Hemisphere GPS V101, V111 User Manual

V101 and V111 GPS Compass

Product Name

Quick Reference Guide

Part No. 875-0250-000 Rev B1

User Guide

Part No.

This device complies with part 15 of the FCC Rules. Operation is subject to the following two
conditions:

(1) This device may not cause harmful interference, and
(2) this device must accept any interference received, including interference that may cause
undesired operation.

Copyright Notice

Hemisphere GPS Precision GPS Applications

Copyright © Hemisphere GPS (2011). All rights reserved.

No part of this manual may be reproduced, transmitted, transcribed, stored in a retrieval system or
translated into 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 GPS.

Trademarks

Hemisphere GPS®, the Hemisphere GPS logo, A100TM, A20TM, A21TM, A220TM, A221TM, A30TM,

TM

A31

, A320TM, A321TM, A42TM, A52TM, AerialACETM, AirStarTM, AirTracTM, AutoMateTM, BantamTM,

TM

BaseLineHD
Eclipse
GPSteer

TM

, LiteStar IITM, LV101TM, LX-1TM, LX-2TM, M3TM, MapStar®, MBX-4TM, miniEclipseTM, OutbackTM,

Dif
Outback 360
Outback S2
PocketMAX PC
Satloc logo, SBX-4
XF100
are the properties of their respective owners.

, BaseLineXTM, BEELINE®, COASTTM, Contour LockTM, Crescent®, Earthworks®,

TM

, e-Dif®, eDrive®, eDriveTCTM, eDriveVSiTM, eDriveXTM, FliteTracTM, G100TM, GateMateTM,

TM

, H102TM, HQTM, IntelliFlow®, IntelliGateTM, IntelliStarTM, IntelliTracTM, Just Let GoTM, L-

TM

, Outback Guidance CenterTM, Outback Guidance®, Outback HitchTM, Outback STM,

TM

, Outback S3TM, Outback S-LiteTM, Outback StsTM, Outback Steering GuideTM,

TM

, PocketMAXTM, PocketMax3TM, R100TM, R131TM, R220TM, R320TM, Satloc®, the

TM

TM

, XF101TM, and XF102TM are proprietary trademarks of Hemisphere GPS. Other trademarks

, V101TM, V102TM, V 111TM, VS101TM, V S 111TM, VectorTM, X200TM, X300TM,

Patents

The Outback STM and S-LiteTM automated navigation and steering guide systems are covered by
U.S. Patents No. 6,539,303 and No. 6,711,501. The Outback Hitch
is covered by U.S. Patent No. 6,631,916. The Outback eDriveTC
covered by U.S. Patent No. 7,142,956. Hemisphere GPS products may be covered by one or more
of the following U.S. Patents:

6,111,549 6,397,147 6,469,663 6,501,346 6,539,303

6,549,091 6,631,916 6,711,501 6,744,404 6,865,465

6,876,920 7,142,956 7,162,348 7,277,792 7,292,185

7,292,186 7,373,231 7,400,956 7,400,294 7,388,539

7,429,952 7,437,230 7,460,942

Other U.S. and foreign patents pending.

TM

automated hitch control system

TM

GPS assisted steering system is

Notice to Customers

Contact your local dealer for technical assistance. To find the authorized dealer near you:

Hemisphere GPS
4110 9th Street S.E.
Calgary, Alberta, Canada T2G 3C4
Phone: [phone]
Fax: [phone]

[email protected]
www.hemispheregps.com

Technical Support

If you need to contact Hemisphere GPS Technical Support:

8444 N 90th St, Suite 130
Scottsdale, AZ 85258 USA
Phone: [phone]
Fax: [phone]

[email protected]

Documentation Feedback

Hemisphere GPS is committed to the quality and continuous improvement of our products and
services. We urge you to provide Hemisphere GPS with any feedback regarding this guide by
writing to the following email address: [email protected].

Contents

Chapter 1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

Parts List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

Chapter 2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Mounting Location . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

GPS Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Beacon Reception . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Environmental Considerations . . . . . . . . . . . . . . . . . . . . . . . . . 7

Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

V101/111 Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Fixed-Base Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Pole and Rail Mount . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Powering the V101/111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Power Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connecting to a Power Source . . . . . . . . . . . . . . . . . . . . . . . . 20

Electrical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Connecting the V101/111 to External Devices . . . . . . . . . . . . . . . . 21

Interfacing the V101/111 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Power/Data Cable Schematic, Wiring, and Pinout . . . . . . . . 21

Serial Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Chapter 3 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

GPS Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

GPS Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Differential Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

V101/111 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Fixed Baseline Moving Base Station RTK . . . . . . . . . . . . . . . 30

Supplemental Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Time Constants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Alarm Functionality . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Alarm Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Watchdog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Common Commands and Messages . . . . . . . . . . . . . . . . . . . . . . . 34

Appendix A Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Appendix B Technical Specifications . . . . . . . . . . . . . . . . . . . 43

V101 and V111 GPS Compass User Guide iii PN 875-0250-000 Rev B1

Contents

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

End User License Agreement . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Warranty Notice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

V101 and V111 GPS Compass User Guide iv PN 875-0250-000 Rev B1

Chapter 1: Introduction

Overview

Parts List

V101 and V111 GPS Compass User Guide 1 PN 875-0250-000 Rev B1

Chapter 1:Introduction

Overview

The V101™ GPS Compass and V111™ GPS Compass are based on Hemisphere GPS’
exclusive Crescent

Note: When referring to both the V101 GPS Compass and the V111 GPS Compass this
manual uses the term V101/111. When referring to either product this manual uses
either V101 or V111, respectively.

The V101/111 is a complete GPS compass and positioning system in a single enclosure
that requires only one power/data cable connection. The V101/111 is designed
primarily for the marine market; however, it is also suitable for such markets as
machine control and agriculture guidance. This user guide addresses the primary use
of the V101/111 in the marine industry; however, the information provided is broad
enough to satisfy the needs of V101/111 use in other markets.

The V101/111 is an integrated system that houses the following:

• Crescent Vector II OEM board

• Dual GPS antennas

• DGPS beacon module and H-field beacon antenna (V111 only)

• Power supply

• Single axis gyro

• Tilt sensor

The gyro and tilt sensor are present to improve system performance and to provide
backup heading information in the event that a GPS heading is not available due to
signal blockage.

®

and Crescent Vector™ II technology.

Note: The V101 GPS Compass is identical to the V111 GPS Compass with the
exception that it does not contain a DGPS beacon module. If you purchased the V101
GPS Compass, disregard the sections of this manual that discuss the beacon signal,
receiver operation, and implications to installation relating to the beacon signal.

Crescent technology supports multiple RF front ends - enabling tighter coupling of
measurements from separate antennas for use in heading-based products. Users will
achieve excellent accuracy and stability due to Crescent’s more accurate code phase
measurements, improved multipath mitigation, and fewer components.

The V101/111’s GPS antennas are separated by 0.5 m between their phase centers,
resulting in better than 0.30° rms heading performance. The V101/111 provides
heading and positioning updates of up to 20 Hz and delivers positioning accuracy of
better than 0.6 m 95% of the time when using Differential GPS corrections from Space
Based Augmentation Systems (SBAS) or its optional internal SBX beacon
demodulator.

The V101/111 also features Hemisphere GPS’ exclusive COAST™ technology that
enables Hemisphere GPS receivers to utilize old differential GPS correction data for up
to 40 minutes without significantly affecting the positioning quality. The V101/111 is
less likely to be affected by differential signal outages due to signal blockages, weak
signals, or interference when using COAST.

V101 and V111 GPS Compass User Guide 2 PN 875-0250-000 Rev B1

Chapter 1: Introduction

If you are new to GPS and SBAS, refer to the Hemisphere GPS Technical Reference (go
to www.hemispheregps.com/support and click the GPS Reference icon) for further
information on these services and technologies before proceeding.

Parts List

Note: The V101/111’s parts comply with IEC 60945’s section 4.4: “exposed to the

weather.”

Table 1-1: Parts list

Part Name Qty Part Number

Crescent receiver model
(one of the following models)

V101
V 111

Base mount 1 627-1106-0 00#

Pole mount 1 627-1109-000#

Mounting hardware

Washer, flat, 2"OD, 1.062"ID, .16"thk, SS
Nut, hex, 1-14 UNF SS
Screw, 8-16 1/2" TPHC SS
Bit Torx, T-20 1/4 1 hex shk

Power/data cable
(purchased separately)

15 m
30 m

1
1

1
1
8
1

1
1

804-0067-000#
804-0066-000#

678-1083-000#
676-1021-0 00#
675-1078-000#
675-0037-000#

051-0157-000#
051-0158-000#

V101 and V111 GPS Compass User Guide 3 PN 875-0250-000 Rev B1

Chapter 2: Installation

Mounting Location

Mounting Orientation

Mounting Options

Powering the V101/111

Connecting the V101/111 to External Devices

Default Parameters

V101 and V111 GPS Compass User Guide 5 PN 875-0250-000 Rev B1

Chapter 2:Installation

Mounting Location

When considering mounting locations, consider both GPS (and hence SBAS) and
beacon reception. The following two sections provide information to help determine
the best location for the V101/111.

