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ProNav Norway – a

Company

page 63

Rev.1

10.02.2020

NMEA 0183 Messages

Continued

V200s

NMEA 0183

and other

messages

continued

Table C-2: NMEA 0183 and other messages (continued)

Message

Info

Type

Max Output

Rate

Description

IEC Approved Message

*$GPHDM

50 Hz

Magnetic heading

(based on GNSS-

derived heading and

magnetic declination)

*$GPHDT

50 Hz

GNSS-derived true

heading

Yes

$GPHEV

50 Hz

Heave value (in

meters)

Yes

$GPRMC

50 Hz

Recommended

minimum specific

GNSS data

Yes

*$GPROT

50 Hz

GNSS-derived rate of

turn (ROT)

Yes

$GPRRE

1 Hz

Range residual and

estimated position

error

Yes

$GPVTG

50 Hz

COG and ground

speed

Yes

$GPZDA

50 Hz

Time and date

Yes

$HEACK

1 Hz

Acknowledge alarm

Yes

$HEACN

1 Hz

Alert command

Yes

$HEALF

1 Hz

Alert sentence

Yes

$HEALC

1 Hz

Cyclic alert list

Yes

$HEALR

1 Hz

Set alarm state

Yes

$HEHBT

1 Hz

Heartbeat supervision

sentence

Yes

Continued on next page

Содержание PRONAV V200S

Страница 1: ...ProNav Norway a Company page 1 Rev 1 10 02 2020 USER GUIDE Sist endret 10 02 2020 Rev 1 0 PRONAV V200S GPS COMPASS ...

Страница 2: ...unting the V200s 20 Overview 20 Mounting the V200s 22 Surface mounting the V200s 31 Pole mounting the V200s 35 Chapter 3 Connecting the V200s 36 Ports 36 Selecting Baud Rates and Message Types 38 Connecting the V200s to External Devices 39 Chapter 4 Understanding the V200s 41 Overview 41 GNSS Overview 42 Differential Operation 43 SBAS Tracking 43 Atlas L band 43 Supplemental Sensors 44 Time Consta...

Страница 3: ...10 02 2020 Troubleshooting 50 Appendix B Technical Specifications 52 Technical Specifications 52 V200s Technical Specifications 54 Appendix C Commands and Messages 57 Overview 57 Serial Commands 59 NMEA 0183 Messages 62 Binary Messages 66 ...

Страница 4: ... any language or computer language in any form or by any means electronic mechanical magnetic optical chemical manual or otherwise without the prior written permission of Hemisphere GNSS Trademarks Hemisphere GNSS the Hemisphere GNSS logo TRACERTM Crescent EclipseTM e Dif L DifTM PocketMax4TM S320TM SBX 4TM VectorTM XF1TM and XF2TM are proprietary trademarks of Hemisphere GNSS Inc Other trademarks...

Страница 5: ... 270 5070 PRECISION HGNSS COM WWW HGNSS COM Technical Support If you need to contact Hemisphere GNSS Technical Support Hemisphere GNSS Inc 8515 East Anderson Drive Scottsdale AZ 85255 USA Phone 480 348 6380 Fax 480 270 5070 SUPPORT HGNSS COM Documentation Feedback Hemisphere GNSS is committed to the quality and continuous improvement of our products and services We urge you to provide Hemisphere G...

Страница 6: ...rections Differential Corrections A method of improving precision of a GNSS rover Two GNSS receivers placed in a nearby area will have similar error A base station is placed over a known point Firmware Firmware is the software loaded into the receiver that controls the functionality of the receiver and runs the GNSS engine GALILEO Galileo is a global navigation satellite system implemented by the ...

Страница 7: ... Guide provides information to help you quickly set up your V200s You can download this manual from the Hemisphere GNSS website at WWW HGNSS COM Contents Topic See Page Product Overview 8 Key Features 11 What s Included in Your Kit 12 Using PocketMax to Communicate with the V200s 13 Firmware Upgrades 16 ...

Страница 8: ...or pole The stability and maintenance free design of the V200s provides simple integration into autopilots chart plotters and AIS systems There are no mechanical parts such as gimbals or a rotating motor so the V200s Compass is free from routine maintenance Heading is determined from GNSS and there is no need to wait for settling time gyrocompass calibration and speed corrections Vector performanc...

