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Manual Title:

LD7 Operations Manual

Ref.:

AB-V-MA-00555

Rev No:

A9

Page 47

NMEA GST Sentence

The NMEA GST sentence provides error statistics of the position fix. These statistics follow from the
position calculation process.

Structure and Example:

$GPGST,hhmmss.ss,a.a,b.b,c.c,d.d,e.e,f.f,g.g*hh<CR><LF>
$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58

GST sentence defined:

GST = GNSS Pseudo-range Error Statistics
hhmmss.ss

UTC time in hours, minutes, seconds of the GPS position

a.a

RMS value of the standard deviation of the range inputs to the navigation
process. Range inputs include pseudo-ranges and differential DGNSS
corrections

b.b

Standard deviation of semi-major axis of error ellipse (meters)

c.c

Standard deviation of semi-minor axis of error ellipse (meters)

d.d

Orientation of semi-major axis of error ellipse (meters)

e.e

Standard deviation of latitude error (meters)

f.f

Standard deviation of longitude error (meters)

g.g

Standard deviation of altitude error (meters)

*hh<CR><LF>

checksum, carriage return and line feed

NMEA ZDA Sentence

The NMEA ZDA sentence provides time and time zone information.

Structure and Example:

$GPZDA,hhmmss.ss,dd,mm,yyyy,xx,yy*hh<CR><LF>

$GPZDA,201530.00,04,07,2002,00,00*6E

ZDA sentence defined:

ZDA = Time & Date
hhmmss.ss

UTC time in hours, minutes, seconds of the GPS position

dd,mm,yyy

Day,Month,Year (UTC)

xx

local zone hours (00 to +/-13 hrs)

yy

local zone minutes (00 to 59)

*hh<CR><LF>

checksum, carriage return and line feed

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Содержание ld7

Страница 1: ...Date 26 01 2017 LD7 Operations Manual Veripos ...

Страница 2: ...ctions Data logging information removed AR RR RR A7 13 11 2015 Antenna offset information updated AR RR RR A6 19 02 2015 Default settings amendment AR EM EM A5 23 06 2014 GNSS and L Band on Ethernet Port EM RR EM A4 18 03 2014 Updates AW AR RR A3 11 03 2014 New LED panel and on off switch AW AR EM A2 06 11 2013 Browser interface AW EM EM A1 07 05 2013 Review amendments AW RR EM A 25 04 2013 First ...

Страница 3: ...les and output 15 2 3 LD7 LOGIC FLOW DIAGRAM 16 3 CONFIGURATION 17 3 1 BROWSER INTERFACE 17 3 1 1 Connecting the LD7 17 3 2 L BAND 19 3 2 1 Beam Selection 20 3 2 2 Enable Disable 21 3 2 3 REFERENCE STATION SELECTION 21 3 2 4 Veripos Ultra and APEX Services 22 3 3 IO INPUTS OUTPUTS 23 3 3 1 Serial Ports 23 3 3 2 Ethernet 23 3 4 GNSS 25 3 4 1 NMEA Output 25 3 4 2 Positioning Mode 26 3 4 3 PPP mode 2...

Страница 4: ...al Ref AB V MA 00555 Rev No A9 Page 4 APPENDIX IV 41 QUALITY STANDARDS 41 APPENDIX V 45 NMEA SENTENCES 45 APPENDIX VI 55 GLOBAL COVERAGE CHART 55 APPENDIX VII 57 HEADING ANTENNA GUIDE 57 APPENDIX VIII 60 SERVICES NOTIFICATION FORM 60 ...

Страница 5: ...ectiveness from the provision of fit for purpose products maintained at a high level of operability to rapid reliable delivery and a high standard of user support Veripos aims to meet all of these requirements without compromise At the centre of our business philosophy is an unwavering commitment to provide superior quality while giving appropriate consideration to health safety and the protection...