GPS Reception

When considering various locations to mount the V101/111, consider the following
GPS reception recommendations closely.

• The V101/111 computes a position based upon the internal primary GPS
antenna element. Mount the V101/111 in the location for which you desire a
position with respect to the primary GPS antenna (located on the end
opposite the recessed arrow on the underside of the enclosure).

• Ensure there is a clear view of the sky available to the V101/111 so the GPS
and SBAS satellites are not masked by obstructions, which may reduce
system performance.

• Locate any transmitting antennas away from the V101/111 by at least a few
feet to ensure tracking performance is not compromised, giving you the best
performance possible.

• Make sure that there is enough cable length to route into the vessel, in order
to reach a breakout box or terminal strip.

• Do not locate the antenna where environmental conditions exceed those
specified in Table B-6 on page 45.

Beacon Reception

When using the V111’s internal beacon receiver as the correction source, consider the
possible mounting locations from the perspective of ambient noise within the beacon
band. The following list provides guidelines for deciding upon a location with respect
to maximizing beacon performance.

• Ensure that the antenna is as far as possible from all other equipment that
emits electromagnetic interference (EMI), including DC motors, alternators,
solenoids, radios, power cables, display units, and other electronic devices.

• If you are installing the antenna on a vessel, mount the V111 as high as
possible, considering maintenance and accessibility. In addition, ensure that
the antenna is higher than the highest metal object on the vessel.

• If a radar system is present, mount the antenna outside the path of the radar
beam.

The V111’s internal beacon receiver calculates a signal-to-noise ratio (SNR), measured
in decibels (dB), that indicates the receiver’s performance. The SNR is the height of
the signal above the noise floor: the higher the SNR, the better your beacon receiver
demodulates the signal. The optimum antenna location will be a position where your
average SNR is highest. You should turn on all accessories that you intend to use
during normal operation when locating the best position for the antenna. By
monitoring the SNR, you can determine the optimum location with respect to beacon
reception. The SNR is available in the $CRMSS NMEA message described in the
Hemisphere GPS Technical Reference (go to www.hemispheregps.com/support and
click the GPS Reference icon).

V101 and V111 GPS Compass User Guide 6 PN 875-0250-000 Rev B1

Chapter 2: Installation

Environmental Considerations

The V101/111 is designed to withstand harsh environmental conditions; however,
adhere to the following limits when storing and using the V101/111:

• Operating temperature: -30°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

Mounting Orientation

The V101/111 outputs heading, pitch, and roll readings regardless of the orientation of
the antennas. However, the relation of the antennas to the boat’s axis determines
whether you will 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.

Note: Regardless of which mounting orientation you use, the V101/111 provides the
ability to output the heave of the vessel. This output is available via the $GPHEV
message. For more information on this message refer to the Hemisphere GPS
Technical Reference (go to www.hemispheregps.com/support and click the GPS
Reference icon).

Parallel Orientation: The most common installation is to orient the
V101/111 parallel to, and along the centerline of, the axis of the boat. This provides a
true heading. In this orientation:

• If you use a gyrocompass, you can enter a heading bias in the
V101/111 to calibrate the physical heading to the true heading of the vessel.

• You may need to adjust the pitch/roll output to calibrate 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 boat’s axis. In this orientation:

• You will need to enter a heading bias of +90° if the primary antenna is on the
starboard side of the boat and -90° if the primary antenna is on the port side
of the boat.

• You will need to configure the receiver to specify the GPS antennas are
measuring the roll axis using $JATT,ROLL,YES.

• You will need to enter a roll bias to properly output the pitch and roll values.

• You may need to adjust the pitch/roll output to calibrate the measurement if
the Vector is not installed in a horizontal plane.

V101 and V111 GPS Compass User Guide 7 PN 875-0250-000 Rev B1

Chapter 2:Installation

Forward
motion

Recessed arrow
located on
bottom of
enclosure

Forward
motion

Recessed arrow
located on
bottom of
enclosure

See Figure 2-1 and Figure 2-2 for mounting orientation examples.

Figure 2-1: Recommended orientation and resulting signs of HPR values

Figure 2-2: Alternate orientation and resulting signs of HPR values

V101 and V111 GPS Compass User Guide 8 PN 875-0250-000 Rev B1

Chapter 2: Installation

V101/111 Alignment

The top of the V101/111 enclosure incorporates a pair of sight design features to help
you align the enclosure with respect to an important feature on your vessel (see
Figure 2-3 and Figure 2-4).

To use the sights, center the small post on the opposite side of the enclosure from
you, within the channel made in the medallion located in the center of the enclosure
top as shown in the two following figures. Alignment accuracy when looking through
the long site is approximately +/- 1°. Using the short site alignment is approximately
accurate to +/- 2.5°.

Figure 2-3: Lining up the alignment sight

Figure 2-4: Correctly lined-up alignment sight

If you have another accurate source of heading data on your vessel, such as a
gyrocompass, you may use its data to correct for a bias in V101/111 alignment within
the V101/111 software configuration. Alternatively, you can physically adjust the
heading of the V101/111 so that it renders the correct heading measurement; however,
adding a software offset is an easier process.

V101 and V111 GPS Compass User Guide 9 PN 875-0250-000 Rev B1

Chapter 2:Installation

Mounting Options

The V101/111 allows for two different mounting options:

• Fixed-base mounting

• Pole-and-rail mounting

Fixed-Base Mounting

The fixed base supplied with the V101/111 is intended to allow you to mount the
system to a flat surface. This surface may be something that you fabricate for the sake
of the installation or may be something that already exists on your vessel or an off­the-shelf item, such as a radar mounting plate.

Figure 2-5 below and Figure 2-6 on page 11 show the following features for the fixed
base:

• Six holes for mounting onto the V101/111 enclosure

• Four slots used for fastening the mounted enclosure to the vessel

• Four tunnels that allow you to route the cable outside the base and along the
mounting surface

• Two small keys that aid the alignment of the base to the enclosure

• Channel through the mount for the power/data cable

The slots on the bottom of the base allow for a degree of adjustment when the V101/
111 is secured in its final location.

Note: You do not necessarily need to orient the antenna precisely as you can enter a
software offset to accommodate for any bias in heading measurement due to
installation.

The base has four tunnels that allow you to bring the power/data cable out from
within the mount in order to route it along the surface of the plate beneath the V101/

111. Alternatively, you may wish to route the power/data cable through the mounting
surface rather than bringing it out through one of the tunnels (see Figure 2-5).

Figure 2-5: Fixed mount base

V101 and V111 GPS Compass User Guide 10 PN 875-0250-000 Rev B1

Chapter 2: Installation

Figure 2-6 provides a bottom view of the fixed mount base.

Figure 2-6: Bottom view of fixed mount base

Before mounting the antenna on the fixed base:

• Determine your mounting orientation. See “Mounting Orientation” on
page 7 for more information.

• Choose a location that meets the mounting location requirements.

• Using the fixed base as a template, mark and drill the mounting holes as
necessary for the mounting surface.

To install the V101/111 using the fixed base:

1. Insert either end of the power/data cable through the center of the fixed
base.

Figure 2-7: Running cable through fixed base mount

V101 and V111 GPS Compass User Guide 11 PN 875-0250-000 Rev B1

Chapter 2:Installation

Connector key

Connector

keyway

Figure 2-8: Running cable through fixed base

2. Align the connector keyway of the cable to the key of the connector mounted
on the V101/111 enclosure (see Figure 2-9) and insert the cable mount
connector into the bulkhead connector, aligning the locking ring at the same
time.

Figure 2-9: Power/data cable and keyway

V101 and V111 GPS Compass User Guide 12 PN 875-0250-000 Rev B1

Chapter 2: Installation

3. Rotate the ring clockwise until it locks. The locking action is firm, but you will
feel a positive “click” when it has locked.

Figure 2-10: Connecting the power/data connector to V101/111

4. Once you have secured the connector, slide the fixed base up to the bottom
of the V101/111 enclosure. There are two alignment keys on top of the base
that just fit into two holes of the V101/111 enclosure.

5. Once you have aligned the base, use a screwdriver fitted with the supplied
Torx T20 bit to fasten the base to the enclosure using the supplied screws.
These screws self tap a thread in the blind screw holes of the enclosure.
Fasten the screws firmly, but be careful not to strip the thread.

