Hemisphere GPS Vector V103, Vector V113 User Manual

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Product Name

Quick Reference Guide

Part No.

Vector V103/113 GPS Compass

User Guide

Part No. 875- 0287-000 Rev. A1

www.hemispheregps.com

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Page 3

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.

Hemisphere GPS Precision GPS Applications

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, A31

, A320TM, A321TM, A42TM, A52TM, AC110TM, AerialACETM, AirStarTM, AirTracTM, AutoMateTM,

Bantam

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

Earthworks

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

, GateMateTM, GPSteerTM, H102TM, H320TM, HQTM, IntelliFlow®, IntelliGateTM, IntelliStarTM,

IntelliTrac

, Just Let GoTM, L-DifTM, LiteStar IITM, LV101TM, LX-1TM, LX-2TM, M3TM, MapStar®,

MBX-4

, miniEclipseTM, OutbackTM, Outback 360TM, Outback Guidance CenterTM, Outback

Guidance

, Outback HitchTM, Outback STM, Outback S2TM, Outback S3TM, Outback S-LiteTM, Outback

Sts

, Outback Steering GuideTM, PocketMAX PCTM, PocketMAXTM, PocketMax3TM, R100TM, R131TM,

R220

, R320TM, S320TM, Satloc®, the Satloc logo, SBX-4TM, V101TM, V102TM, V103TM, V 111TM, V113TM,

VS101

, V S 111TM, VS131TM, VectorTM, X200TM, X300TM, XF1TM, XF100TM, XF101TM, and XF102TM are proprietary trademarks of Hemisphere GPS. Other trademarks are the properties of their respective owners.

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

automated hitch control system

is covered by U.S. Patent No. 6,631,916. The Outback eDriveTC

GPS assisted steering system is 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:

Other U.S. and foreign patents pending.

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

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: 480-348-9919 Fax: 480-348-6370 [email protected] www.hemispheregps.com

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21. TERMINATION. Licensee may terminate this Agreement at any time without cause. Hemisphere may terminate this Agreement on 30 days notice to Licensee if Licensee fails to materially comply with each provision of this Agreement unless such default is cured within the 30 days. Any such termination by a party shall be in addition to and without prejudice to such rights and remedies as may be available, including injunction and other equitable remedies. Upon receipt by Licensee of written notice of termination from Hemisphere or termination by Licensee, Licensee shall at the end of any notice period (a) cease using the Software; and (b) return to Hemisphere (or destroy and provide a certificate of a Senior Officer attesting to such destruction) the Software and all related material and any magnetic or optical media provided to Licensee. The provisions of Sections 6), 7), 8), 9), 10), 15), 21), 26) and 27) herein shall survive the expiration or termination of this Agreement for any reason.

22. EXPORT RESTRICTIONS. Licensee agrees that Licensee will comply with all export control legislation of Canada, the United States, Australia and any other applicable country's laws and regulations, whether under the Arms Export Control Act, the International Traffic in Arms Regulations, the Export Administration Regulations, the regulations of the United States Departments of Commerce, State, and Treasury, or otherwise as well as the export control legislation of all other countries.

23. PRODUCT COMPONENTS. The Product may contain third party components. Those third party components may be subject to additional terms and conditions. Licensee is required to agree to those terms and conditions in order to use the Product.

24. FORCE MAJEURE EVENT. Neither party will have the right to claim damages as a result of the other's inability to perform or any delay in performance due to unforeseeable circumstances beyond its reasonable control, such as labor disputes, strikes, lockouts, war, riot, insurrection, epidemic, Internet virus attack, Internet failure, supplier failure, act of God, or governmental action not the fault of the non-performing party.

25. FORUM FOR DISPUTES. The parties agree that the courts located in Calgary, Alberta, Canada and the courts of appeal there from will have exclusive jurisdiction to resolve any disputes between Licensee and Hemisphere concerning this Agreement or Licensee's use or inability to use the Software and the parties hereby irrevocably agree to attorn to the jurisdiction of those courts. Notwithstanding the foregoing, either party may apply to any court of competent jurisdiction for injunctive relief.