Страница 9: ...5 of the time when using differential GPS corrections from Satellite Based Augmentation Systems SBAS or Atlas The V200s also features Hemisphere GNSS exclusive Tracer technology which provides consistent performance with correction data The V200s is less likely to be affected by differential signal outages due to signal blockages weak signals or interference when using Tracer If you are new to GNS...

Страница 10: ...s Positioning accuracy Competitive positioning accuracies down to 30 cm RMS in certain applications Positioning sustainability Cutting edge position quality maintenance in the absence of correction signals using Hemisphere s patented technology For more information For more information about Athena RTK see https www hemispheregnss com technology athena For more information about Atlas L band see h...

Страница 11: ... world wide positioning accuracy with Atlas corrections Standard 1 5 and optional 0 75 heading accuracy in small form factor Excellent in band and out of band interference rejection Integrated gyro and tilt sensors help deliver fast start up times and provide heading updates during temporary loss of satellites Provides heading positioning heave pitch and roll ...

Страница 12: ...g table lists the part numbers and description for the V200s Table 1 1 V200s Parts list Part No Description 804 0162 20 Vector V200s GNSS Compass 940 3141 10 Vector V200s GNSS Compass kit All the following are accessory items available for purchase separately from your V200s GNSS Compass Table 1 2 V200s Accessory list Part No Description 051 0404 10 15 m power data cable RA unterminated 051 0405 1...

Страница 13: ...1 3 PocketMax Communication Step Action 1 Power on and connect the receiver to your computer s com port A configuration screen appears prompting you to choose the COM port and baud rate of the receiver 2 Choose from the following communications settings options Select COM Port If you do not know the baud rate select the Auto Baud feature to cycle through all possible baud rates and click Connect C...

Страница 14: ...unicate with the V200s continued Table 1 3 PocketMax Communication continued Step Action 3 You can monitor your connection status through the message displayed at the bottom of the screen If you receive a message Receiver not found check your connections your com port and your baud rate and try to re send Continued on next page ...

Страница 15: ...een allows you to use PortA PortB and PortC tabs to configure the output messages and baud rates of these two ports The Port displaying THIS is the port currently connected OTHER is the other port Enable all desired messages for PortA and PortC Use RxConfig to make basic receiver configurations To exit the software click Save Settings and Disconnect For all other PocketMax questions please referen...

Страница 16: ...Hemisphere GNSS RightArm from the following link HTTPS HGNSS COM RESOURCES SUPPORT SOFTWARE RightArm upgrade Use the following steps to upgrade the RightArm firmware on your V200s Table 1 4 RightArm Upgrade Step Action 1 Connect the V200s to a computer over serial Firmware can be loaded over either serial port Set the baud rate of the serial port you are using to 19200 Launch RightArm Click the Co...

Страница 17: ... 4 RightArm Upgrade continued Step Action 2 Choose the COM port connected to the V200s and click OK Note The baud rate of the serial port should be set to 19200 bps Select Allow Auto Baud to change the baud rate during the firmware upgrade for a faster update 5 Click the Programming button Continued on next page ...

Страница 18: ...s of GNSS firmware Hemisphere GNSS suggests loading the new firmware onto both applications After the firmware update is completed check the current GNSS firmware If the current firmware is not the same as the newly loaded firmware the V200s could be using the other application You can switch applications by sending the following command JAPP OTHER 7 Choose the Application and press Select File to...

Страница 19: ...inued Step Action 8 Choose the firmware and click Erase and Program The Activate Loader checkbox in the Programming View window is selected After pressing the Erase and Program button this checkbox will de select and the Status field indicates the receiver is in loader mode ready to receive the new firmware file Continued on next page ...

Страница 20: ...d be de selected Do not to interrupt the power supply to the receiver and do not interrupt the communication link between the PC and the receiver until programming is complete Failure to do so may cause the receiver to become inoperable and will require factory repair 10 After completing the firmware update Hemisphere GNSS suggests repeating this process for the other application Chapter 2 Mountin...

Страница 21: ...ProNav Norway a Company page 21 Rev 1 10 02 2020 Contents Topic See Page Mounting the V200s 22 Surface mounting the V200s 31 Pole mounting the V200s 35 ...