Note: The base is not intended to be removed and refastened frequently.
Frequent removal of the base from the enclosure may result in failure of the
screw hole threads. Stripped threads are not covered under the product
warranty.

Figure 2-11 and Figure 2-12 show the location of the screw holes.

Figure 2-11: Fastening the fixed base to the V101/111

V101 and V111 GPS Compass User Guide 13 PN 875-0250-000 Rev B1

Chapter 2:Installation

Figure 2-12: Fastening the fixed base to the V101/111

6. Once you fasten the fixed base to the V101/111 enclosure using six mounting
screws, fasten the assembly to your mounting surface. It is recommended to
use machine screws that have an hexagonal Allen key head and an “L­shaped” Allen key, as there may not be sufficient clearance between the
bottom of the antenna and your mounting surface to use a normal
screwdriver.

Note: Hemisphere GPS does not supply the mounting surface hardware.
You will need to supply the appropriate fastening hardware required to
complete the installation of the V101/111 and mount assembly.

Pole and Rail Mount

Note: This pole and rail mount does not meet the IEC 60945, section 8.7 for vibration.

You may choose to pole-mount or rail-mount the V101/111 as opposed to the fixed
base mounting approach. The pole mount incorporates a 1-14-UNS thread. To aid in
the installation of the V101/111, we have supplied a hex jam nut and washer that are
used to secure the antenna in a particular direction without bottoming out the system
on the threaded pole. Additionally, the nut and washer distributes forces associated
with vibration onto the bottom surface of the V101/111 pole mount.

Do not bottom out the V101/111 pole base on the threaded mount. Such

manner can damage the system. Use of the jam nut and washer are mandatory for
pole mounting. Any damage resulting from not using these pieces to mount the V101/
111 is not covered under warranty.

Before mounting the antenna or the pole mount bracket:

• Decide if you need the roll measurement. If you need roll measurement, the
V101/111 will need to be installed perpendicular to the vessel axis. If it you do
not need roll measurement, install the V101/111 parallel with the vessel’s
axis.

V101 and V111 GPS Compass User Guide 14 PN 875-0250-000 Rev B1

Chapter 2: Installation

• Choose a location that meets the mounting location requirements.

• Mark and drill the mounting holes as necessary for the threaded pole.

• Alternatively, you may rail mount the V101/111 with appropriate hardware.

Pole mount installation and preparation:

You must supply the pole or rail mount hardware. To install the pole mount:

1. After you install the pole or rail mount, thread the hexagonal jam nut onto
the mount, followed by the stainless steel washer (both are supplied with
the V101/111).

2. Thread the nut onto the nut approximately eight to ten full turns to provide
adequate mounting thread for the pole mount base.

Figure 2-13: Threading on the lock nut and washer

Routing the cable:

1. When mounting the V101/111 using the pole mount, you first must run the
cable through the center of the pole mount base from top to bottom,
through the pole, and then through any bulkheads as needed. The power/
data connector is too large to fit through the threaded portion of the pole
mount base (see Figure 2-14 below through Figure 2-17 on page 16).

Note: Leave some slack to move the cable in and out of the pole mount by
several centimeters to allow you to connect the cable to the V101/111 easily.

Figure 2-14: Running cable through the pole base

V101 and V111 GPS Compass User Guide 15 PN 875-0250-000 Rev B1

Chapter 2:Installation

Figure 2-15: Running cable through the pole base

Figure 2-16: Running cable through the mounting pole

After you route the cable correctly through the pole mount base and the
mounting pole, the mounting assembly should look like Figure 2-17.

Figure 2-17: Completed cable run

V101 and V111 GPS Compass User Guide 16 PN 875-0250-000 Rev B1

Chapter 2: Installation

Mounting to pole mount thread:

1. Thread the pole mount base onto the pole mount four to five full turns.

Figure 2-18: Threading the pole base onto the mount

2. Ensure that there is a gap between the lock nut, washer, and pole mount
base to allow you to orient the combination of the V101/111 and pole mount
base to the vessel.

Figure 2-19: Pole base threaded onto mount

To connect the cable to the V101/111:

1. Fasten the cable to the V101/111 connector. The connector on the receiver
enclosure has a key and the cable-mount connector has a keyway. The key
and keyway need to align as you insert the cable-mount connector into the
bulkhead connector.

Note: The locking ring on the cable-mount connector may need to be
aligned as it is inserted into the bulkhead connector to ensure that it seats
properly.

V101 and V111 GPS Compass User Guide 17 PN 875-0250-000 Rev B1

Chapter 2:Installation

Connector key

Connector
keyway

2. Once the cable-mount connector is fully seated, rotate the locking ring
clockwise until it locks once the cable-mount connector is seated fully. You
will feel the ring “click” when it is locked (see Figure 2-20 and Figure 2-21).

Figure 2-20: Power/data cable key and keyway

Figure 2-21: Connected power/data cable

Fastening the V101/111 to the pole mount base with the supplied self-taping screws:

1. Fasten the V101/111 enclosure to the pole mount base using the supplied
self-tapping screws.

2. Align the two alignment keys on top of the base to the two holes on the
V101/111 enclosure.

3. Use a screwdriver fitted with the supplied Torx T20 bit to fasten the base to
the enclosure using the supplied screws. These screws self tap a thread in
the blind screw holes of the enclosure. Fasten the screws firmly, but be
careful not to strip the thread (see Figure 2-22 on page 19).

Note: The base is not intended to be removed and refastened frequently.
Frequent removal of the base from the enclosure may result in failure of the
screw hole threads. Stripped threads are not covered under the product
warranty.

V101 and V111 GPS Compass User Guide 18 PN 875-0250-000 Rev B1

Chapter 2: Installation

Figure 2-22: Fastening the pole base to the V101/111

4. Rotate the hex nut and washer up to the bottom of the pole mount base
surface. Do not tighten them at this point; you will first align the V101/111.

Figure 2-23: Threading the lock nut against the pole base

5. Orient the V101/111 using the sights on the top of the enclosure.

6. Use an adjustable wrench to tighten the lock nut against the
V101/111 while ensuring accurate alignment of the antenna system.

Figure 2-24: Locking the V101/111 once aligned

Note: Make sure the locking nut is tightly secured to the pole mount base,

but not overtightened. Periodically verify the antenna system is securely
tightened, as mounted on the pole. If it is loose, tighten the lock nut further
until you cannot move it.

V101 and V111 GPS Compass User Guide 19 PN 875-0250-000 Rev B1

Chapter 2:Installation

Routing and securing the power/data cable

A 15 m or 30 m power/data cable (purchased separately) is available for the V101/111.
Consider the following when routing the cable:

• Do not run cable in areas of excessive heat

• Do not expose cable to corrosive chemicals

• Do not crimp or excessively bend cable

• Do not place tension on cable

• Coil up excess cable near unit

• Secure along the cable route using plastic tie wraps as necessary

• Do not run cable near high Voltage or strong RF noise and transmitter
sources

Improperly installed cables near machinery can be dangerous.

Powering the V101/111

Power Considerations

For best performance use a clean and continuous power supply. The V101/111 power
supply features reverse polarity protection but will not operate with reverse polarity.

See Table B-4 on page 45 for complete power specifications.

Connecting to a Power Source

Before you power up the V101/111 you must terminate the wires of the power cable as
required. There are a variety of power connectors and terminals on the market from
which to choose, depending on your specific requirements.

Do not apply a voltage higher than 36 VDC. This will damage the

receiver and void the warranty.

To interface the V101/111 power cable to the power source:

• Connect the red wire of the cable’s power input to DC positive (+)

• Connect the black wire of the cable’s power input to DC negative (-)

The V101/111 will start when an acceptable voltage is applied to the power leads of the
extension cable.

Electrical Isolation

The V101/111’s power supply is isolated from the communication lines. Further, the PC­ABS plastic enclosure isolates the electronics mechanically from the vessel. This
addresses the issue of vessel hull electrolysis.

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Chapter 2: Installation

15 m / 30 m

100 mm

J1 P1

Strip and tin 3 mm

Connecting the V101/111 to External Devices

Interfacing the V101/111

The V101/111 uses a single cable for application of power and to facilitate the input and
output operations. The cable (purchased separately) is 15 m in length and is
terminated on the receiver end with an environmentally sealed 18-pin connection. The
opposite end is unterminated and requires field stripping and tinning.

Depending on the application and installation needs, you may need to shorten this
cable. However, if you require a longer cable run than 15 m, you may purchase a 30 m
cable through your equipment dealer, or alternatively, bring the cable into a break-out
box that incorporates terminal strips, within the vessel. To lengthen the serial lines
inside the vessel, ensure that you use 20-gauge twisted pairs and minimize the
additional wire length. The RS-422 signal should be used for longer cable runs as
compared to the RS-232 ports, as it is more resistant to noise and attenuation.

