meters When the values of most parameters are modified they are not saved automatically in the internal memory overriding the defaults and resets after a power cycle of the receiver Modified parameters can be saved by using the command 555 To use this command from Screen 8 press the e key enter 555 and press e again The message user parameters saved displays To set parameters back to their origina...

Страница 20: ...complete this reset 1 Turn the receiver off 2 While pressing the right arrow key turn the receiver on 3 Keep pressing the right arrow until the message Test of external RAM Will clear all data Press YES within 10 seconds to continue displays 4 Press 8 YES and the message Push any key to continue should appear after several seconds Press any key The receiver is now ready for use Creating a File Eac...

Страница 21: ...d on the receiver and to COM1 preferred on the PC 2 Turn the receiver on 3 Download the data with the software on your PC Deleting a File You can delete a file at any time However before deleting a file check that it is not needed or the information downloaded To delete a file 1 Go to Screen 8 which displays all files in memory 2 If there are more than 10 files in the receiver use the up and down ...

Страница 22: ...unit returns to display mode Table 2 2 Systel Level Commands Command Function 100 Turn off backlighting after 2 minutes since last key press Default 101 Keep backlighting on if backlighting is left on the receiver draws significantly more power 123 Close a file 191 Initialize the modem 550 Reset receiver to original default values 555 Save user parameters 737 Initialize reset RTCM 888 Display conf...

Страница 23: ...ighlight the mode indicator and press or to toggle it through base remote and disabled and select the right mode Select it here or on the RTCM OPTIONS screen 5 Highlight the output port indicator and toggle it through USE PORT A or B or C or D so that it corresponds with the serial port you are using for the differential corrections 6 If you want the auto differential option enabled highlight the ...

Страница 24: ...18 ZY 12 GPS Receiver Setting RTCM Format Type 10 1 Highlight C A code and to toggle to L1 P code 2 Highlight RTCM format and press e to view message types Type 10 will be displayed instead of type 1 ...

Страница 25: ... functions Table 3 1 Screen Summary Screen Display Function Page 0 Skysearch Information 20 1 Orbit Information 22 2 Navigation Information 24 3 Tracking Information 27 4 Mode Control 28 5 Differential Information 47 6 Waypoint Control 51 7 Satellite Selection Control 65 8 System Control 66 9 Site and Session Control 69 10 All in View Information 71 11 Visibility Information 74 12 Bar Code Control...

Страница 26: ...ts its internal clock and reports GPS time After it finds several satellites and collects GPS to UTC parameters it changes to GMT CHAN Contains the channel numbers for the associated satellites PRN PRN number of each satellite being searched for If lock is not acquired on a satellite after 2 minutes a new satellite cycles into its channel If the SV PRN numbers are displayed in reverse video blue n...

Страница 27: ...ck status of the P1 code channels Like the C A code channel reports SN Sniff LZ Z tracking locked without crypto or LY P code PL2 Indicates the lock status of the P2 code channel Like the C A code channel reports SN Sniff LZ Z tracking locked without crypto or LY P code ZY 12 1Y07 1DY4 Reports the type of receiver and the software version number When calling a service representative with any probl...

Страница 28: ...epochs of continuous data collected from this satellite It is updated every second It ranges from 0 to 99 and remains at 99 until a cycle slip If there is a cycle slip or loss of lock the receiver resets CNT to 0 If CNT often drops to 0 it indicates there are frequent cycle slips with this satellite However if the satellite is high in the sky elevation angle 20 and above cycle slips are rare unles...

Страница 29: ...P over 1 Press the down arrow again to see P2 P code on L2 a P displays over the 2 as the screen number URA Indicates the range accuracy of each satellite When 0 the accuracy is high when over 8 the accuracy is low HEL Displays the satellite s health general condition in hexadecimal AGE Shows how many minutes have passed since lock was lost on the satellite For example when ELV is 35 and AGE is 12...

Страница 30: ...Other datums can be selected in Screen 4 Datum 02550 Position counter that increments with every half second update The display changes to OLD when the position data is more than 10 seconds old When count restarts the counter begins from last count 00 15 36 Displays Greenwich Mean Time GMT or GPS time GPS LAT Computed latitude is reported in degrees and minutes to 5 decimal places with N for north...

Страница 31: ...d PDOP PDOP position dilution of precision is a measure of the strength of the satellite geometry If the satellites are scattered around the sky the certainty of a position is better and PDOP is lower than if they are close together A number above 6 indicates a bad PDOP HDOP HDOP horizontal dilution of precision is the two dimensional horizontal component of PDOP VDOP VDOP vertical dilution of pre...

Страница 32: ...ow from your present position to the TO waypoint displayed in either true degrees Tr or magnetic ºMg TD Time to destination is given in hours and minutes labeled H M to the TO waypoint based on the present SOG XTE Cross track error indicates deviation from the track between the FROM waypoint and the TO waypoint where R indicates you are right of the track and L indicates you are left of it The dev...