Страница 22: ...nd satellites are not masked by obstructions that may reduce system performance Position is based off the primary GNSS antenna located on located on the end opposite the recessed arrow on the underside of the enclosure Locate any transmitting antennas away from the V200s by at least a few meters to ensure tracking performance is not compromised Ensure cable length is adequate to route into the ves...

Страница 23: ...z which is dependent on the GNSS antenna and receiver design VHF marine radios emit strong harmonics The 10th harmonic of VHF radio in some channels falls into the GPS working frequency band which may cause the SNR of GNSS to degrade significantly The radiated harmonic signal strength of different brands models varies Follow VHF radio manufacturers recommendations on how to mount their radios and ...

Страница 24: ...elation of the antennas to the vessel s axis determines if you need to enter a heading pitch or roll bias The primary antenna is used for positioning and the primary and secondary antennas working in conjunction output heading pitch and roll values The top of the V200s enclosure incorporates a sight design feature to help you align the enclosure on your vessel Alignment accuracy is approximately 2...

Страница 25: ...ate the measurement if the Vector is not installed in a horizontal plane Perpendicular orientation You can also install the antennas so they are oriented perpendicular to the centerline of the vessel s axis In this orientation Enter a heading bias of 90 if the primary antenna is on the starboard side of the vessel and 90 if the primary antenna is on the port side of the vessel Configure the receiv...

Страница 26: ...ProNav Norway a Company page 26 Rev 1 10 02 2020 Mounting the V200s Continued Mounting orientation example Figure 2 4 Recommended orientation and resulting signs of HPR values Continued on next page ...

Страница 27: ...oNav Norway a Company page 27 Rev 1 10 02 2020 Mounting the V200s Continued Mounting orientation example continued Figure 2 5 Alternate orientation and resulting signs of HPR values Continued on next page ...

Страница 28: ...orway a Company page 28 Rev 1 10 02 2020 Mounting the V200s Continued V200s dimensions Figure 2 6 illustrates the physical dimensions of the V200s GNSS Compass Figure 2 6 V200s dimensions Continued on next page ...

Страница 29: ...cable considerations Before mounting the V200s consider the following regarding power data cable routing Do Do not Ensure cable reaches appropriate power source Run cables in areas of excessive heat Keep cable away from corrosive chemicals Run cables through a door or window jams Connect to a data storage device computer or other device that accepts GNSS data Crimp or excessively bend the cable Ke...

Страница 30: ...2 Rotate the cable ring clockwise until it locks The locking action is firm you will feel a positive click when it has locked Mounting options The V200s offers four different mounting options Bottom up Surface Mounting for straight cable Top down Surface Mounting for straight cable Top down Surface Mounting for right angle cable Pole Mounting Note Hemisphere GNSS does not supply mounting surface h...

Страница 31: ... on your vessel Surface mounting the V200s from the bottom up for straight cable Complete the following steps to Surface mount the V200s from the bottom up Table 2 2 Bottom up Surface mounting the V200s Step Action 1 Determine the desired location and proper orientation for the V200s See Mounting Orientation for information on determining the desired orientation 2 Navigate to the HGNSS website Hom...

Страница 32: ...anty Surface mounting the V200s from the top down for straight cable and for right angle cable Complete the following steps to surface mount the V200s from the top down Table 2 3 Top down Surface mounting the V200s Step Action 1 Secure the Surface Mount Adapter 676 0043 10 to the V200s using the supplied mounting hardware Tighten to a torque of 8 10 lbs ft The maximum thread depth engagement must ...

Страница 33: ... unit Figure 2 9 V200 Low Profile Surface Mount 676 0041 10 Figure 2 10 V200 Right Angle Surface Mount 676 0042 10 4 Place the surface mount in the desired location on the installation surface 5 If required use a center punch to mark the hole centers then drill the mounting holes with bit appropriate for the surface Note The diameter of the 676 0041 10 mounting holes is 6 4 mm 25 in Note The diame...

Страница 34: ... Action 7 Thread the cable into through the surface mount then connect the cable to the unit 8 Carefully secure the mount to the V200s by placing it into the surface mount until the four latches snap into place first on one side and then the other Straight Right Angle Figure 2 13 Adapters with both sides secured Note To remove the V200s simply reverse the process by pushing in the clips on one sid...