When lengthening the power input leads to the V101/111, ensure the additional voltage
drop is small enough that your power system can continue to power the system
above the minimum voltage of the system. Wire of 18-gauge or larger should be used.

Power/Data Cable Schematic, Wiring, and Pinout

Figure 2-25 shows the schematic of the power/data cable (15 m or 30 m).

Figure 2-25: Power/data cable (15 m or 30 m)

Table 2-1 provides the wiring specifications of the power/data cable (15 m or 30 m).

Table 2-1: Power/data cable (15 m or 30 m) wiring specifications

Pair Color code AWG J1 Function

Bare 10 RF SHIELDED DRAIN

1BLK

RED

2 BLK with BLU stripe

BLU

3 GRY 24 12 Sig GRND

4 BLK with GRN stripe

GRN

5 BLK with BRN stripe

BRN

6 YEL with BLK stripe

YEL

V101 and V111 GPS Compass User Guide 21 PN 875-0250-000 Rev B1

18
18

24
24

24
24

24
24

24
24

2
1

4
3

11
6

8
7

15
16

Power GRND
Power input

RS-232, port A RX
RS-232, port A TX

RS-422-, port A
RS-422+, port A

RS-232, port B RX
RS-232, port B TX

RS-422-, port B
RS-422+, port B

Chapter 2:Installation

Table 2-1: Power/data cable (15 m or 30 m) wiring specifications (continued)

Pair Color code AWG J1 Function

7 WHT with RED stripe

WHT

Note: PPS is supported on pins 17 and 18 on the V101/111, but not connected in the
standard cables.

24
24

14
13

Alarm
Alarm

Figure 2-26 shows the pinout of J1 of the power/data cable (15 m or 30 m).

Figure 2-26: Power/data cable (15 m or 30 m) J1 pinout

Table 2-2 provides signal, wire color, and wire gauge specifications of J1 of the power/
data cable (15 m or 30 m).

Table 2-2: Power/data cable (15 m or 30 m) J1 pinout specifications

Pin Number Signal Name Wire Color Wire Gauge

1 Power input + RED 18 AWG

2 Power input - BLK 18 AWG

3 Port A TX RS-232 BLU 24 AWG

4 Port A RX RS-232 BLK with BLU stripe 24 AWG

5 Not connected

6 Port A RS-422 + GRN 24 AWG

7 Port B TX RS-232 BRN 24 AWG

8 Port B RX RS-232 BLK with BRN stripe 24 AWG

9 Not connected

10 RF shield drain Bare 24 AWG

11 Port A RS-422 - BLK with GRN stripe 24 AWG

12 Signal ground GRY 24 AWG

13 Alarm 1 WHT 24 AWG

14 Alarm 2 WHT with RED stripe 24 AWG

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Chapter 2: Installation

Table 2-2: Power/data cable (15 m or 30 m) J1 pinout specifications (continued)

Pin Number Signal Name Wire Color Wire Gauge

15 Port B RS-422+ YLW with BLK stripe 24 AWG

16 Port B RS-422- YLW 24 AWG

17 1PPS +

18 1PPS -

Serial Ports

The V101/111 offers position and heading data via both RS-232 and RS-422 level serial
ports. The answer of which serial port level to use resides with the serial port level(s)
supported by the other electronics involved. You may find that the other electronics
need either serial port level or a mixture of both.

The following bullets describe the two serial port levels supported by the V101/111.

• RS-232 Interface Level - The V101/111 features two full-duplex (bi­directional) RS-232 serial ports. In addition to outputting data, these ports
are used for firmware upgrades.

Data output from both RS-232 Ports A and B are also output on the RS-422
ports.

• RS-422 Interface Level - The RS-422 standard allows for one device to
communicate with many other devices simultaneously; therefore, the RS­422 ports are only talkers. These ports are in accordance with international
marine standard IEC 61162. See Annex C of the standard for a description.

Note: The V111 has maximum baud rate of 38400. Higher baud rates will impair
beacon signal tracking.

Serial Port Configuration

You may configure Port A or Port B of the GPS receiver to output any combination of
data that you wish. Port A can have a different configuration from Port B in terms of
data message output, data rates, and the baud rate of the port. This allows you to
configure the ports independently, based upon your needs. For example, if you want
one generalized port and one heading-only port, you can configure Port A to have
GPGGA, GPVTG, GPGSV, GPZDA, and GPHDT all output at 1 Hz over a 9600 baud rate.
You can also configure Port B for GPHDT and GPROT message output at their
maximum rate of 20 Hz over a 19200 baud rate.

The messages you configure each port to output and the rate of the port will be the
same for both RS-232 and RS-422 interface levels. For example, the RS-232 Port A and
RS-422 Port A output the same data messages at the same baud rate. If the baud rate
or messages for the RS-422 port need to be changed, this needs to be commanded
through the RS-232 port.

Both RS-232 and RS-422 output signals may be used simultaneously.

V101 and V111 GPS Compass User Guide 23 PN 875-0250-000 Rev B1

Chapter 2:Installation

54321

9876

Selecting Baud Rates and Message Types

When selecting your baud rate and message types use the following formula to
calculate the bits/sec for each message and then 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)

See “Common Commands and Messages” on page 34 for an example of this
calculation. For information on message output rates refer to the Hemisphere GPS
Technical Reference (go to www.hemispheregps.com/support and click the GPS
Reference icon).

Interfacing to a PC

A personal computer (PC) typically uses a DB9-male connector for RS-232 serial port
communications. To terminate either port for connection to a PC serial port, connect
the wires to a DB9 female connector according to Table 2-3.

Table 2-3: Port A and Port B DB9 RS-232 interface configuration

Port A Port B

Pin Wire Color Signal Pin Wire Color Signal

2 Blue Port A transmit

3 Black/blue

striped

5 Gray Signal ground 4 Gray Signal ground

RS-232

Port A receive
RS-232

2 Brown Port B transmit

3Black/brown

striped

RS-232

Port B receive
RS-232

Figure 2-27 displays the numbering scheme for a DB9 socket connector (female). The
associated numbering for the plug connector (male) on a PC is a mirror reflection of
scheme shown in this figure.

Figure 2-27: DB9 female socket numbering

Note: For successful communications, the baud rate of the V101/111’s serial ports

must be set to match that of the devices to which they are connected.

When interfacing to other devices, ensure the transmit data output from the V101/111
is connected to the data input of the other device. The signal grounds must also be
connected.

Since RS-422 is a balanced signal with positive and negative signals referenced to
ground, ensure you maintain the correct polarity. For example, when connecting the

V101 and V111 GPS Compass User Guide 24 PN 875-0250-000 Rev B1

Chapter 2: Installation

transmit data output positive signal to the receive line of the other device, it should be
connected to the receive positive terminal. The negative transmit data signal from the
V101/111 is then connected to the receive data negative input of the other device.

There is likely little reason to connect the receive data input of the V101/111 to another
device unless it is able to send configuration commands to the V101/111. Since the
V101/111 uses proprietary NMEA 0183 commands for control over its configuration,
the vast majority of electronics will not be able to configure its settings unless the
other device has a terminal setting where you can manually issue commands.

Default Parameters

Table 2-4 through Table 2-8 on page 26 provide details on the default port settings,
available baud rates, differential age, elevation mask, default differential mode, and
beacon receiver settings.

Note: Use the $JSAVE command to save changes you make to the V101/111’s
configuration for the changes to be present in subsequent power cycles.

Table 2-4: Default port settings

Port

Port A
(RS-232)

Port B
(RS-232)

Port A
(RS-422)
output only

Port B
(RS-422)
output only

Power 9 - 36 VDC RED (+)

Note: The default update rate for NMEA 0183 messages is 1 Hz. 10 Hz is the standard
maximum rate, but you can purchase a subscription to upgrade the output rate to 20 Hz.

Table 2-5: Available baud rates

Baud Rates

4800

9600

19200

38400

57600

Baud
Rate

19200 GPGGA, GPVTG, GPGSV,

19200 GPGGA, GPVTG, GPGSV,

19200 GPGGA, GPVTG, GPGSV,

19200 GPGGA, GPVTG, GPGSV,

NMEA Messages

GPZDA, GPHDT, GPROT

GPZDA, GPHDT, GPROT

GPZDA, GPHDT, GPROT

GPZDA, GPHDT, GPROT

Default
Update
Rate

1 Hz BLU

1 Hz BRN

1 Hz GRN

1 Hz YLW

Wires

BLK with BLU

BLK with BRN

BLK with GRN

BLK with YLW

BLK (-)

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Chapter 2:Installation

Table 2-5: Available baud rates

Baud Rates

11 5 20 0

Table 2-6: Correction age and elevation mask defaults

Max DGPS Age Elevation Mask

2700 seconds 5°

Table 2-7: Default differential mode

V101 Differential Mode V111 Differential Mode

SBAS (WAAS/EGNOS) Beacon

The internal beacon module operates in full automatic mode by default as shown in
Ta bl e 2 - 8.