Страница 33: ... they are tracked To the right are columns of dot and star symbols Each symbol represents 5 minutes Dark bands mark off 30 minute segments for easy reading with a maximum display capacity of 180 minutes 3 hours Screen 3 is display only you cannot enter data Figure 3 5 Screen 3 Tracking Information Table 3 6 Screen 3 Parameters Parameter Description dot Indicates no data are recorded for that satel...

Страница 34: ...luding Position Fix Differential Mode Session Programming Receiver Mode Serial Port Setup Setting External Frequency Pulse Generation Datum Selection Modem Setup Subcommands Mission duration parameter setting and Zeroize command Access the applicable subscreen via Screen 4 Table 3 7 describes the Screen 4 parameters Figure 3 6 Screen 4 Mode Control ...

Страница 35: ...u set the minimum number of satellites with valid ephemerides that need to be locked before data recording can begin It defaults to 3 when the receiver is first turned on ELEV MASK Lets you set the minimum elevation angle below which no satellite data are recorded Default is 10 To change the angle press the right arrow until ELEV MASK is highlighted then press the numbered keys such as 0 and 0 to ...

Страница 36: ...Can be accessed only if the external frequency x option has been loaded into the receiver When EXT FREQ is selected the receiver presents a subscreen which lets you set up the external frequency parameters PULSE GEN Goes to the Pulse Generation Parameters subscreen that controls the 1PPS output DATUM Goes to the Datum Selection subscreen where you can select one of 46 possible datums to use for di...

Страница 37: ...r holds altitude fixed When more than 3 are locked and HDOP is less than the specified HDOP MASK it computes altitude When more than 3 are locked and HDOP is equal to or greater than the specified HDOP MASK the receiver holds altitude fixed Remember that when the receiver is first turned on the altitude is zero If position mode is set to a value of 1 2 or 3 enter a value for altitude in the POS fi...

Страница 38: ...ition Please note that this parameter does not affect data collection for an unhealthy satellite ION TROP Allows you to enable or disable the ionospheric and tropospheric models to be used in position computation M mathematical ionosphere and mathematical tropospheric models R real dual frequency ionospheric model used together with the mathematical tropospheric model N no model used default POS C...

Страница 39: ... the RTCM option subscreen This subscreen contains several parameters and is described in Chapter 2 USE PORT A Lets you specify which port to use for differential mode Press the or key to toggle through PORT A B C or D to correspond with the one you are using Press e to save MSK SETUP Sets up interface with MSK Minimum Shift Keying transmitter See MSK Setup discussion following this table AUTO DIF...

Страница 40: ...the receiver This option can be useful to normal data collection and is particularly useful when used with the Remote Monitor program in your computer With the Remote Monitor program and a modem you can operate a receiver that has been left in a remote location and download its data files from across the world if necessary Figure 3 9 MSK Setup Menu Table 3 10 MSK Setup Parameters Parameter Descrip...

Страница 41: ...te that sessions are activated only when INUSE is also set to Y or SLP Individual session parameters are detailed in Table 3 11 Figure 3 10 SESSION Subscreen Table 3 11 Session Parameters Parameter Description START Enter the session start time in hours minutes and seconds If an erroneous value is put here like 25 hours it either resets it to 0 or restores the last legal value that it contained EN...

Страница 42: ...When a session goes active a flashing arrow is displayed by SESSION on Screen 4 indicating data is being recorded REF The reference day day of the year for the start and end times If REF is set to 000 the session does not run If REF is set to a day of the year later than the present session programming does not start until REF equals today If REF is set to a day of the year previous to the present...

Страница 43: ...e RANGER MODE controls how data and positions are stored 0 indicates geodetic mode Stores phase data in B files that can be post processed differentially using carrier phase or code phase 1 stores phase data in B files that can be post processed differentially using code phase only Mode 1 can store more than twice the number of positions as mode 0 2 stores smoothed positions in C files only These ...

Страница 44: ...lows you to specify modes and rate of transmission for serial port A Access this screen by selecting PORT A on Screen 4 Similarly for Port B C or D Table 3 12 describes the screen parameters Figure 3 12 Port A Parameter Selection Table 3 12 Port Parameter Selection Screen Parameters Parameter Description NMEA Toggles the outputs of NMEA messages through Port A Highlight NMEA and press the or key t...

Страница 45: ...Generation Parameters A one pulse per second PPS output option is available The PPS signal is a TTL signal into a 75 ohm impedance The signal is normally low and goes high 1 to 2 ms before the falling edge The rising edge is synchronized with GPS time as shown in Figure 3 14 The signal is synchronized with GPS time Access the Figure 3 13 External Frequency Setup Screen Table 3 13 External Frequenc...