Страница 35: ...tion 2 Thread the jam nut onto the 1 inch pole then thread the pole mount Figure 2 14 Pole mount with jam nut loosely threaded Do not tighten the pole mount to more than 4 lbs ft 3 Thread the cable either through the hollow pole or through the opening in the pole mount 4 Connect the cable to the V200s then secure the pole mount to the V200s using the supplied mounting hardware Tighten to a torque ...

Страница 36: ...o the bottom of the pole mount to a torque of 8 10 lbs ft Figure 2 16 Pole mount with jam nut tightly threaded to secure V200s orientation Chapter 3 Connecting the V200s Introduction This chapter provides instructions on how to connect your V200s receiver Contents Topic See Page Ports 37 Selecting Baud Rates and Message Types 38 Connecting the V200s to External Devices 39 Ports Overview The V200s ...

Страница 37: ...automatically detects and switches to the appropriate serial protocol on Ports A and B Note The V200s has maximum baud rate of 115200 Serial port configuration You may configure the GNSS receiver to output any combination of data Note For successful communications use the 8 N 1 protocol and set the baud rate of the V200s s serial ports to match that of the devices to which they are connected Flow ...

Страница 38: ...lowing formula to calculate the bits sec for each message and sum the results to determine the baud rate for your required data throughput Message output rate Message length bytes bits in byte Bits second 1 character 1 byte 8 bits 1 byte use 10 bits byte to account for overhead For information on message output rates refer to the Hemisphere GNSS Technical Reference Manual ...

Страница 39: ...smit data output and the signal grounds from the V200s are connected to the data input of the other device The signal grounds must also be connected For a list of Hemisphere GNSS commands please refer to the Hemisphere GNSS Technical Reference Manual Power data cable considerations The V200s automatically detects and switches to the correct serial protocol on Ports A and B Continued on next page ...

Страница 40: ...h between RS 232 and RS 422 Figure 3 1 V200s pin out assignments Table 3 1 shows the cable pin out specifications Table 3 1 V200s Pin outs Device Out PIN NUMBER COLOR SIGNAL 1 White RS232 Tx B RS422 Tx A 2 Green RS232 Rx B RS422 Rx A 3 Violet 1PPS 4 Grey Alarm 5 Red Power In 6 White Black RS422 TX C 7 Yellow Digital Ground 8 Brown RS232 Rx A RS422 Rx A 9 Blue RS232 Tx A RS422 Tx A 10 Black Power G...

Страница 41: ...cy vary depending upon location and environment Position performance can be improved with RTK or DGNSS The following sections provide the steps to configure your V200s to use Atlas SBAS or RTK Note Differential source and RTK status impact only positioning and heave There is no impact to heading pitch or roll Contents Topic See Page GNSS Overview 42 Differential Operation 43 SBAS Tracking 43 Atlas...

Страница 42: ...the V200s uses a high performance GNSS receiver and two antennas for GNSS signal processing One antenna is designated as the primary GNSS antenna and the other is the secondary GNSS antenna Positions computed by the V200s are referenced to the phase center of the primary GNSS antenna Heading data references the Vector formed from the primary GNSS antenna phase center to the secondary GNSS antenna ...

Страница 43: ...on an SBAS satellite when more than one satellite is in view This redundant tracking approach results in more consistent tracking of an SBAS signal in areas where signal blockage of a satellite is possible Atlas L band Atlas L band Atlas L band corrections are available worldwide With Atlas the positioning accuracy does not degrade as a function of distance to a base station as the data content is...

Страница 44: ...NSS Technical Reference Manual describes the commands and methodology required to recalibrate query or change the sensor status Tilt aiding The V200s s internal sensor is factory calibrated and enabled by default and constrains the RTK heading solution beyond the volume associated with a fixed antenna separation The V200s knows the approximate inclination of the secondary antenna with respect to t...

Страница 45: ... outputting null fields in the heading output messages There is no user control over the timeout period of the sensor The sensor initializes itself at power up and during initialization or you can calibrate it as outlined in the Hemisphere GNSS Technical Reference Manual For optimal performance when the sensor is first initializing the dynamics the sensor experiences during this warm up period are...