26. APPLICABLE LAW. This Agreement shall be governed by the laws of the Province of Alberta, Canada, exclusive of any of its choice of law and conflicts of law jurisprudence.

27. CISG. The United Nations Convention on Contracts for the International Sale of Goods will not apply to this Agreement or any transaction hereunder.

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.

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: 403-259-3311 Fax: 403-259-8866

[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: (480) 348-9919 Fax: (480) 348-6370

[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].

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Vector V103 / V113 User Guide iii PN 875-0287-000 Rev A1

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

VHF Interference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Mounting Orientation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

V103/113 Alignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Mounting Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

V103/113 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Power/Data Cable Considerations . . . . . . . . . . . . . . . . . . . . . 13

Mounting the V103/113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

Connecting the Serial Cable or Serial-to-NMEA 2000 Adapter

to the V103/113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Serial Ports . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

NMEA 2000 Port . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Powering the V103/113 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Power Considerations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Connecting to a Power Source . . . . . . . . . . . . . . . . . . . . . . . . 23

Electrical Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Connecting the V103/113 to External Devices . . . . . . . . . . . . . . . . 24

Power/Data Cable Considerations . . . . . . . . . . . . . . . . . . . . . 24

Power/Data Cable Pinout Specifications . . . . . . . . . . . . . . . . 25

Default Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

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

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

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

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

V103/113 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Fixed Baseline Moving Base Station RTK . . . . . . . . . . . . . . . 29

Supplemental Sensors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

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

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

positioning and navigation accuracy obtainable with the Software as stated in the Product or Software documentation serves to provide only an estimate of achievable accuracy based on specifications provided by the US Department of Defense for GPS positioning and DGPS service provider performance specifications, where applicable.

10. WARRANTY DISCLAIMER. EXCEPT AS EXPRESSLY SET OUT IN THIS AGREEMENT, HEMISPHERE MAKES NO REPRESENTATION, WARRANTY OR CONDITION OF ANY KIND TO LICENSEE, WHETHER VERBAL OR WRITTEN AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES AND CONDITIONS OF ANY KIND INCLUDING FITNESS FOR A PARTICULAR PURPOSE, MERCHANTABILITY, ACCURACY, RELIABILITY OR THAT THE USE OF THE SOFTWARE WILL BE UNINTERRUPTED OR ERROR-FREE AND HEREBY DISCLAIMS ALL REPRESENTATIONS, WARRANTIES AND CONDITIONS ARISING AS A RESULT OF CUSTOM, USAGE OR TRADE AND THOSE ARISING UNDER STATUTE.

11. LIMITS ON WARRANTY DISCLAIMER. Some jurisdictions do not allow the exclusion of implied warranties or conditions, so some of the above exclusions may not apply to Licensee. In that case, any implied warranties or conditions which would then otherwise arise will be limited in duration to ninety (90) days from the date of the license of the Software or the purchase of the Product. The warranties given herein give Licensee specific legal rights and Licensee may have other rights which may vary from jurisdiction to jurisdiction.

12. CHANGE TO WARRANTY. No employee or agent of Hemisphere is authorized to change the warranty provided or the limitation or disclaimer of warranty provisions. All such changes will only be effective if pursuant to a separate agreement signed by senior officers of the respective parties.

13. WARRANTY CLAIM. In the event Licensee has a warranty claim Licensee must first check for and install all Updates that are made available. The warranty will not otherwise be honored. Proof of purchase may be required. Hemisphere does not honor claims asserted after the end of the Warranty Period.

14. LICENSEE REMEDIES. In all cases which involve a failure of the Software to conform in any material respect to the documentation during the Warranty Period or a breach of a warranty, Hemisphere's sole obligation and liability, and Licensee's sole and exclusive remedy, is for Hemisphere, at Hemisphere's option, to (a) repair the Software, (b) replace the Software with software conforming to the documentation, or (c) if Hemisphere is unable, on a reasonable commercial basis, to repair the Software or to replace the Software with conforming software within ninety (90) days, to terminate this Agreement and thereafter Licensee shall cease using the Software. Hemisphere will also issue a refund for the price paid by Licensee less an amount on account of amortization, calculated on a straight-line basis over a deemed useful life of three (3) years.