Страница 46: ...S option may be changed from a half second up to a maximum of 60 seconds Default is 1 second OFFSET PPS may be advanced or delayed up to 500 ms in 100 nanosecond steps After you specify the period and offset press e to save OUTPUT TIME ON A N B N C N D N Output time message once every second synchronized with GPS time rising edge of pulse is also synchronized with GPS time through serial port A B ...

Страница 47: ... only used to compute the position displayed in screen 2 The position stored in memory is always computed using datum WGS 84 The first datum subscreen is reached by selecting DATUM on Screen 4 Figure 3 16 To select a datum use the arrow keys to highlight the desired datum and press the e key this captures your selection and exits to Screen 4 You can check your selection by returning to Screen 2 th...

Страница 48: ...y datum selections are available under this option For a complete list alphabetic by datum of the transformation parameters that each datum applies to the pseudo range positions see Appendix A USER lets you input your own datum parameters Figure 3 18 Table 3 15 describes the screen parameters Figure 3 17 More Datums Figure 3 18 User Datum Subscreen ...

Страница 49: ...ype and the port through which data transmit in remote mode These functions are accessed by selecting MODEM on Screen 4 and pressing the e key Figure 3 19 and detailed in Table 3 16 Table 3 15 User Datum Parameters Parameter Description DELTA A The difference in the length of the semi major axis between the WGS 84 reference ellipsoid and the user defined reference ellipsoid DELTA F The difference ...

Страница 50: ...n string requires characters other than the numbers 0 through 8 press the up button to display more characters i e the alphabet special characters such as etc After you have entered the string press the up button until you see CARRIAGE RTN Enter CARRIAGE RTN then press the up button again to display LINE FEED Enter LINE FEED Now press the e key to save the string Table 3 16 Modem Setup Parameters ...

Страница 51: ... data entry field and press e again The receiver executes the command and returns you to Screen 4 Table 3 17 lists the available commands Figure 3 21 Subcommands Subscreen Table 3 17 Available Commands Command Function 100 Turn off backlighting after 2 minutes since last key press Default 101 Keep backlighting on Warning if backlighting is on the receiver draws significantly more power 123 Close a...

Страница 52: ...lso to run the Zeroize command 737 Initialize reset RTCM 888 Display configuration identification information such as serial number list of installed options nav board channel board 990 Trigger photogrammetry on falling edge 991 Trigger photogrammetry on rising edge 999 Delete all photogrammetry pictures Figure 3 22 SEC Module Subscreen Table 3 17 Available Commands continued Command Function ...

Страница 53: ...Screen 5 depends on whether the unit is set as a base or remote station In base mode it displays information about transmitted messages in remote mode data from received messages Figure 3 23 Table 3 18 describes the screen parameters Figure 3 23 Message Data Screen 5 Table 3 18 Message Parameters Parameter Description RTCM Displays the receiver s current RTCM mode OFF BASE or REMOTE TYPE Indicates...

Страница 54: ...T is the RTCM message Z count FLEN Contains the RTCM message frame length PRN The satellite PRN number PRC The pseudo range correction in meters Negative numbers are shown in inverse video RRC The range rate correction in centimeters per second Negative numbers are shown in inverse video IODE The issue of the data S UD The scale factor and user differential range error AGE For remote mode shows th...

Страница 55: ...termined during position computation Table 3 19 describes the screen parameters Figure 3 24 Screen 5 Page 2 Table 3 19 Range Residual Parameters Parameter Description PRN PRN number of satellites being tracked RES Range residual associated with each satellite HORIZONTAL VERTICAL POSITION ERROR Horizontal vertical RMS position error in meters ...

Страница 56: ...creen is applicable only when the receiver is used in conjunction with an MSK transmitter Figure 3 25 Screen5 Page 3 MSK Status Table 3 20 MSK Transmission Parameters Parameter Description Freq Frequency of the MSK transmission in KHz Speed Speed of the MSK transmission in bits per second SNR Signal to noise ratio SS Signal strength ...

Страница 57: ...present position and the next destination waypoint All this navigation information is displayed in Screen 2 After accessing Screen 6 Figure 3 26 the top line indicates the route information in terms of waypoint numbers where the current leg is highlighted The remaining screen displays a list of records showing the current and next waypoints in the route Each waypoint record consists of a 2 digit w...

Страница 58: ... create or edit a route and add or delete points from the route EDIT WAYPOINT allows you to define a list of waypoint records associated or not with the route where the name and coordinates of each waypoint have to be included 1 Log Present Pos This function allows you to save your present location as a waypoint When you select 1 LOG PRESENT POS the receiver records its current latitude and longit...