Table 2-8: Frequency selection

Frequency Selection MSK Rate Selection

Automatic Automatic

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Chapter 3: Operation

GPS Overview

V101/111 Overview

Alarm Functionality

Common Commands and Messages

V101 and V111 GPS Compass User Guide 27 PN 875-0250-000 Rev B1

Chapter 3:Operation

GPS Overview

For your convenience, both the GPS and SBAS operation of the V101/111 features
automatic operational algorithms. When powered for the first time, the V101/111
performs a “cold start,” which involves acquiring the available GPS satellites in view
and the SBAS differential service.

If SBAS is not available in your area, an external source of RTCM SC-104 differential
corrections may be used. If you use an external source of correction data, it must
support an eight data bit, no parity, one stop bit configuration (8-N-1).

GPS Operation

The GPS receiver is always operating, regardless of the DGPS mode of operation. The
following sections describe the general operation of the
V101/111’s internal GPS receiver.

Note: Differential source and status have no impact on heading, pitch, or roll. They
only have an impact on positioning and heave.

Automatic Tracking

The V101/111’s internal GPS receiver automatically searches for GPS satellites,
acquires the signals, and manages the navigation information required for positioning
and tracking.

Receiver Performance

The V101/111 works by finding four or more GPS satellites in the visible sky. It uses
information from the satellites to compute a position within 2.5 m. Since there is
some error in the GPS data calculations, the V101/111 also tracks a differential
correction. The V101/111 uses these corrections to improve its position accuracy to
better than 0.6 m.

There are two main aspects of GPS receiver performance:

• Satellite acquisition

• Positioning and heading calculation

When the V101/111 is properly positioned, the satellites transmit coded information to
the antennas on a specific frequency. This allows the receiver to calculate a range to
each satellite from both antennas. GPS is essentially a timing system. The ranges are
calculated by timing how long it takes for the signal to reach the GPS antenna. The
GPS receiver uses a complex algorithm incorporating satellite locations and ranges to
each satellite to calculate the geographic location and heading. Reception of any four
or more GPS signals allows the receiver to compute three-dimensional coordinates
and a valid heading.

Differential Operation

The purpose of differential GPS (DGPS) is to remove the effects of selective
availability (SA), atmospheric errors, timing errors and satellite orbit errors, while
enhancing system integrity. Autonomous positioning capabilities of the V101/111 will
result in positioning accuracies of 2.5 m 95% of the time. In order to improve
positioning quality to sub-meter levels, the V101/111 is able to use differential

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Chapter 3: Operation

corrections received through the internal SBAS demodulator or externally-supplied
RTCM corrections.

In addition to these differential services the V111 can also receive radiobeacon
corrections. You can also purchase the V101 and the V111 with an RTK rover option,
which enables 0.02 m positioning performance when paired with a suitable
Hemisphere GPS RTK base receiver product.

For more information on the differential services and the associated commands refer
to the Hemisphere GPS Technical Reference (go to www.hemispheregps.com/support
and click the GPS Reference icon).

Automatic SBAS Tracking

The V101/111 automatically scans and tracks SBAS signals without the need to tune
the receiver. The V101/111 features two-channel tracking that provides an enhanced
ability to maintain a lock 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.

Beacon Operation

Many marine authorities, such as coast guards, have installed networks of
radiobeacons that broadcast DGPS corrections to users of this system. With the
increasing utility of these networks for terrestrial applications, there is an increasing
trend toward densification of these networks inland. The dual channel beacon receiver
in the V111 can operate in manual or automatic tuning mode, or, using database
mode, will select the closest station in compliance with IEC 61108-4 standards.

V101 and V111 GPS Compass User Guide 29 PN 875-0250-000 Rev B1

Chapter 3:Operation

0.5 m baseline

Primary antenna

V101/111 Overview

The V101/111 provides accurate and reliable heading and position information at high
update rates. To accomplish this task, the V101/111 uses a high performance GPS
receiver and two antennas for GPS signal processing. One antenna is designated as
the primary GPS antenna and the other is the secondary GPS antenna. Positions
computed by the V101/111 are referenced to the phase center of the primary GPS
antenna. Heading data references the vector formed from the primary GPS antenna
phase center to the secondary GPS antenna phase center.

The heading arrow located on the bottom of the V101/111 enclosure defines system
orientation. The arrow points in the direction that the heading measurement is
computed (when the antenna is installed parallel to the fore-aft line of the vessel). The
secondary antenna is directly above the arrow.

Fixed Baseline Moving Base Station RTK

The V101/111’s internal GPS receiver uses both the L1 GPS C/A code and carrier phase
data to compute the location of the secondary GPS antenna in relation to the primary
GPS antenna with a very high sub-centimeter level of precision. The technique of
computing the location of the secondary GPS antenna with respect to the primary
antenna, when the primary antenna is moving, is often referred to as moving base
station Real Time Kinematic (or moving base station RTK).

Generally, RTK technology is very sophisticated and requires a significant number of
possible solutions to be analyzed where various combinations of integer numbers of
L1 wavelengths to each satellite intersect within a certain search volume. The integer
number of wavelengths is often referred to as the “ambiguity” as they are initially
ambiguous at the start of the RTK solution.

The V101/111 restricts the RTK solution by knowing that the secondary GPS antenna is

0.50 m (1.64 ft) from the primary GPS antenna. This is called a fixed baseline and it
defines the search volume of the secondary antenna as the surface of a sphere with
radius 0.50 m (1.64 ft) centered on the primary antenna location (see Figure 3-1).

Figure 3-1: Secondary antenna’s search volume

Note: The V101/111 moving base station algorithm only uses GPS to calculate

heading. Differential corrections are not used in this calculation and will not affect
heading accuracy.

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Chapter 3: Operation

Tilt angle

Supplemental Sensors

The V101/111 has an integrated gyro and two tilt sensors, which are enabled by
default. Each supplemental sensor may be individually enabled or disabled. Both
supplemental sensors are mounted on the printed circuit board inside the V101/111.

The sensors act to reduce the RTK search volume, which improves heading startup
and reacquisition times. This improves the reliability and accuracy of selecting the
correct heading solution by eliminating other possible, erroneous solutions.

The Hemisphere GPS Technical Reference (go to www.hemispheregps.com/support
and click the GPS Reference icon) describes the commands and methodology required
to recalibrate, query, or change the sensors status.

Tilt Aiding

The V101/111’s accelerometers (internal tilt sensors) are factory calibrated and enabled
by default. This constrains the RTK heading solution beyond the volume associated
with just a fixed antenna separation. This is because the V101/111 knows the
approximate inclination of the secondary antenna with respect to the primary
antenna. The search space defined by the tilt sensor will be reduced to a horizontal
ring on the sphere’s surface by reducing the search volume. This considerably
decreases startup and reacquisition times (see Figure 3-2).

Figure 3-2: V101/111’s tilt aiding

Gyro Aiding

The V101/111’s internal gyro offers several benefits. It reduces the sensor volume for
an RTK solution. This shortens reacquisition times when a GPS heading is lost
because the satellite signals were blocked. The gyro provides a relative change in
angle since the last computed heading, and, when used in conjunction with the tilt
sensor, defines the search space as a wedge-shaped location (see Figure 3-3).

Figure 3-3: V101/111’s gyro aiding

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Chapter 3:Operation

The gyro aiding accurately smoothes the heading output and the rate of turn. It
provides an accurate substitute heading for a short period depending on the roll and
pitch of the vessel, ideally seeing the system through to reacquisition. The gyro
provides an alternate source of heading, accurate to within 1º per minute for up to
three minutes, in times of GPS loss for either antenna. If the outage lasts longer than
three minutes, the gyro will have drifted too far and the V101/111 begins outputting
null fields in the heading output messages. There is no user control over the timeout
period of the gyro.

The gyro initializes itself at powerup and during initialization, or you can calibrate it as
outlined in the Hemisphere GPS Technical Reference (go to

www.hemispheregps.com/support and click the GPS Reference icon). When the gyro

is first initializing, it is important that the dynamics that the gyro experiences during
this warmup period are similar to the regular operating dynamics. For example, if you
use the V101/111 on a high speed, maneuverable craft, it is essential that when gyro
aiding in the V101/111 is first turned on, use it in an environment that has high
dynamics for the first five to ten minutes instead of sitting stationary.