Страница 6: ...entation services The unit can compute DGPS position solutions using single or multiple reference stations When subscribed to Veripos PPP corrections the unit is capable of computing position solutions with 10cm accuracy Positions are computed within the GNSS receiver and are output in NMEA format for use by the user s equipment At the same time the GNSS engine can be used to compute a baseline be...

Страница 7: ...ng stations for the work area A copy of this can be downloaded from the Veripos Online Support Service VOSS http help Veripos com together with update files detailing the Veripos stations 1 5 VERIPOS HELPDESK REQUESTS FOR SERVICE ENABLE DISABLE Throughout this manual reference will be made to the Veripos Helpdesk The Helpdesk is a service provided by Veripos as first point of contact for all techn...

Страница 8: ... to the Veripos Helpdesk See the Contacts in the Appendix and visit http help Veripos com 1 6 ENABLING THE LD7 FOR USE Before a unit can be enabled a Service Access License SAL must be in place For the LD7 to decode Veripos corrections and output positions it must first be enabled Veripos correction signals are provided as a chargeable service This is achieved by the user advising the Veripos Help...

Страница 9: ...le Where reproduction copying re engineering adaption redistribution publication or commercial exploitation of this Manual or its contents has been permitted by Veripos in accordance with this disclaimer then no changes in the Manual or deletion of any kind to the Manual will be made by end user End user acknowledges that it does not acquire any ownership rights by accessing viewing or utilising t...

Страница 10: ...s of recovery from municipal collection points reuse and recycling of specified percentages per the requirements contained in the WEEE Directive Instructions for disposal of WEEE by users in the European Union Products which have the undernoted symbol located on either the product itself or its packaging indicates that the product must not be disposed of with other waste Instead it is the user s r...

Страница 11: ...e ease of operation and low power dissipation Power input to the unit is on a 4 pin LEMO connector with 12V VDC Veripos supply an AC to DC Power supply The unit incorporates front panel LED indicators for status monitoring Configuration is performed using an external PC running the recommended Web Interface browser Google Chrome A Technical Specification for the LD7 is in the Appendix section ...

Страница 12: ...id Green if the unit has achieved synchronisation and off if not synchronised The LED will flash green when attempting to synchronise PVT Shows the accuracy level that is being achieved in the solution in three states Red Solution is uncorrected and accuracy will be greater than 1m Amber Solution is corrected using DGNSS or SBAS corrections sub meter level accuracy can be expected Green Solution i...

Страница 13: ...is connected to the MAIN ANT GNSS Antenna connection Where the LD7 is used to derive a heading output a second GNSS antenna is connected to the Auxiliary Antenna AUX ANT connection of the LD7 This two antenna option will require the user to install 2 antennas and 2 cable runs More details of this configuration are in the Appendix A schematic example is shown below This option uses two antennas to ...

Страница 14: ...o use a separate L Band antenna to receive the Veripos Corrections This can be used when masking may cause a problem or when working at high latitudes where the satellites are low on the horizon To utilize a 3 three antenna combination a conversion kit can be fitted to the LD7 unit This can be installed by a Veripos technician A schematic example is shown below Survey Requirement After equipment i...

Страница 15: ... Cables Single serial connectivity COM1 Dual RS232 Serial connectivity COM2 COM3 and COM4 COM5 Power Cable 12 VDC external power input USB Ethernet Cables Configuration via Ethernet only using PC browser 2 2 2 1 Data output Data cables are LEMO style and are specific to each port labelled on the LD7 rear panel The LD7 ports output messages Should you require other message output configurations etc...

Страница 16: ...with a PC running Septentrio RXControl software to connect COM3 to a PC serial port to view the GNSS and Heading status To AsteRx2eH Card COM3 4 RTCMb output 9600 8 N 1 To L Band card Serial 2 5 Verify QC demodulator status messages 115200 8 N 1 To L Band card Serial 3 Internal Comms Mapping RTCMa used by LD7 for internal calculation of a corrected position From L Band card Serial 1 to AsteRx2eH C...