Страница 59: ... Screen 6 is the list of waypoints that make the route or a specific set of selected waypoints To access this function highlight SET DISPLAY and press 1 Figure 3 29 Press or to toggle between MANUAL and AUTOMATIC When the AUTOMATIC option is selected the receiver automatically displays the list of records of the current and next waypoints in the route By default the receiver is Figure 3 28 Screen ...

Страница 60: ...ntry number is highlighted Using the up and down arrows scroll through the list until the desired waypoint is found Or using the numbered keys enter the waypoint number and the name and coordinates of that waypoint displays 3 Using the right arrow select the next waypoint 4 Continue selecting until satisfied 5 Press e and the set of selected waypoints display in Screen 6 To return Screen 6 to the ...

Страница 61: ... longitude including E or W From the data field press e to save the waypoint information Note that the up and down arrows allow you to move from one field to the other while the left and right arrows allow you to move from one character to the other The EDIT WAYPOINT option has three additional functions available CLEAR HERE and COPY FROM The CLEAR function allows you to clear the information of a...

Страница 62: ...o save the changes If desired you can edit a new waypoint 4 Press e to return to the main screen The COPY FROM function allows you to copy the information of one waypoint to another 1 Using the up and down arrows or the numbered keys select the waypoint you want to copy TO 2 Using the cursor keys highlight COPY FROM A waypoint displays by the COPY FROM field and its coordinates display at the bott...

Страница 63: ...you to scroll through the waypoint list and modify a waypoint number Alternatively you can use the numbered keys to modify the waypoint number The EDIT ROUTE option has three additional functions available DELETE INSERT and FLIP The DELETE function allows you to delete a waypoint from the route 1 Use the left and right arrows to highlight the waypoint you want to delete 2 Using the down arrow and ...

Страница 64: ...the left or right arrows highlight FLIP 2 Press e and the order of the waypoints in the route reverses The last point is the first destination point of the previous route 3 Move cursor to route field and press e to save change 4 Press e or c to return to Screen 6 5 Restart Route The restart function allows you to instruct the receiver to modify the route according to two options available restart ...

Страница 65: ...hted 6 Waypoint Switch This function allows you to advance manually or automatically to the next leg of the route To access the options of this function highlight WAYPT SWITCH and press 0 Figure 3 35 Press or to toggle between MANUAL and AUTOMATIC and press e to save the selection When the AUTOMATIC option is selected the receiver automatically advances to the next leg of the route every time an i...

Страница 66: ...YPT SWITCH function is activated highlight WAYPT SWITCH and press the e key the receiver advances to the next leg of the route Figure 3 36 7 Range Bearing This function calculates the range and bearing between any two consecutive waypoints in the route Figure 3 36 Next Leg ...

Страница 67: ...e shows the bearing and range values for that leg To display the range and bearing for a different leg use the left and right arrows to move the cursor and the information automatically displays at the bottom of the screen Press e or c to return to the main screen 8 Unit Selection This function allows you to specify the units miles knots kilometers used to display the ALT altitude SOG speed over g...

Страница 68: ...n to the main menu When MILES or KNOTS are specified the altitude ALT on Screen 2 is displayed in feet 9 Magvar Mode This function allows you to define the magnetic variation mode used when displaying the COG and CTD values in Screen 2 and VTG NMEA message and the bearing value displayed in 7 RANGE BEARING Screen 6 and the APA and BWC NMEA messages Figure 3 38 Unit Selection ...

Страница 69: ...able TRUE AUTOMATIC or MANUAL When the TRUE mode is selected the COG CTD and bearing values are displayed using true degrees T When the AUTOMATIC mode is selected the magnetic variation used to display the COG CTD and bearing values are shown in the AUTO field This value is determined based on the current latitude and longitude from the magnetic variation table The COG CTD and bearing values are d...

Страница 70: ...These values display in magnetic degrees Mg Figure 3 40 Highlight the field by MANUAL and enter the magnetic variation to be used The value displayed in the AUTO field is the value used when the AUTOMATIC mode is selected and is displayed just for reference To save the selection press the e key To exit without saving press the c key Figure 3 40 Magvar Manual Mode ...

Страница 71: ...es designated N In manual mode AUTO SELECTION is set to N the letter Y in a satellite instructs the receiver to select that satellite even when it is not visible The receiver does not replace it with any other satellite In this mode if you specify more than 12 satellites the receiver uses only the 12 that were displayed on the 12 channels on Screen 0 at the time you went to manual mode If you spec...

Страница 72: ... Session Control EQHR Equivalent hours used instead of bytes or kilobytes to indicate file size 1 EQHR is equivalent to one hour of data recorded at a 20 second record interval for 5 satellites WN The GPS week number D The day 1 Sunday 2 Monday 3 Tuesday 4 Wednes day 5 Thursday 6 Friday 7 Saturday TIME Time when the last epoch of data was recorded It is in the form hhmm e g 1850 indicates 18 50 GM...