With the gyro enabled, the gyro is also used to update the post HTAU smoothed
heading output from the moving base station RTK GPS heading computation. This
means that if the HTAU value is increased while gyro aiding is enabled, there will be
little to no lag in heading output due to vehicle maneuvers. The Hemisphere GPS
Technical Reference includes information on setting an appropriate HTAU value for the
application.

Time Constants

The V101/111 incorporates user-configurable time constants that can provide a degree
of smoothing to the heading, pitch, rate of turn (ROT), course over ground (COG), and
speed measurements. You can adjust these parameters depending on the expected
dynamics of the vessel. For example, increasing the time is reasonable if the vessel is
very large and is not able to turn quickly or would not pitch quickly. The resulting
values would have reduced “noise,” resulting in consistent values with time. However,
if the vessel is quick and nimble, increasing this value can create a lag in
measurements. Formulas for determining the level of smoothing are located in the
Hemisphere GPS Technical Reference (go to www.hemispheregps.com/support and
click the GPS Reference icon). If you are unsure on how to set this value, it is best to be
conservative and leave it at the default setting.

Heading time constant: Use the $JATT,HTAU command to adjust the level of
responsiveness of the true heading measurement provided in the $GPHDT message.
The default value of this constant is 2.0 seconds of smoothing when the gyro is
enabled. The gyro is enabled by default, but can be turned off. By turning the gyro off,
the equivalent default value of the heading time constant would be 0.5 seconds of
smoothing. This is not automatically done and therefore you must manually enter it.
Increasing the time constant increases the level of heading smoothing and increases
lag.

Pitch time constant: Use the $JATT,PTAU command to adjust the level of
responsiveness of the pitch measurement provided in the $PSAT,HPR message. The
default value of this constant is 0.5 seconds of smoothing. Increasing the time
constant increases the level of pitch smoothing and increases lag.

Rate of Turn (ROT) time constant: Use the $JATT,HRTAU command to adjust the
level of responsiveness of the ROT measurement provided in the $GPROT message.

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Chapter 3: Operation

The default value of this constant is 2.0 seconds of smoothing. Increasing the time
constant increases the level of ROT smoothing.

Course Over Ground (COG) time constant: Use 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. Increasing
the time constant increases the level of COG smoothing. COG is computed using only
the primary GPS antenna and its accuracy depends upon the speed of the vessel
(noise is proportional to 1/speed). This value is invalid when the vessel is stationary.

Speed time constant: Use the $JATT,SPDTAU command to adjust the level of
responsiveness of the speed measurement provided in the $GPVTG message. The
default value of this parameter is 0.0 seconds of smoothing. Increasing the time
constant increases the level of speed measurement smoothing.

Alarm Functionality

A relay is located on the Transmit Heading Device (THD) circuit board. The relay
contacts are isolated from all circuitry in the THD. The THD is connected to the coil
side of the relay, but not to the contacts that are connected to the external pins
through the main IO connector. If the THD loses power or heading, the coil voltage is
lost and the relay opens and activates the notification method employed by the user.
When the heading is valid, the relay contacts remain closed, completing the circuit as
an indication that the V101/111 is operational.

Alarm Signal

There are two wires (24 AWG multistrands) on the output cable that are used for the
external alarm function. The color codes for the two wires are white and white/red
stripe and are the output of a relay. When this relay closes, the connection is complete
on the user-defined external notification device.

Watchdog

The watchdog is a timer that is controlled by the software that monitors if the heading
is lost. The watchdog software is compliant with IEC 60495.

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Chapter 3:Operation

Common Commands and Messages

Note: When selecting your baud rate and message types use the following formula

and example to calculate the bits/sec for each message and then 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)

Example:

Message Rate Bytes Bits in byte Bits/sec
GPHDT 10 18 10 1800
GPROT 5 17 10 850
GPHDG 1 31 10 310
GPGGA 1 81 10 810
GPVTG 1 45 10 450
GPZDA 1 36 10 360
GPHEV 1 15 10 150

Total 4730

For information on message output rates refer to the Hemisphere GPS Technical
Reference (go to www.hemispheregps.com/support and click the GPS Reference icon).

Table 3-1 below through Table 3-4 on page 37 provide brief descriptions of common
commands and messages for the V101/111. Refer to the Hemisphere GPS Technical
Reference for more detailed information.

Table 3-1: Commands

Command Description

$GPMSK Tune beacon to specific frequency

$J4STRING Output GPGGA, GPVTG, GPGSA and GPZDA (1Hz max)

$JAGE Specify maximum DGPS (COAST) correction age (6 to 8100

$JAPP Query or specify receiver application firmware

$JASC Specify ASCII messages to output to specific ports (see ASCII

$JBAUD Specify RS-232, RS-422 (output) communication rate

$JBIN Specify binary messages to output to specific ports (see Table 3-3

$JDIFF Query or specify differential correction mode

$JGEO Query or specify SBAS for current location and SBAS satellites

$JI Query unit’s serial number and firmware versions

$JOFF Turn off all data messages

$JQUERY,GUIDE Query accuracy suitability for navigation

V101 and V111 GPS Compass User Guide 34 PN 875-0250-000 Rev B1

seconds)

messages in Table 3-2 on page 35)

on page 36)

Table 3-1: Commands (continued)

Command Description

$JRESET Reset unit’s configuration to firmware defaults

Note: $JRESET clears all parameters. For the V101/111 you will
have to issue the $JATT, 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.

$JSAVE Save session’s configuration changes

$JSHOW Show current configuration

$JT Query receiver type

$JATT,SUMMARY Show current TAU configuration

$JWAASPRN Query or specify specific SBAS PRN numbers

In Table 3-2 on page 35 the Info Type value is one of the following:

•P = Position

• V = Velocity, Time

• H = Heading, Attitude

• S = Sats, Stats, Quality

Table 3-2: NMEA 0183 and other messages

Chapter 3: Operation

Message

$GPDTM P Datum reference Yes

$GPGGA P GPS position and fix data Yes

$GPGLL P Geographic position - lat/long Yes

$GPGNS P GNSS position and fix data Yes

$GPGRS S GNSS range residual (RAIM) Yes

$GPGSA S GNSS DOP and active satellites Yes

$GPGST S GNSS pseudo range error statistics and position

$GPGSV S GNSS satellites in view Yes

*$GPHDG H Provides magnetic deviation and variation for

*$GPHDM H Magnetic heading (based on GPS-derived heading

*$GPHDT H GPS-derived true heading

$GPHEV H Heave value (in meters) Yes

V101 and V111 GPS Compass User Guide 35 PN 875-0250-000 Rev B1

Info

Description

Type

accuracy

calculating magnetic or true heading

*see last bullet in Note at end of this table

and magnetic declination)

*see last bullet in Note at end of this table

*see last bullet in Note at end of this table

IEC
Approved
Message

Ye s

Ye s

No

Ye s

Chapter 3:Operation

Table 3-2: NMEA 0183 and other messages (continued)

Message

Info
Type

Description

$GPRMC P Recommended minimum specific GNSS data Yes

*$GPROT H GPS-derived rate of turn (ROT)

*see last bullet in Note at end of this table

$GPRRE S Range residual and estimated position error message Yes

$GPVTG V COG and ground speed Yes

$GPZDA V Time and date Yes

$PCSI,1 S Beacon status No

$PSAT,GBS S Satellite fault detection (RAIM) Yes

$PSAT,HPR H Proprietary NMEA message that provides heading,

pitch, roll, and time in single message

$PSAT,INTLT H Proprietary NMEA message that provides the pitch

and roll measurements from the internal
inclinometers (in degrees)

$RD1 S SBAS diagnostic information Yes

Notes:

• The GP of the message is the talker ID.

• GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking. They
are to be synchronized with corresponding fix data (GPGGA or GPGNS).

• For information on outputting roll, pitch, and heave data in one message refer to
the Hemisphere GPS Technical Reference (go to www.hemispheregps.com/

support and click the GPS Reference icon).

• * You can change the message header for the HDG, HDM, HDT, and ROT
messages to either GP or HE using the $JATT,NMEAHE command. For more
information refer to the Hemisphere GPS Technical Reference.