15. LIMITATION OF LIABILITY. IN NO EVENT WILL HEMISPHERE BE LIABLE TO LICENSEE FOR ANY INCIDENTAL, CONSEQUENTIAL, SPECIAL OR INDIRECT DAMAGES INCLUDING ARISING IN RELATION TO ANY LOSS OF DATA, INCOME, REVENUE, GOODWILL OR ANTICIPATED SAVINGS EVEN IF HEMISPHERE HAS BEEN INFORMED OF THE POSSIBILITY OF SUCH LOSS OR DAMAGE. FURTHER, IN NO EVENT WILL HEMISPHERE'S TOTAL CUMULATIVE LIABILITY HEREUNDER, FROM ALL CAUSES OF ACTION OF ANY KIND, EXCEED THE TOTAL AMOUNT PAID BY LICENSEE TO HEMISPHERE TO PURCHASE THE PRODUCT. THIS LIMITATION AND EXCLUSION APPLIES IRRESPECTIVE OF THE CAUSE OF ACTION, INCLUDING BUT NOT LIMITED TO BREACH OF CONTRACT, NEGLIGENCE, STRICT LIABILITY, TORT, BREACH OF WARRANTY, MISREPRESENTATION OR ANY OTHER LEGAL THEORY AND WILL SURVIVE A FUNDAMENTAL BREACH.

16. LIMITS ON LIMITATION OF LIABILITY. Some jurisdictions do not allow for the limitation or exclusion of liability for incidental or consequential damages, so the above limitation or exclusion may not apply to Licensee and Licensee may also have other legal rights which may vary from jurisdiction to jurisdiction.

17. BASIS OF BARGAIN. Licensee agrees and acknowledges that Hemisphere has set its prices and the parties have entered into this Agreement in reliance on the limited warranties, warranty disclaimers and limitations of liability set forth herein, that the same reflect an agreed-to allocation of risk between the parties (including the risk that a remedy may fail of its essential purpose and cause consequential loss), and that the same forms an essential basis of the bargain between the parties. Licensee agrees and acknowledges that Hemisphere would not have been able to sell the Product at the amount charged on an economic basis without such limitations.

18. PROPRIETARY RIGHTS INDEMNITY. Hemisphere shall indemnify, defend and hold harmless Licensee from and against any and all actions, claims, demands, proceedings, liabilities, direct damages, judgments, settlements, fines, penalties, costs and expenses, including royalties and attorneys' fees and related costs, in connection with or arising out of any actual infringement of any third party patent, copyright or other intellectual property right by the Software or by its use, in accordance with this Agreement and documentation, PROVIDED THAT: (a) Hemisphere has the right to assume full control over any action, claim, demand or proceeding, (b) Licensee shall promptly notify Hemisphere of any such action, claim, demand, or proceeding, and (c) Licensee shall give Hemisphere such reasonable assistance and tangible material as is reasonably available to Licensee for the defense of the action, claim, demand or proceeding. Licensee shall not settle or compromise any of same for which Hemisphere has agreed to assume responsibility without Hemisphere's prior written consent. Licensee may, at its sole cost and expense, retain separate counsel from the counsel utilized or retained by Hemisphere.

19. INFRINGEMENT. If use of the Software may be enjoined due to a claim of infringement by a third party then, at its sole discretion and expense, Hemisphere may do one of the following: (a) negotiate a license or other agreement so that the Product is no longer subject to such a potential claim, (b) modify the Product so that it becomes noninfringing, provided such modification can be accomplished without materially affecting the performance and functionality of the Product, (c) replace the Software, or the Product, with non-infringing software, or product, of equal or better performance and quality, or (d) if none of the foregoing can be done on a commercially reasonable basis, terminate this license and Licensee shall stop using the Product and Hemisphere shall refund the price paid by Licensee less an amount on account of amortization, calculated on a straight-line basis over a deemed useful life of three (3) years.

The foregoing sets out the entire liability of Hemisphere and the sole obligations of Hemisphere to Licensee in respect of any claim that the Software or its use infringes any third party rights.