Страница 73: ...ed each time a picture is taken or event recorded For more information refer to Application 3 Photogrammetry Option Page Page of the screen where the files being displayed are stored Table 3 22 System Level Commands Command Function 100 Turn off backlighting after 2 minutes since last key press default 101 Keep backlighting on Caution If backlighting is left on the receiver draws significantly mor...

Страница 74: ...red to the post processing computer Note that each time the receiver is turned on a new empty file is opened If this file is deleted before closing it any data collected appends to the last file in the list To delete a file 1 If there are more than 10 files in the receiver use the up and down arrow keys to scroll to the page with the desired file 2 Press e to shift to date entry mode Highlight the...

Страница 75: ... files when you are transferring them to your computer If you forget to enter a site name you can fix it during downloading SESS The identifier letter or number of the session The download software puts in this parameter while you are downloading to the PC after data collection However if you wish to override the default sessions you may enter a letter or number here RCV The receiver identifier th...

Страница 76: ...s the antenna height and uses it in computing the correct station position Make sure the values are in metric or you will have to correct this in post processing T DRY Contains a record of the dry temperature in degrees Celsius T WET Contains a record of the wet temperature in degrees Celsius RH Records the percent of relative humidity BP Barometric pressure in millibars Fields to the right are us...

Страница 77: ...o present a full up to date screen Access Screen 10 by one of two ways Press 9 then press the right arrow or Press 0 first and press the left arrow three times The ALL IN VIEW screen shows satellite overhead position graphically on an azimuth where 0 north is located at the top center of the plot and 180 south is at the plot s bottom center East and west are labeled on the plot A l indicates a sat...

Страница 78: ...VS reports how many satellites are visible LOCKED reports how many satellites are locked DOPS displays DOP values computed using satellites with elevation equal to or greater than position elevation mask Current DOPs of locked satellites are updated every second The graphic display updates every 12 minutes To isolate the orbital track of a single available satellite locked or not press the down or...

Страница 79: ...Description PRN 12 LOCKED displays the current satellite number as well as its current elevation EL and its azimuth AZ It reports status as LOCKED or AVAILABLE PRN 12 is an example When you press the up arrow the receiver displays the orbital track of the next higher number available locked satellite Pressing it when the highest numbered PRN is displayed returns to ALL IN VIEW ...

Страница 80: ...e receiver has not been used for some time the screen displays old almanac information Access this screen by one of two methods Press 9 and the right arrow twice or Press 0 and the left arrow until Screen 11 displays This bar graph displays the availability periods of satellites over 24 hours showing you 2 to 4 hours before and 20 to 22 hours after the current time Table 3 26 describes the screen ...

Страница 81: ... arrow raises or lowers the reader line VERTICAL LINES 2 hour time marks The current time is stated as GMT and is rounded to the nearest hour Each time the screen is entered the time marks are recalculated to show the previous nearest 2 hours of availability 12 and 12 GMT are the times for the first and last vertical lines Table 3 26 Visibility Parameters continued Parameters Description ...

Страница 82: ...creen 12 by one of three methods Go to Screen 9 and press the right arrow 3 times or Go to Screen 0 and press the left arrow or Read a bar code If the bar code screen is accessed by reading a bar code the top level of the previous screen displays upon exit You can enter a maximum of 80 characters combining a bar code reader and keyboard A successful scan is signalled by a short beep from both the ...

Страница 83: ...TER bar code or press the e key This records the data sequence emits two short beeps and exits to Screen 12 To clear the entered data do one of the following Read the CLEAR ALL bar code or press the c key This clears the entire data sequence and exits to Screen 12 Read the backspace BKSP bar code or press when only one data entry remains to exit to Screen 12 Once the entered data has been stored o...

Страница 84: ...haracters as they are read The appropriate data entry code must then be read to place the entry into the Screen 9 field When using the epoch counter in kinematic surveying first enter the site name and then the number of epochs to be counted down When the name is acceptable press e to save it in memory and return to display mode ...

Страница 85: ...utput through any of the ZY 12 s four serial ports A B C D It is typically sent to a computer or other data terminal equipment Specify the type and format of the outgoing data as listed in Table 4 1 The following types and formats are available MBEN messages contain measurement data for each satellite tracked during the session Table 4 1 Real Time Data Formats Message Type ASCII Format Binary Form...

Страница 86: ... header added to the beginning of the data string PASHR PBN for the PBEN message PASHR MPC for the MBEN message etc Messages that are not available in ASCII format such as SALM and SNAV are output in binary regardless of which format is selected Real time messages can be output in any combination from the receiver s RS 232 data ports The default output interval is 20 seconds To change this value g...

Страница 87: ...put 2 On Screen 4 Figure 4 1 press e to activate the data entry mode Use the arrow keys to highlight Port A 3 Press e to call the Port A Parameter Selection screen Figure 4 2 Figure 4 1 ZY 12 Screen 4 Figure 4 2 Port A Parameter Selection ...