IEC
Approved
Message

Ye s

No

Ye s

Table 3-3: Binary messages

$JBIN
Message

Description

1 GPS 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

97 Processor statistics

98 Satellites and almanac

99 GPS diagnostics

V101 and V111 GPS Compass User Guide 36 PN 875-0250-000 Rev B1

Chapter 3: Operation

Table 3-4: Parameters specific to $JATT command

Parameter Description Query Specify

COGTAU Set/query COG time constant (0.0 to 360 0.0 seconds) X X

CSEP Query antenna separation X

GYROAID Enable/disable gyro X X

HBIAS Set/query heading bias (-180.0º to 180.0º) X X

HIGHMP Set/query the high multipath setting for use in poor

XX

GPS environments

HRTAU Set/query time constant (0.0 to 3600.0 seconds) X X

HTAU Set/query heading time constant (0.0 to 3600.0

XX

seconds)

LEVEL Enable/disable level operation X X

MSEP Manually set or query antenna separation X X

NEGTILT Enable/disable negative tilt X X

NMEAHE Change the HDG, HDM, HDT, and ROT message

XX

headers between GP and HE

PBIAS Set/query pitch/roll bias (-15.0º to 15.0º) X X

PTAU Set/query pitch time constant (0.0 to 3600.0 seconds) X X

ROLL Configure for roll or pitch GPS orientation X X

SEARCH Force a new GPS heading search X

SPDTAU Set/query speed time constant (0.0 to 3600.0

XX

seconds)

TILTAID Enable/disable accelerometer, pre-calibrated X X

TILTCAL Calibrate accelerometers X

V101 and V111 GPS Compass User Guide 37 PN 875-0250-000 Rev B1

Appendix A: Troubleshooting

V101 and V111 GPS Compass User Guide 39 PN 875-0250-000 Rev B1

Appendix A:Troubleshooting

Table A-1 provides troubleshooting for common problems.

Table A-1: Troubleshooting

Symptom Possible Solution

Receiver fails to power • Verify polarity of power leads

• Check integrity of power cable connectors

• Check power input voltage (9 to 36 VDC)

• Check current restrictions imposed by power source
(minimum available should be > 1.0 A)

No data from V101/111 • Check receiver power status to ensure the receiver is

powered (an ammeter can be used for this)

• Verify desired messages are activated (using
PocketMax or $JSHOW in any terminal program)

• Ensure the baud rate of the V101/111 matches that of
the receiving device

• Check integrity and connectivity of power and data
cable connections

Random data from
V101/111

• Verify the RTCM or binary messages are not being
output accidentally (send a $JSHOW command)

• Ensure the baud rate of the V101/111 matches that of
the remote device

• Potentially, the volume of data requested to be output
by the V101/111 could be higher than the current baud
rate supports (try using 19200 as the baud rate for all
devices or reduce the amount of data being output)

No GPS lock • Verify the V101/111 has a clear view of the sky

• Verify the lock status of GPS satellites (this can be done
with PocketMax)

No beacon lock • Beacon reception capability is only present on V111

model

• Verify the receiver is tuned to the correct frequency and
bit rate

• Ensure beacon signal coverage is expected in your
area

• Ensure environmental noise is not masking the signal,
reducing the SNR reading

No SBAS lock • Verify the V101/111 has a clear view of the sky

• Verify the lock status of SBAS satellites (this can be
done with PocketMax - monitor BER value)

• Set SBAS mode to automatic with the
$JWAASPRN,AUTO command

Note: SBAS lock is only possible if you are in an
appropriate SBAS region; currently, there is limited SBAS
availability in the southern hemisphere.

V101 and V111 GPS Compass User Guide 40 PN 875-0250-000 Rev B1

Table A-1: Troubleshooting (continued)

Symptom Possible Solution

No heading or incorrect
heading value

• Check CSEP value is fairly constant without varying
more than 1 cm (0.39 in)—larger variations may
indicate a high multipath environment and require
moving the receiver location

• Recalibrate the tilt sensor with $JATT,TILTCAL
command if heading is calculated then lost at
consistent time intervals

• Heading is from primary GPS antenna to secondary
GPS antenna, so the arrow on the underside of the
V101/111 should be directed to the bow side

• $JATT,SEARCH command forces the V101/111 to
acquire a new heading solution (unless gyro is
enabled)

• Enable GYROAID to provide heading for up to three
minutes during GPS 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

• Potentially, the volume of data requested to be output
by the V101/111 could be higher than the current baud
rate supports (try using 19200 as the baud rate for all
devices or reduce the amount of data being output)

No DGPS position in
external RTCM mode

• Verify the baud rate of the RTCM input port matches
the baud rate of the external source

• Verify the pinout between the RTCM source and the
RTCM input port (transmit from the source must go to
receive of the RTCM input port and grounds must be
connected)

• Ensure corrections are being transmitted to the correct
port—using the $JDIFF,PORTB command on Port A will
cause the receiver to expect the corrections to be input
through Port B

Appendix A: Troubleshooting

V101 and V111 GPS Compass User Guide 41 PN 875-0250-000 Rev B1

Appendix B: Technical Specifications

V101 and V111 GPS Compass User Guide 43 PN 875-0250-000 Rev B1

Appendix B:Technical Specifications

Table B-3 through Table B-6 on page 45 provide the V101/111’s sensor, beacon,
communication, power, mechanical, and environmental specifications.

Table B-1: GPS sensor specifications

Item Specification

Receiver type L1, C/A code with carrier phase smoothing

Channels Two 12-channel, parallel tracking

(Two 10-channel when tracking SBAS)

SBAS tracking 2-channel, parallel tracking

Update rate Standard 20 Hz (position and heading)

Horizontal accuracy

< 0.6 m 95% confidence (DGPS1)
< 2.5 m 95% confidence (autonomous, no SA2)

Heading accuracy

Pitch/roll accuracy

Heave accuracy

< 0.30° rms

< 1° rms

3

30 cm

Timing (1PPS) accuracy 50 ns

Rate of turn

Compass safe distance

90°/s maximum

125 cm (49.2 in)

4

Cold start < 60 s typical (no almanac or RTC)

Warm start < 20 s typical (almanac and RTC)

Hot start < 1 s typical (almanac, RTC, and position)

Heading fix < 10 s typical (valid position)

Maximum speed 1,850 kph (999 kts)

Maximum altitude 18,288 m (60,000 ft)

Table B-2: Beacon specifications (V111)

Item Specification

Channels 2-channel, parallel tracking

Frequency range 283.5 to 325 kHz

Operating modes Manual, automatic, and database

Compliance IEC 61108-4 beacon standard

Table B-3: Communication specifications

Item Specification

Serial ports 2 full-duplex RS-232

2 half-duplex RS-422

V101 and V111 GPS Compass User Guide 44 PN 875-0250-000 Rev B1

Appendix B: Technical Specifications

Table B-3: Communication specifications (continued)

Item Specification

Baud rates V101: 4800 to 115200

V111: 4800 to 38400

Correction I/O protocol

Data I/O protocol

Timing output

RTCM SC-104, L-Dif

NMEA 0183, Crescent binary5, L-Dif

1PPS CMOS, active low, falling edge sync, 10 k,

5

5

10 pF load

Heading warning I/O Open relay system indicates invalid heading

Table B-4: Power specifications

Item Specification

Input voltage 9 to 36 VDC

Power consumption ~ 5 W nominal

Current consumption ~ 360 mA @ 12 VDC

Power isolation Isolated power supply

Reverse polarity protection Yes

Table B-5: Mechanical specifications

Item Specification

Enclosure AES Resin high weather resistant, exceptional UV

stability and cold weather impact strength retention

Dimensions
(not including mounts)

Weight

60 L x 16 W x 18 H (cm)

23.6 L x 6.3 W x 7.1 H (in)

V101: ~1.7 kg (3.7 lb)
V111: ~ 2.1 kg (4.6 lb)

6

6

6

6

Power/data connector 18-pin, environmentally sealed

Table B-6: Environmental specifications

Item Specification

Operating temperature -30°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

Shock and vibration IEC 60945

EMC FCC Part 15, Subpart B, CISPR22, CE

IMO Wheelmark certification Yes

V101 and V111 GPS Compass User Guide 45 PN 875-0250-000 Rev B1

Appendix B:Technical Specifications

1

Depends on multipath environment, number of satellites in view, satellite geometry,

baseline length (for local services), and ionospheric activity

2

Depends on multipath environment, number of satellites in view, and satellite

geometry

3

Based on a 40 second time constant

4

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.