Страница 46: ... to be conservative and leave it at the default setting Note For heading and rate of turn there is no lag once the sensor is calibrated and enabled Formulas for determining the level of smoothing are located in the Hemisphere GNSS Technical Reference Manual If you are unsure how to set this value it is best to be conservative and leave the default setting Heading Use the JATT HTAU command to adjus...

Страница 47: ...e the JATT COGTAU command to adjust the level of responsiveness of the COG measurement provided in the GPVTG message The default value of this constant is 0 0 seconds of smoothing Note Increasing the time constant increases the level of COG smoothing COG is computed using only the primary GNSS antenna and its accuracy depends upon the speed of the vessel noise is proportional to 1 speed This value...

Страница 48: ...ProNav Norway a Company page 48 Rev 1 10 02 2020 Introduction This chapter provides information on how to power and operate your V200s receiver Contents Topic See Page Powering the V200s 49 ...

Страница 49: ... 2 4 for pinout specifications Do not apply a voltage higher than 36 VDC The V200s is protected from a reversed power connection A 3 Amp power fuse is recommended for the protection of personnel and the system The V200s starts when sufficient voltage is applied to the power leads of the extension cable Electrical isolation The V200s s power supply is isolated from the communication lines and the P...

Страница 50: ...is powered Verify desired messages are activated using PocketMax or JSHOW command in any terminal program Ensure the baud rate of the V200s matches that of the receiving device Check integrity and connectivity of power and data cable connections Random data from V200s Verify the RTCM or binary messages are not output accidentally send a JSHOW command Ensure the baud rate of the V200s matches that ...

Страница 51: ...e SBAS lock is only possible if you are in an appropriate SBAS region currently there is limited SBAS availability in the southern hemisphere No Atlas First check to see for an Atlas Basic subscription by sending JK SHOW to see which commands are listed Or connect to PocketMax go to the About tab and check the listed activations Ensure you are tracking the correct Atlas satellite or set the receiv...

Страница 52: ...ion unless gyro is enabled Enable GYROAID to provide heading for up to three minutes during GNSS signal loss Enable TILTAID to reduce heading search times Monitor the number of satellites and SNR values for both antennas within PocketMax at least four satellites should have strong SNR values The volume of data requested for output by the V200s could be higher than the current baud rate supports No...

Страница 53: ... Norway a Company page 53 Rev 1 10 02 2020 Introduction Appendix B provides the V200s technical specifications and the V200s certification information Contents Topic See Page V200s Technical Specifications 55 ...

Страница 54: ...ioning accuracy Standard 2 0 m RMS Autonomous no SA 0 50 m RMS SBAS Positioning accuracy Optional 1 2 m RMS Autonomous no SA 1 0 30 m RMS SBAS 2 0 30 m RMS Atlas optional 3 Heading accuracy GNSS 1 5 RMS 1 0 75 RMS optional 1 Heave accuracy GNSS 30 cm4 Pitch Roll accuracy 1 5 RMS Rate of turn 90 s maximum Cold start 60 s typical no almanac or RTC Warm start 20 s typical almanac and RTC Hot start 1 ...

Страница 55: ...ification Connector ports 12 pin Ports RS 232 or RS 422 Baud Rates 4800 115200 Correction I O Protocol RTCM SC 104 Data I O Protocol NMEA 0183 Hemisphere proprietary Table B 3 Power Item Specification Input voltage 6 to 36 VDC Power consumption TBD Current consumption TBD Power isolation Isolated to enclosure Reverse polarity protection Yes Continued on next page ...

Страница 56: ...reacquisition and reliable 1 per minute heading for periods up to 3 minutes when loss of GPS has occurred 2 Provides pitch and roll data and assist in fast start up and reacquisition of heading solution Table B 5 Environmental Item Specification Operating temperature 40 C to 70 C 22 F to 158 F Storage temperature 40 C to 85 C 40 F to 185 F Humidity 95 non condensing Enclosure ISO 60529 2013 for IP...

Страница 57: ...sed on a 40 second time constant 5 This is the minimum safe distance measured when the product is placed in the vicinity of the steering magnetic compass The ISO 694 defines vicinity relative to the compass as within 5 m 16 4 ft separation Appendix C Commands and Messages Overview Introduction Appendix C contains the common commands and messages used by the V200s Reference the following tables for...