Страница 88: ...d rate does not match the baud rate of the device to which the ZY 12 is connected use the arrow keys to highlight the baud rate field and toggle or to chose the correct rate 8 Highlight Real Time and press or to turn on real time output 9 Press e to save the new settings and return to screen 4 Repeat these steps for any of the other ports you want to use for data output You can send different mess...

Страница 89: ...N message has a three digit checksum in the last data field before the carriage return line feed The PBEN message does not have a checksum when output in ASCII format HEADER MESSAGE ID DATA CHECKSUM CRLF The MBEN message comes out as shown below when ASCII format is selected PASHR MPC ASCII Data String Checksum CRLF Table 4 2 contains symbols and the types of data represented by them used to illus...

Страница 90: ...bytes unsigned character 1 Warning flag unsigned character 1 Indicates quality of the position measurement good bad character 1 set to 5 for backward compatibility unsigned char 1 Signal to noise of satellite observation db Hz unsigned character 1 Spare double 8 Full carrier phase measurements in cycles double 8 Raw range to satellite in seconds i e receive time raw range transmit time long 4 Dopp...

Страница 91: ... in units of 50 ms and modulo 30 minutes 50 ms 0 36000 d2 Number of remaining structures 0 11 d3 Satellite PRN number 1 32 d4 Satellite elevation degrees 0 90 d5 Satellite azimuth degrees 0 360 d6 Channel index 1 12 C A Code Data Block d7 Warning flag see Table 4 5 0 255 d8 Good bad flag see Table 4 6 22 24 d9 Space 5 d10 signal to noise indicator dB Hz 30 60 d11 spare 0 f12 Full carrier phase cyc...

Страница 92: ... flag see Table 4 6 22 24 d29 5 for backward compatibility 5 d30 Signal to noise indicator dB Hz 30 60 d31 spare f32 Full carrier phase cycles 0 999999999 999 f33 Code transmit time ms 0 99 9999999 f34 Doppler measurement 10 4 Hz 99999 99999 f35 Range smoothing correction Raw range minus smoothed range meters 0 99 99 d36 Range smoothing quality 0 200 ccc Checksum Displayed in decimal A bytwise exc...

Страница 93: ...cription of parameter d7 1 2 Combination of bit 1 and bit 2 0 0 1 0 1 0 same as 22 in good bad flag same as 24 in good bad flag same as 23 in good bad flag 3 carrier phase questionable 4 code phase range questionable 5 range not precise code phase loop not settled 6 Z tracking mode 7 possible cycle slip 8 loss of lock since last epoch Table 4 6 Measurement Quality Good Bad Flag Value of d8 Descrip...

Страница 94: ...ouble navy 8 Station position ECEF Y meters double navz 8 Station position ECEF Z meters float navt 4 clock offset meters float navxdot 4 Velocity in ECEF X m sec float navydot 4 Velocity in ECEF Y m sec float navzdot 4 Velocity in ECEF Z m sec float navtdot 4 Clock drift m sec unsigned short pdop 2 PDOP unsigned short chk sum 2 checksum Total bytes 56 Table 4 8 PASHR PBN Message Structure ASCII P...

Страница 95: ...es dddmm mmmmmm Positive east 180 f7 Altitude meters 99999 999 f8 Velocity in ECEF X m sec 999 99 f9 Velocity in ECEF Y m sec 999 99 f10 Velocity in ECEF Z m sec 999 99 d11 Number of satellites used for position computation 3 12 s12 Site name 4 character string d13 PDOP 0 99 d14 HDOP 0 99 d15 VDOP 0 99 d16 TDOP 0 99 Table 4 9 PASHR SNV Message Structure Binary Type Size Contents short 2 Wn GPS wee...

Страница 96: ...Harmonic correction term radians float 4 Crc Harmonic correction term meters float 4 Cis Harmonic correction term radians float 4 Crs Harmonic correction term meters float 4 Cuc Harmonic correction term radians float 4 Cus Harmonic correction term radians double 8 OMEGA 0 Lon of Asc node semi circles double 8 ω Argument of Perigee semi circles double 8 I0 Inclination angle at reference time semi c...

Страница 97: ...escription float 4 e Eccentricity long 4 toe Reference time for orbit sec float 4 I0 Inclination angle at reference time semi circles float 4 OMEGADOT Rate of right Asc semi circles per sec double 8 A 1 2 Square root of semi major axis meters 1 2 double 8 OMEGA 0 Lon of Asc node semi circles double 8 ω Argument of Perigee semi circles double 8 M0 Mean anomaly at reference time semi circle float 4 ...