5

Hemisphere GPS proprietary

6

Not including mounts

V101 and V111 GPS Compass User Guide 46 PN 875-0250-000 Rev B1

Index

A

alarm

functionality 33
signal 33
watchdog 33

alignment 9
automatic

SBAS tracking 29
tracking 28

B

beacon

operation 29
reception 6
specifications 44

C

COGTAU 33, 37
commands (common) 34
common commands and messages 34
communication specifications 44
connect

to a power source 20
to external devices 21

course over ground time constant 33

E

electrical isolation 20
environmental

considerations 7
specifications 45

external devices 21

F

fixed-base mounting 10

G

GPHEV 7, 35
GPS

automatic SBAS tracking 29
automatic tracking 28
operation
overview
receiver performance 28
sensor specifications

gyro aiding

28

28

44

31

H

heading rate time constant 32

heading time constant
heave 7, 35

accuracy 44
HRTAU 32, 37
HTAU 32, 37

32

I

interfacing the V101/111 21

M

mechanical specifications 45
message (common) 34
mounting

alignment 9

beacon reception 6

environmental considerations 7

fixed-base 10

GPS reception 6

location 6

orientation 7

pole and rail mount 14
moving base station RTK 30

P

parallel mounting 7
perpendicular mounting 7
pitch time constant 32
pole and rail mount 14
power

connecting to a power source 20

considerations 20

electrical isolation 20
power specifications
PTAU 32, 37

45

R

receiver performance 28
RS-232 44
RS-422 44

S

sensor specifications 44
SPDTAU 33, 37
specifications

beacon (V111) 44

communication 44

environmental

GPS sensor

mechanical 45

power 45

45

44

V101 and V111 GPS Compass User Guide 47 PN 875-0250-000 Rev B1

Index

speed time constant 33
supplemental sensors 31

T

tilt aiding 31
time constants 32

COGTAU 33
HRTAU 32
HTAU 32
PTAU 32
SPDTAU 33

tracking

automatic 28
automatic SBAS 29

troubleshooting 40

V

V101/111

gyro aiding 31
moving base station RTK 30
specifications 44
supplemental sensors 31
tilt aiding 31
time constants 32

W

watchdog 33

V101 and V111 GPS Compass User Guide 48 PN 875-0250-000 Rev B1

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28. GENERAL. This is the entire agreement between Licensee and Hemisphere relating to the Product and Licensee's
use of the same, and supersedes all prior, collateral or contemporaneous oral or written representations, warranties
or agreements regarding the same. No amendment to or modification of this Agreement will be binding unless in
writing and signed by duly authorized representatives of the parties. Any and all terms and conditions set out in any
correspondence between the parties or set out in a purchase order which are different from or in addition to the
terms and conditions set forth herein, shall have no application and no written notice of same shall be required. In
the event that one or more of the provisions of this Agreement is found to be illegal or unenforceable, this
Agreement shall not be rendered inoperative but the remaining provisions shall continue in full force and effect.

Warranty Notice

COVERED PRODUCTS: This warranty covers all products manufactured by Hemisphere GPS and purchased by the end

purchaser (the "Products"), unless otherwise specifically and expressly agreed in writing by Hemisphere GPS.

LIMITED WARRANTY: Hemisphere GPS warrants solely to the end purchaser of the Products, subject to the exclusions
and procedures set forth below, that the Products sold to such end purchaser and its internal components shall be free,
under normal use and maintenance, from defects in materials, and workmanship and will substantially conform to
Hemisphere GPS’s applicable specifications for the Product, for a period of 12 months from delivery of such Product to
such end purchaser (the ”Warranty Period”). Repairs and replacement components for the Products are warranted, subject
to the exclusions and procedures set forth below, to be free, under normal use and maintenance, from defects in material
and workmanship, and will substantially conform to Hemisphere GPS’s applicable specifications for the Product, for 90
days from performance or delivery, or for the balance of the original Warranty Period, whichever is greater.

EXCLUSION OF ALL OTHER WARRANTIES. The LIMITED WARRANTY shall apply only if the Product is properly and
correctly installed, configured, interfaced, maintained, stored, and operated in accordance with Hemisphere GPS’s relevant
User’s Manual and Specifications, AND the Product is not modified or misused. The Product is provided “AS IS” and the
implied warranties of MERCHANTABILITY and FITNESS FOR A PARTICULAR PURPOSE and ALL OTHER WARRANTIES,
express, implied or arising by statute, by course of dealing or by trade usage, in connection with the design, sale,
installation, service or use of any products or any component thereof, are EXCLUDED from this transaction and shall not
apply to the Product. The LIMITED WARRANTY is IN LIEU OF any other warranty, express or implied, including but not
limited to, any warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE, title, and non-infringement.

LIMITATION OF REMEDIES. The purchaser’s EXCLUSIVE REMEDY against Hemisphere GPS shall be, at Hemisphere
GPS’s option, the repair or replacement of any defective Product or components thereof. The purchaser shall notify
Hemisphere GPS or a Hemisphere GPS’s approved service center immediately of any defect. Repairs shall be made
through a Hemisphere GPS approved service center only. Repair, modification or service of Hemisphere GPS products by
any party other than a Hemisphere GPS approved service center shall render this warranty null and void. The remedy in
this paragraph shall only be applied in the event that the Product is properly and correctly installed, configured, interfaced,
maintained, stored, and operated in accordance with Hemisphere GPS’s relevant User’s Manual and Specifications, AND
the Product is not modified or misused. NO OTHER REMEDY (INCLUDING, BUT NOT LIMITED TO, SPECIAL, INDIRECT,
INCIDENTAL, CONSEQUENTIAL OR CONTINGENT DAMAGES FOR LOST PROFITS, LOST SALES, INJURY TO PERSON OR
PROPERTY, OR ANY OTHER INCIDENTAL OR CONSEQUENTIAL LOSS) SHALL BE AVAILABLE TO PURCHASER, even if
Hemisphere GPS has been advised of the possibility of such damages. Without limiting the foregoing, Hemisphere GPS
shall not be liable for any damages of any kind resulting from installation, use, quality, performance or accuracy of any
Product.

HEMISPHERE IS NOT RESPONSIBLE FOR PURCHASER’S NEGLIGENCE OR UNAUTHORIZED USES OF THE
PRODUCT. IN NO EVENT SHALL HEMISPHERE GPS BE IN ANY WAY RESPONSIBLE FOR ANY DAMAGES RESULTING

FROM PURCHASER’S OWN NEGLIGENCE, OR FROM OPERATION OF THE PRODUCT IN ANY WAY OTHER THAN AS
SPECIFIED IN HEMISPHERE GPS’S RELEVANT USER’S MANUAL AND SPECIFICATIONS. Hemisphere GPS is NOT
RESPONSIBLE for defects or performance problems resulting from (1) misuse, abuse, improper installation, neglect of
Product; (2) the utilization of the Product with hardware or software products, information, data, systems, interfaces or
devices not made, supplied or specified by Hemisphere GPS; (3) the operation of the Product under any specification other
than, or in addition to, the specifications set forth in Hemisphere GPS’s relevant User’s Manual and Specifications; (4)
damage caused by accident or natural events, such as lightning (or other electrical discharge) or fresh/salt water
immersion of Product; (5) damage occurring in transit; (6) normal wear and tear; or (7) the operation or failure of operation
of any satellite-based positioning system or differential correction service; or the availability or performance of any
satellite-based positioning signal or differential correction signal.

THE PURCHASER IS RESPONSIBLE FOR OPERATING THE VEHICLE SAFELY. The purchaser is solely responsible
for the safe operation of the vehicle used in connection with the Product, and for maintaining proper system control
settings. UNSAFE DRIVING OR SYSTEM CONTROL SETTINGS CAN RESULT IN PROPERTY DAMAGE, INJURY, OR DEATH.
The purchaser is solely responsible for his/her safety and for the safety of others. The purchaser is solely responsible for
maintaining control of the automated steering system at all times. THE PURCHASER IS SOLELY RESPONSIBLE FOR
ENSURING THE PRODUCT IS PROPERLY AND CORRECTLY INSTALLED, CONFIGURED, INTERFACED, MAINTAINED,
STORED, AND OPERATED IN ACCORDANCE WITH HEMISPHERE GPS’S RELEVANT USER’S MANUAL AND
SPECIFICATIONS. Hemisphere GPS does not warrant or guarantee the positioning and navigation precision or accuracy
obtained when using Products. Products are not intended for primary navigation or for use in safety of life applications.
The potential accuracy of Products as stated in Hemisphere GPS literature and/or Product specifications serves to provide
only an estimate of achievable accuracy based on performance specifications provided by the satellite service operator (i.e.
US Department of Defense in the case of GPS) and differential correction service provider. Hemisphere GPS reserves the
right to modify Products without any obligation to notify, supply or install any improvements or alterations to existing
Products.

GOVERNING LAW. This agreement and any disputes relating to, concerning or based upon the Product shall be
governed by and interpreted in accordance with the laws of the State of Arizona.

OBTAINING WARRANTY SERVICE. In order to obtain warranty service, the end purchaser must bring the Product to a
Hemisphere GPS approved service center along with the end purchaser's proof of purchase. Hemisphere GPS does not
warrant claims asserted after the end of the warranty period. For any questions regarding warranty service or to obtain
information regarding the location of any of Hemisphere GPS approved service center, contact Hemisphere GPS at the
following address:

Hemisphere GPS

8444 N. 90th Street, Suite 130
Scottsdale, AZ 85258
Phone: [phone] Fax: [phone]
[email protected]
www.hemispheregps.com

www.hemispheregps.com