Страница 17: ...using serial ports Instructions for using this method can be found in the appendix 3 1 BROWSER INTERFACE Use the LD7 s browser interface to carry out all essential functions when working with the LD7 Veripos recommend the Chrome browser on a PC to configure the LD7 This is the only browser supported Chrome version 30 0 1559 101 or above The default fixed IP address of the LD7 is 192 168 0 126 3 1 ...

Страница 18: ...the LD7 RJ45 connector either via an Ethernet hub or directly to the PC NOTE some PC s require a hub to be used On the PC open Chrome browser and enter the LD7 IP address default 192 168 0 126 and enter the unique LD7 User code on front of LD7 unit Once connected the main browser page is shown which allows access to the configuration of the LD7 IO GNSS card and L Band card settings ...

Страница 19: ...9 LD7 Main browser page default recommended settings shown To set up the LD7 for use follow the sequence of browser tab screens listed below 3 2 L BAND To access the LD7 L Band configuration page click on L BAND at the top of the main page The following page will appear ...

Страница 20: ...bove information may change from time to time Visit VOSS http help Veripos com for the latest listing Verichart a Veripos software application can be used to create global and region coverage charts and is available from the same location All the above beams broadcast on high power with an Omni directional antenna used to receive the signals Note It can take up to 2 hours for all the reference sta...

Страница 21: ...hanges please allow a few minutes for the control message to be received If you have problems please contact the Veripos Helpdesk 3 2 3 REFERENCE STATION SELECTION The list of reference stations available for selection is determined by the satellite beam selected in Satellite Beams selection menu To enable All reference stations on a data stream RTCMa or RTCMb click the All box and select Apply To...

Страница 22: ...eripos supply the Verichart utility program to assist the user in selecting stations It is supplied with all LD7 units and is also available with database updates as a download from the Veripos Online Support Site VOSS URL is in the Contacts List in the Appendix 3 2 4 Veripos Ultra and APEX Services Veripos Ultra and Apex services are PPP solutions that produce decimetre accuracy positions They ha...

Страница 23: ...Ethernet The Ethernet port can be used to configure the LD7 via web browser and output data streams from the GNSS and L Band receivers The IO page allows changes to the IP address of the LD7 processor GNSS and L Band receivers DHCP is possible however is not recommended Note A unit reboot is required to effect any changes made If changes are required to the IP Address then IP Address and Netmask a...

Страница 24: ...D7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 24 The ports for the data streams available on the LD7 Ethernet are Data stream Port RTCMa 9001 RTCMb 9002 L Band Config 9003 NMEAa 9011 NMEAb 9012 Raw GNSS 9013 ...

Страница 25: ...bination of NMEA messages to be set on either 2 data streams NMEAa and NMEAb from the LD7 This should match the requirements of the receiving system In the example above NMEAa is set to GGA and is output on LD7 Com1 NMEAb is set to output HDT and is output on LD7 Com2 To enable different messages on NMEAa or NMEAb select the boxes for the desired messages and select Apply For details of NMEA messa...

Страница 26: ...he two Precise Point Positioning services is required to be used by the LD7 Note This should match the Veripos corrections enabled on the unit When changing PPP Mode a reboot of the LD7 must be carried out 3 4 4 PPS The Pulse per Second can be set to Off High to Low or Low to High This should be matched to the setting in the reciprocating system Where required select the pulses per second to be ou...

Страница 27: ...s set to 2 the DQI will report 2 for all corrected solutions PPP and DGNSS If it is set to 5 the DQI will report 2 for DGNSS solutions and 5 for PPP solutions Select from the drop down the value for the required Differential Quality indicator for the Precise Point Positioning solution used Default is 2 decimal places When finished selecting click on Refresh to update screen before Apply to apply c...