Страница 58: ...ProNav Norway a Company page 58 Rev 1 10 02 2020 Contents Topic See Page Serial Commands 60 NMEA 0183 Messages 63 Binary Messages 67 ...

Страница 59: ...plication firmware JASC Specify ASCII messages to output to specific ports JATT COGTAU Set query COG time constant 0 0 to 3600 0 sec JATT CSEP Query antenna separation JATT EXACT Enable disable internal filter reliance on the entered antenna separation JATT GYROAID Enable disable gyro JATT HBIAS Set query heading bias 180 0º to 180 0º JATT HELP Show the available commands for GNSS heading operatio...

Страница 60: ...MARY Display a summary of the current Crescent Vector settings JATT TILTAID Enable disable accelerometer pre calibrated JATT TILTCAL Calibrate accelerometers JBAUD Specify RS 232 RS 422 output communication rate JBIN Specify binary messages to output to specific ports JDIFF Query or specify differential correction mode JGEO Query or specify SBAS for current location and SBAS satellites JI Query un...

Страница 61: ...ATT FLIPBRD YES command to properly redefine the circuitry orientation inside the product once the receiver has reset Failure to do so will cause radical heading behavior You can also issue the JRESET command with an optional field as follows JRESET ALL does everything JRESET does plus it clears almanacs JRESET BOOT does everything JRESET ALL does plus clears use of the real time clock at startup ...

Страница 62: ...C Approved Message GPDTM P 1 Hz Datum reference Yes GPGGA P 50 Hz GPS position and fix data Yes GPGLL P 50 Hz Geographic position lit long Yes GPGNS P 50 Hz GNSS position and fix data Yes GPGRS S 1 Hz GNSS range residual RAIM Yes GPGSA S 1 Hz GNSS DOP and active satellites Yes GPGST S 1 Hz GNSS pseudo range error statistics and position accuracy Yes GPGSV S 1 Hz GNSS satellites in view Yes GPHDG H...

Страница 63: ...GNSS derived true heading Yes GPHEV H 50 Hz Heave value in meters Yes GPRMC P 50 Hz Recommended minimum specific GNSS data Yes GPROT H 50 Hz GNSS derived rate of turn ROT Yes GPRRE S 1 Hz Range residual and estimated position error Yes GPVTG V 50 Hz COG and ground speed Yes GPZDA V 50 Hz Time and date Yes HEACK S 1 Hz Acknowledge alarm Yes HEACN S 1 Hz Alert command Yes HEALF S 1 Hz Alert sentence...

Страница 64: ...e heading roll and pitch data in one message No PSAT GBS S 1 Hz Satellite fault detection RAIM Yes PSAT HPR H 50 Hz Proprietary NMEA message that provides heading pitch roll and time in single message No PSAT INTLT H 1 Hz Proprietary NMEA message that provides the pitch and roll measurements from the internal inclinometers in degrees Yes RD1 S 1 Hz SBAS diagnostic information Yes TSS1 H 50 Hz Head...

Страница 65: ...responding fix data GPGGA or GPGNS For information on outputting roll pitch and heave data in one message refer to the Hemisphere GNSS Technical Reference Manual HBT is sent every 30 seconds After 60 seconds a heading loss warning is escalated to an alarm Silence timeout is 30 seconds THS message definition from IEC61162 1 ed5 THS True heading and status HETHS x x a hh CR LF x x Heading degrees tr...

Страница 66: ...es Bin 94 GPS Bin 34 BeiDou and Bin 44 Galileo Table C 3 Binary messages JBIN Message Description 1 GNSS position 2 GPS DOPs 80 SBAS 93 SBAS ephemeris data 94 Ionosphere and UTC conversion parameters 95 Satellite ephemeris data 96 Code and carrier phase not needed if using Bin 16 Bin 16 includes information for all constellations 97 Processor statistics 98 Satellites and almanac 99 GPS diagnostics...

Страница 67: ... Company page 67 Rev 1 10 02 2020 Main contact ProNav Norge AS JRC Nord Europa Hovlandsveien 52 4374 Egersund Rogaland Norway e mail service pronav no Tlf 51 46 43 00 Dokument revision Rev 1 Internal revision version ...

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