Страница 98: ...ludes time satellites PRN and pseudo range and carrier phase measurements for each satellite being tracked Tables A 11 through A 13 below outline the contents of DBEN messages The structure of the DBEN message is shown below PASHR RPC Data Length Packed Data Checksum Table 4 11 PASHR RPC Parameter Type of bytes Description data length unsigned short 2 number of bytes in packed data part packed dat...

Страница 99: ...PRN 2 and so on Bit value of 1 means that Satellite PRN has data in this mes sage 0 otherwise The following data repeats for each satellite whose corresponding bit in PRN is 1 double PL1 1 0E 10 seconds 31 Pseudorange in units of 1 0e 10 sec onds or 0 1 nanoseconds Multiply this value by 1 0e 10 to get pseudo range in seconds A zero value indicates bad pseudo range char WN 1 Warning bit 1 bad carr...

Страница 100: ...eing tracked EPB Message The EPB message contains actual broadcast raw ephemeris data See the ICD GPS 200 for a definition of the parameters Each subframe word is right justified in a 32 bit long integer The structure of the EPB message is shown below PASHR EPB d Ephemeris Data Checksum Table 4 13 DBEN Message Sizes of Satellites bits bytes 4 808 101 5 952 119 6 1096 137 7 1240 155 8 1384 173 9 15...

Страница 101: ...ubframe 1 word 7 long 4 Subframe 1 word 8 long 4 Subframe 1 word 9 long 4 Subframe 1 word 10 long 4 Subframe 2 word 1 long 4 Subframe 2 word 2 long 4 Subframe 2 word 3 long 4 Subframe 2 word 4 long 4 Subframe 2 word 5 long 4 Subframe 2 word 6 long 4 Subframe 2 word 7 long 4 Subframe 2 word 8 long 4 Subframe 2 word 9 long 4 Subframe 2 word 10 long 4 Subframe 3 word 1 long 4 Subframe 3 word 2 long 4...

Страница 102: ...Receiver long 4 Subframe 3 word 8 long 4 Subframe 3 word 9 long 4 Subframe 3 word 10 short 2 Word checksum begin with header P total 122 struct size Table 4 14 PASHR EPB Response Format continued Type Size Contents ...

Страница 103: ...TE icon to start the EVALUATE program 3 Once Evaluate has started select Connect to GPS Receiver then click OK At the Connection Parameters screen select appropriate computer communications COM port If this is the first time that EVALUATE has been run click on Port Setup Make sure the Port Settings are 9600 Baud 8 Data Bits None Parity and 1 Stop Bit Click OK and then click Connect 4 If the UUT Un...

Страница 104: ...sary Type PASHQ STA Enter Type PASHQ POS Enter Send the command PASHQ STA Enter repeatedly to observe the receiver until it has locked to a number of satellites and has changed from GPS to UTC time in the PASHR STA response Note this may take from 10 to 20 minutes The satellite locked status can also be monitored by observing the ZY 12 s screen 0 Where satellites are locked the STAT row will show ...

Страница 105: ...TERED 10 ENSURE RECEIVER ENTERS Y MODE 1 The ZY 12 should stay locked to the satellites Observe screen 0 for the status of the satellites locked By computer type PASHQ STA Enter 2 When the receiver has locked to satellites check that the receiver has a key and has entered Y mode by the following steps Observe the ZY 12 s screen 0 Where satellites are locked the STAT row will still show LK For PL1 ...

Страница 106: ...a field position 28 are for L2 Type PASHQ MBN Enter and check the field for the 24 indicating Y mode for each satellite and for both L1 and L2 frequency Note if there are 6 satellites locked in Y mode then there should be 12 indications of the 24 response 11 LOCK ALL CHANNELS TO ONE SATELLITE IN Y MODE 1 Verify that the receiver has locked onto at least 4 satellites by observing screen 0 Verify th...

Страница 107: ... 3 screens showing values for 1 P1 and P2 in the lower right corner are checked This refers to C A LP1 and LP2 respectively All channels being in Y mode can also be checked with the KEY and MBN message Type PASHQ KEY Enter and observe that the receiver has entered Y mode with the PASHR KEY Y response Type PASHQ MBN Enter and observe that all channels show 24 for L1 and L2 frequency Note when 12 ch...

Страница 108: ...e twice The messages ZEROIZE COMMAND IN PROGRESS and then ZEROIZE EXECUTED will show on the screen if the command was successful 3 When the security key has been zeroized the satellite lock status on screen 0 will revert to LZ instead of LY If you do not observe the proper zeroize response repeat the command to confirm that the security key was erased If the security key cannot be confirmed as era...

Страница 109: ...E KEY entry to YES Y and press e two times The Crypto board is zeroized if it responds with the proper message ZEROIZE EXECUTED KYK13 Load Instructions The KYK 13 can be used to store up to six keys The KYK 13 has a selection knob marked 1 through 5 and Z ALL a command knob marked OFF ON and Z a load INIT switch and a load indicator light To load keys in the KYK 13 perform the following steps 1 Co...