Страница 28: ...ed HDG Green if heading solution is available Red if no heading solution is available Bluetooth symbol Should be off for normal operation Will be Blue if an administrator is connected to the LD7 via Bluetooth Configuration changes require the use of the Web interface in the following circumstances 1 When enabling or disabling the unit Note The unit will not output a corrected position where it is ...

Страница 29: ...se initial communication with the Helpdesk should provide the following information User s name Telephone number If possible choose a phone near the equipment Email address Full vessel name Correct identification is important Veripos may have installation drawings Name of parent company Current Access Code Count of LD7 from L Band Control Software 2 Current status of the front panel indicators on ...

Страница 30: ...r Wait up to 15 minutes after requesting the Access Code If still not enabled request a resend from the Helpdesk No L BAND Sync Ensure a suitable L BAND beam is selected for your worksite and confirm that the LD7 has locked on and has a good signal strength 5 3 L BAND SIGNAL FAULTS Fault Reason Remedy No SYNC with geostationary satellite The vessel has moved to a new region but the demodulator has...

Страница 31: ...in the LD7 Web page Ensure that HDT format is selected in either NMEAa or NMEAb Ensure that the NMEA stream which has HDT enabled is selected on the relevant serial port No GNSS data Using the Rx Control software check that both the main and auxiliary GNSS inputs show valid GNSS data Details of how to check this can be found in Appendix VII of this manual Visually check antenna and cable for possi...

Страница 32: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 32 APPENDIX I CONTACT INFORMATION ...

Страница 33: ...e regional operations and engineering teams Veripos Helpdesk Telephone 44 0 1224 965900 Veripos Helpdesk E mail helpdesk Veripos com Veripos Online Support Site VOSS http help veripos com If shipping equipment back to Veripos please contact the Helpdesk who will provide the current shipping address according to your area of operations UK Veripos office address For other sites visit www veripos com...

Страница 34: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 34 APPENDIX II ABBREVIATIONS ...

Страница 35: ...r and PC processor LVTTL Low Voltage Transistor Transistor Logic MF Medium Frequency Radio used to Transmit Correction Data MPH Miles per Hour m s Metres per Second MSAS Multi functional Satellite Augmentation System NMEA National Marine Electronics Association PDOP Positional Dilution of Precision PPP Precise Point Positioning PPS Pulse per Second PRN Pseudo Random Noise RMS Root Mean Square RTCM...

Страница 36: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 36 APPENDIX III VERIPOS REFERENCE STATIONS ...

Страница 37: ...F x North Central American Stations 501 Houston GPS 98W AORW x 502 Baton Rouge GPS GLO 98W AORW x x 503 Carmen GPS 98W AORW x 504 Trinidad GPS GLO 98W AORW x x 505 St Johns GPS GLO 98W AORW x x 506 Halifax GPS 98W AORW x 509 Tamps GPS 98W AORW x 510 Tampico GPS GLO 98W AORW x x 511 Costa Rica GPS 98W AORW x 512 Curacao GPS 98W AORW x 513 Fairbanks GPS GLO 98W POR x x South American Stations 601 Ri...

Страница 38: ...709 Cyprus GPS 25E AORE x 710 Marbella GPS 25E AORE x 712 Vardo GPS 25E AORE x 713 Ny Alesund GPS 25E AORE x 714 Malta GPS GLO 25E AORE x x 716 Stockholm GPS 25E x 717 Hammerfest GPS AORE x 777 Aberdeen GPS 25E AORE x African Stations 801 Luanda GPS 25E AORE x 804 Lagos GPS AORE x 805 Accra GPS 25E AORE x 806 Las Palmas GPS 25E AORE x 807 Cape Verde GPS GLO 25E AORE x x 808 Cape Town GPS GLO 25E A...