20. INDEMNIFICATION. Except in relation to an infringement action, Licensee shall indemnify and hold Hemisphere harmless from any and all claims, damages, losses, liabilities, costs and expenses (including reasonable fees of lawyers and other professionals) arising out of or in connection with Licensee's use of the Product, whether direct or indirect, including without limiting the foregoing, loss of data, loss of profit or business interruption.

Page 6

End User License Agreement

IMPORTANT - This is an agreement (the "Agreement") between you, the end purchaser ("Licensee") and Hemisphere

GPS Inc. ("Hemisphere") which permits Licensee to use the Hemisphere software (the "Software") that accompanies this Agreement. This Software may be licensed on a standalone basis or may be embedded in a Product. Please read and ensure that you understand this Agreement before installing or using the Software Update or using a Product.

In this agreement any product that has Software embedded in it at the time of sale to the Licensee shall be referred to as a "Product". As well, in this Agreement, the use of a Product shall be deemed to be use of the Software which is embedded in the Product.

BY INSTALLING OR USING THE SOFTWARE UPDATE OR THE PRODUCT, LICENSEE THEREBY AGREES TO BE LEGALLY BOUND BY THE TERMS OF THIS AGREEMENT. IF YOU DO NOT AGREE TO THESE TERMS, (I) DO NOT INSTALL OR USE THE SOFTWARE, AND (II) IF YOU ARE INSTALLING AN UPDATE TO THE SOFTWARE, DO NOT INSTALL THE UPDATE AND PROMPTLY DESTROY IT.

HEMISPHERE PROVIDES LIMITED WARRANTIES IN RELATION TO THE SOFTWARE. AS WELL, THOSE WHO USE THE EMBEDDED SOFTWARE DO SO AT THEIR OWN RISK. YOU SHOULD UNDERSTAND THE IMPORTANCE OF THESE AND OTHER LIMITATIONS SET OUT IN THIS AGREEMENT BEFORE INSTALLING OR USING THE SOFTWARE OR THE PRODUCT.

1. LICENSE. Hemisphere hereby grants to Licensee a non-transferable and non-exclusive license to use the Software as embedded in a Product and all Updates (collectively the "Software"), solely in binary executable form.

2. RESTRICTIONS ON USE. Licensee agrees that Licensee and its employees will not directly or indirectly, in any manner whatsoever:

a. install or use more copies of the Software than the number of copies that have been licensed; b. use or install the Software in connection with any product other than the Product the Software was intended

to be used or installed on as set out in the documentation that accompanies the Software.

c. copy any of the Software or any written materials for any purpose except as part of Licensee's normal backup

processes; d. modify or create derivative works based on the Software; e. sub-license, rent, lease, loan or distribute the Software; f. permit any third party to use the Software; g. use or operate Product for the benefit of any third party in any type of service outsourcing, application service,

provider service or service bureau capacity; h. reverse engineer, decompile or disassemble the Software or otherwise reduce it to a human perceivable form;

i. Assign this Agreement or sell or otherwise transfer the Software to any other party except as part of the sale

or transfer of the whole Product.

3. UPDATES. At Hemisphere's discretion Hemisphere may make Updates available to Licensee. An update ("Update") means any update to the Software that is made available to Licensee including error corrections, enhancements and other modifications. Licensee may access, download and install Updates during the Warranty Period only. All Updates that Licensee downloads, installs or uses shall be deemed to be Software and subject to this Agreement. Hemisphere reserves the right to modify the Product without any obligation to notify, supply or install any improvements or alterations to existing Software.

4. SUPPORT. Hemisphere may make available directly or through its authorized dealers telephone and email support for the Software. Contact Hemisphere to find the authorized dealer near you. As well, Hemisphere may make available user and technical documentation regarding the Software. Hemisphere reserves the right to reduce and limit access to such support at any time.

5. BACKUPS AND RECOVERY. Licensee shall back-up all data used, created or stored by the Software on a regular basis as necessary to enable proper recovery of the data and related systems and processes in the event of a malfunction in the Software or any loss or corruption of data caused by the Software. Licensee shall assume all risks of loss or damage for any failure to comply with the foregoing.