Страница 110: ...perform the following steps 1 Insure the receiver is on and in INIT or NAV mode and that the correct date and desired mission duration have been entered 2 Connect the KYK 13 to the interface box 3 Turn on the KYK 13 selection knob to the desired buffer 4 Turn the KYK 13 command knob to ON 5 Press the Start Load sequence switch on the interface box Wait at least five seconds If the key was loaded s...

Страница 111: ...rmonic expansion and WGS 84 EGM WGS 84 minus local geodetic systems All values in meters Table A 1 Datum Translation Parameters Reciver Datum Codes LocalGeodetic System Area Reference Ellipsoid Parameter Differences a m f 104 Transformatio Parameters X M Y M Z M ARF M ARC 1950 Botswana Lesotho Malawi Swaziland Zaire Zambia Zimbawe Clarke 1880 112 145 0 54750714 143 90 294 ARS M ARC 1960 Kenya Tanz...

Страница 112: ...ds Switzerland Int l 251 0 14192702 87 96 120 EUR E Eur 1950 Cyprus Int l 251 0 14192702 104 101 140 EUR F Eur 1950 Egypt Int l 251 0 14192702 130 117 151 EUR H Eur 1950 Iran Int l 251 0 14192702 117 132 164 EUR J Eur 1950 Sicily Int l 251 0 14192702 97 88 135 EUS European 1979 Austria Finland Netherlands Norway Spain Sweden Switzerland Int l 251 0 14192702 86 98 119 GAA Gandajika Base Rep of Mald...

Страница 113: ...igeria Clarke 1880 112 145 0 54750714 92 93 122 NAH C Nahrwan Saudi Arabia Clarke 1880 112 145 0 54750714 231 196 482 NAS C North American 1927 CONUS North America Clarke 1866 69 4 0 37264639 8 160 176 NAS D Alaska Alaska Clarke 1866 69 4 0 37264639 5 135 172 NAS E Canada Canada incl Newfoundland Island Clarke 1866 69 4 0 37264639 10 158 187 NAS N Central America Belize Costa Rica El Salvador Guat...

Страница 114: ...Bessel 1841 653 135 0 10037483 616 97 251 SAN M South American 1969 Argentina Bolivia Brazil Chile Colombia Ecuador Guyana Paaguay Peru Venzuela Trinidad Tobago South Amer ica 1969 23 0 00081204 57 1 41 TIL Timbalai 1948 Brunei East Malaysia Sarawak Sabah Everest 860 655 0 28361368 689 691 46 TOY M Tokyo Japan Korea Okinawa Bessel 1841 739 845 0 10037483 128 481 664 WGS 72 WGS 1972 WGS 72 2 0 0 31...

Страница 115: ...4 barcoder computer program 77 battery voltage 4 bearing and range values 61 beep 70 76 bit slippage 48 BWC 62 C C A code 21 cancel an entry 3 carrier phase differential 92 Cellblazer 44 C file 36 channel number 20 COG course over ground 24 62 command 550 13 command 555 13 Configuration displaying 16 configuration displaying 46 contents of real time messages 82 course 24 course over ground 24 cros...

Страница 116: ...installed options 16 46 internal RAM 14 ionospheric model 30 issue of data 48 L L1 23 L2 23 last altitude computed 31 last entered altitude 31 loss of lock 22 lost lock 23 M magnetic degrees 63 magnetic variation 63 magnetic variation table 63 MBEN 79 83 message sequence number 48 Mg 26 minimum number of satellites falling below 70 modify route 58 MPC 84 N navigation board 13 NMEA 38 62 O offset 3...

Страница 117: ... tracking information 27 screen 5 differential information 47 screen 6 waypoint control 51 screen 7 satellite selection 65 screen 8 system control 66 screen 9 site and session control 69 table summary 1 select a datum 41 selected datum 41 selecting 4 Serial number of receiver 16 serial number of receiver 46 serial port cables 38 serial port output 79 session identifier 69 session programming 36 se...

Страница 118: ...IV ZY 12 V VDOP 25 31 VDOP MASK 31 visibility 74 voltage input 4 VTG 62 VTS 38 W WGS 84 22 29 41 WN 66 Worldblazer 44 X XTE 26 61 Z Z mode 22 Z count 48 ...

Страница 119: ......

Страница 120: ... 28 09 38 00 Fax 33 2 28 09 39 39 In Germany 49 81 6564 7930 Fax 49 81 6564 7950 In Russia 7 095 956 5400 Fax 7 095 956 5360 In the Netherlands 31 78 61 57 988 Fax 31 78 61 52 027 Email surveysalesemea thalesnavigation com Web site www thalesnavigation com 2004 Thales Navigation Inc All rights reserved ...

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