Страница 39: ...uan GPS 143 5E POR IOR x 303 Jakarta GPS 143 5E POR IOR x 304 Balikpapan GPS 143 5E POR IOR x 305 Bangkok GPS 143 5E POR IOR x 306 Shenzen GPS 143 5E POR IOR x 307 Shanghai GPS 143 5E POR IOR x 309 Kushiro GPS 143 5E POR x 310 Sakhalin GPS GLO 143 5E POR x x 311 Kemamam GPS POR x 313 Manila GPS GLO 143 5E POR IOR x x 315 Seoul GPS 143 5E POR x Australia NZ Stations 401 Darwin GPS 143 5E POR IOR x ...

Страница 40: ...erations Manual Ref AB V MA 00555 Rev No A9 Page 40 VERPOS Ultra APEX and APEX2 ID s Note Ultra2 available only when using LD7 with Verify QC Please specify your requirement when contacting the Helpdesk to enable the LD7 ...

Страница 41: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 41 APPENDIX IV QUALITY STANDARDS ...

Страница 42: ...s good practise in the offshore industry They are not mandatory and operators are free to adopt different guidelines or standards These guidelines are now dated in certain areas due to advancements in positioning technology and algorithms However they contain useful suggestions for quality monitoring as indicated below see 1 To assist DGPS operators and client representatives to monitor the qualit...

Страница 43: ...ence region Appendix A of the UKOOA guidelines emphasises this by listing Suggested parameters to be specified by a system user for typical marine survey operations and states that In order to carry out rigorous QC the covariance matrix generated by the least squares computation should be used to generate test statistics and quality measures It recommends the following Test Statistics 1 w test use...

Страница 44: ...ation may be shown with 3 or even 5 digits after the decimal point Programs reading the data should only use the commas to determine the field boundaries and not depend on column positions There is a provision for a checksum at the end of each sentence which may or may not be checked by the unit reading the data The checksum field consists of a and two hex digits representing the exclusive OR of a...

Страница 45: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 45 APPENDIX V NMEA SENTENCES ...

Страница 46: ...GGA Global Positioning System Fix Data hhmmss ss UTC of position ddmm mmmmm latitude of position a N or S latitude hemisphere dddmm mmmmm longitude of position b E or W longitude hemisphere q GPS Quality indicator 0 invalid 1 GPS SPS 2 DGPS fix 3 GPS PPS 4 Fixed RTK 5 Float RTK 6 Estimated dead reckoning 7 Manual Input Mode 8 Simulation Mode xx number of satellites in use p p horizontal dilution o...

Страница 47: ...orrections b b Standard deviation of semi major axis of error ellipse meters c c Standard deviation of semi minor axis of error ellipse meters d d Orientation of semi major axis of error ellipse meters e e Standard deviation of latitude error meters f f Standard deviation of longitude error meters g g Standard deviation of altitude error meters hh CR LF checksum carriage return and line feed NMEA ...

Страница 48: ...DOP HDOP and VDOP for the combined satellites used in the position Notes 1 Satellite ID numbers To avoid possible confusion caused by repetition of satellite ID numbers when using multiple satellite systems the following convention has been adopted a GPS satellites are identified by their PRN numbers which range from 1 to 32 b The numbers 33 64 are reserved for WAAS satellites The WAAS system PRN ...

Страница 49: ...mmended that null fields be used in the additional sentences when the data is unchanged from the first sentence 2 A variable number of Satellite ID Elevation Azimuth SNR sets are allowed up to a maximum of four sets per sentence Null fields are not required for unused sets when less than four sets are transmitted 3 Satellite ID numbers To avoid possible confusion caused by repetition of satellite ...

Страница 50: ...essage NMEA GLL Sentence The NMEA GGL sentence provides 2D position data Structure and Example GPGLL ddmm mmmmmmm a dddmm mmmmmmm b hhmmss ss S I cc CR LF GPGLL 5708 7104685 N 00217 1169613 W 062859 00 A D 72 GLL sentence defined GLL Geographic position Latitude and Longitude ddmm mmmmmmm latitude of position a N or S dddmm mmmmmmm longitude of position b E or W hhmmss ss UTC of position S status ...