6. OWNERSHIP. Hemisphere and its suppliers own all rights, title and interest in and to the Software and related materials, including all intellectual property rights. The Software is licensed to Licensee, not sold.

7. TRADEMARKS. "Hemisphere GPS", "Outback Guidance", "BEELINE", "Crescent", "Eclipse" and the associated logos are trademarks of Hemisphere. Other trademarks are the property of their respective owners. Licensee may not use any of these trademarks without the consent of their respective owners.

8. LIMITED WARRANTY. Hemisphere warrants solely to the Licensee, subject to the exclusions and procedures set forth herein below, that for a period of one (1) year from the original date of purchase of the Product in which it is embedded (the "Warranty Period"), the Software, under normal use and maintenance, will conform in all material respects to the documentation provided with the Software and any media will be free of defects in materials and workmanship. For any Update, Hemisphere warrants, for 90 days from performance or delivery, or for the balance of the original Warranty Period, whichever is greater, that the Update, under normal use and maintenance, will conform in all material respects to the documentation provided with the Update and any media will be free of defects in materials and workmanship. Notwithstanding the foregoing, Hemisphere does not warrant that the Software will meet Licensee's requirements or that its operation will be error free.

9. WARRANTY EXCLUSIONS. The warranty set forth in Section (8) will not apply to any deficiencies caused by (a) the Product not being used as described in the documentation supplied to Licensee, (b) the Software having been altered, modified or converted in any way by anyone other than Hemisphere approved by Hemisphere, (c) any malfunction of Licensee's equipment or other software, or (d) damage occurring in transit or due to any accident, abuse, misuse, improper installation, lightning (or other electrical discharge) or neglect other than that caused by Hemisphere. Hemisphere GPS does not warrant or guarantee the precision or accuracy of positions obtained when using the Software (whether standalone or embedded in a Product). The Product and the Software is not intended and should not be used as the primary means of navigation or for use in safety of life applications. The potential

Vector V103 / V113 User Guide iv PN 875-0287-000 Rev A1

Contents

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

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

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

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

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

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

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Vector V103 / V113 User Guide 1 PN 875-0287-000 Rev A1

Chapter 1: Introduction

Overview

Parts List

Vector V103 / V113 User Guide 48 PN 875-0287-000 Rev A1

Index

SPDTAU 33, 37 specifications

beacon sensor

certifications

communication 45 environmental

GPS sensor 44 mechanical 45 power 45

speed time constant 33 supplemental sensors

tilt aiding 30 time constants 32

COGTAU 32 HRTAU

HTAU 32 PTAU 32 SPDTAU 33

tracking

automatic

automatic SBAS 29

troubleshooting 40

V103

gyro aiding

moving base station RTK 29 parts list 3 specifications

supplemental sensors

tilt aiding

time constants 32

VHF interference 7

watchdog 33, 34

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Vector V103 / V113 User Guide 47 PN 875-0287-000 Rev A1

Index

alarm

watchdog 33, 34

alignment 11 automatic

SBAS tracking

tracking 28

beacon

sensor specifications

cable See power/data cable 13 certifications 46 COGTAU

32, 37

commands (common) 34 common commands and messages 34 communication specifications 45 connect

to a power source

to external devices 24

course over ground time constant 32

electrical isolation 23 environmental

considerations 7

specifications 45 environmental considerations 7 external devices 24

flush mount 23

GPHEV 9, 35 GPS

automatic SBAS tracking 29

automatic tracking 28

operation 28

overview

receiver performance 28

sensor specifications 44 GPS reception 6 gyro aiding 31

heading time constant 32

heave

9, 35

accuracy 44 HRTAU 32, 37 HTAU 32, 37

long sight alignment 11

mechanical specifications 45 message (common)

mounting

alignment 11

cable considerations 13

environmental considerations 7

flush mount

GPS reception 6

location 6

orientation 9

parallel orientation 9

perpendicular orientation

pole mount 18

VHF interference 7 moving base station RTK 29

orientation for mounting 9

parallel mounting 9 part numbers

parts list 3 perpendicular mounting 9 pitch time constant 32 pole mount 18 power

connecting to a power source

considerations

electrical isolation

power specifications 45 PTAU 32, 37

rate of turn (ROT) time constant 32 receiver performance 28

sensor specifications 44 short site alignment 11

Vector V103 / V113 User Guide 2 PN 875-0287-000 Rev A1

Chapter 1: Introduction

Overview

The Vector™ V103™ GPS Compass and V113™ GPS Compass are based on Hemisphere GPS’ exclusive Crescent

and Crescent Vector™ II technologies.