Страница 51: ... over ground and ground speed p p course over ground T degrees True q q course over ground M degrees Magnetic r r speed over ground N knots s s speed over ground K km hr U mode indicator A Autonomous D Differential E Estimated hh CR LF checksum carriage return and line feed Note that as of the 2 3 release of NMEA there is a new field in the VTG sentence at the end just prior to the checksum Receiv...

Страница 52: ...71 24 743 50 284 45 GPGNS 104601 00 09 3 0 0001 44 GLGNS 104601 00 03 3 4 0001 56 GNS sentence defined GNS GNSS Fix Data hhmmss ss UTC of position ddmm mmmmmmm latitude of position a N or S latitude hemisphere dddmm mmmmmmm longitude of position b E or W longitude hemisphere Q Mode Indicator First character is for the GPS system the second character for the GLONASS system N No Fix A Autonomous D D...

Страница 53: ...e talker ID GN to indicate that the satellites are used in a combined solution It is important to distinguish the residuals from those that would be produced by a GPS only GLONASS only etc position solution In general the residuals for a combined solution will be different from the residual for a GPS only GLONASS only etc solution GRS hhmmss ss x x x x x x x x x x x x x x x x x x x x x x x x x hh ...

Страница 54: ... Where RMC Recommended Minimum sentence C 123519 Fix taken at 12 35 19 UTC A Status A active or V Void 4807 038 N Latitude 48 deg 07 038 N 01131 000 E Longitude 11 deg 31 000 E 022 4 Speed over the ground in knots 084 4 Track angle in degrees True 230394 Date 23rd of March 1994 003 1 W Magnetic Variation 6A The checksum data always begins with Note that as of the 2 3 release of NMEA there is a new...

Страница 55: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 55 APPENDIX VI GLOBAL COVERAGE CHART ...

Страница 56: ...ev No A9 Page 56 Veripos Inmarsat Global Coverage chart showing footprints of Geostationary Satellites broadcasting Veripos corrections Updated charts Verichart software and updates can be downloaded from the Knowledge Base on VOSS at http help Veripos com ...

Страница 57: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 57 APPENDIX VII HEADING ANTENNA GUIDE ...

Страница 58: ...ding Vector Contact Veripos if you require the RxTools software Step 1 Connect RxTools to the receiver in order to check the AUX antenna Signal to Noise Ratio SNR Both Main and Aux antenna should lock in the same GPS and GLONASS SV for both L1L2 SNR values Step 2 Connect RxTools to the receiver in order to check the ASCII Display for Heading and no of SV s used with Quality indicator Fixed indicat...

Страница 59: ... can be carried out on vessel s bow and stern centreline position by land survey method to derive the Computed minus Observe C O corrections If both the antenna X Y are measured accurately relative to the vessel centreline within a few cm you can compute the C O or biased angle based on arc Tan Xm Xa Ym Ya where m main and a aux antenna X and Y value The quickest way to derive the C O is to line u...

Страница 60: ...Manual Title LD7 Operations Manual Ref AB V MA 00555 Rev No A9 Page 60 APPENDIX VIII SERVICES NOTIFICATION FORM ...

Страница 61: ...ssels CLIENT may also subject to EQUIPMENT HARDWARE configuration and compatibility make use of third party services such as IALA HF MF DGPS signal Locally transmitted UHF augmentation signal External RTCM input and should contact Veripos Helpdesk in such instances to ensure that the EQUIPMENT and or HARDWARE is suitably configured 3 0 Following execution of the CONTRACT the CLIENT will be allocat...

Страница 62: ...Name Fax Authorised Person Email Service Single or Dual Beam Enable dd mm yy Disable dd mm yy STANDARD GPS STANDARD2 GPS Glonass ULTRA Precise Point Position ULTRA2 Precise Point Position GPS Glonass APEX Precise Point Position APEX2 Precise Point Position GPS Glonass VERIFY DP DISPLAY Software feature Specify correction signals separately NTRIP Equipment Details Serial No User Code Equip Type e g...

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