Figure 1-1: V103/113 side view

Note: When referring to both the Vector V103 GPS Compass and the Vector V113 GPS

Compass this manual uses the term V103/113. When referring to either product this manual uses either V103 or V113, respectively.

The V103/113 is a complete GPS compass and positioning system in a single enclosure that requires only one power/data cable connection. With its CAN support and ease of installation, the V103/113 is the perfect solution for professional, commercial marine, and machine control applications.

The V103/113 is an integrated system that houses the following:

• Crescent and Crescent Vector II technology

• Dual GPS multipath-resistant antennas

• DGPS beacon module and H-field beacon antenna (V113 only)

• Power supply

• Single axis gyro

• Tilt sensor on each axis (X and Y axes)

The gyro and tilt sensors are present to improve system performance and to provide backup heading information in the event a GPS heading is not available due to signal blockage. The gyro provides a substitute heading for a short period, accurate to within 1º per minute for up to three minutes.

Note: The V103 GPS Compass is identical to the V113 GPS Compass with the exception that it does not contain a DGPS beacon module and antenna. If you purchased the V103 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 Vector II 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.

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Vector V103 / V113 User Guide 3 PN 875-0287-000 Rev A1

Chapter 1: Introduction

The V103/113’s GPS antennas are separated by 50.0 cm between their phase centers, resulting in better than 0.30° rms heading performance. The V103/113 provides heading and positioning updates of up to 20 Hz and delivers positioning accuracy of

0.6 m 95% of the time when using differential GPS corrections from beacon (V113 only) or from Space Based Augmentation Systems (SBAS).

The V103/113 also features Hemisphere GPS’ exclusive COAST™ technology that enables Hemisphere GPS receivers to utilize old differential GPS correction data for 40 minutes or more without significantly affecting the positioning quality. The V103/ 113 is less likely to be affected by differential signal outages due to signal blockages, weak signals, or interference when using COAST.

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 V103/113’s parts comply with IEC 60945 Section 4.4: “exposed to the

weather.”

Table 1-1 lists the parts included with your V103 or V113. The V103/113 GPS Compass and the power/data cable (accessory item) are the only two required components.

This User Guide is available for download from the Hemisphere GPS website at

www.hemispheregps.com.

Table 1-1: Parts list

Part Nam e Qty Part Number

Vector receiver model (one of the following models)

•V103

•V113

1 1

940-3072-000 940-3074-000

All the following are accessory items available for purchase separately from your V103 or V113.

Power/data cable, 15m Power/data cable, 30 m

Each cable includes the following items:

•Clamp

• Screw

•Washer

1 1

880-1042-000 880-1043-000

Serial-to-NMEA 2000 ada pter, includes the following items:

• Screws

•Washers

1 710-0113-00 0#

Installation bracket (black) 1 602-1113-000#

Replacement connector, 18-pin (when upgrading from V101/111 to V103/113)

1 400-0246-0 00#

Vector V103 / V113 User Guide 46 PN 875-0287-000 Rev A1

Appendix B: Technical Specifications

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

baseline length (for local services), and ionospheric activity

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

geometry

Based on a 40 second time constant

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.

Hemisphere GPS proprietary

Table B-7: Certifications

IMO Resolution MSC.116(73) ISO 22090-3 Ed.1.0, 2004 incl. Corr. 1,2005

IMO Resolution A.694(17) IEC 60945 Ed.4.0, 2002 incl. Corr.1, 2008

IMO Resolution MSC.191(79) IEC 61162-1 Ed.4.0 2010

IEC 61162-2 Ed.1.0, 1998

IEC 62288 Ed.1.0, 2008

IMO wheelmarked for Annex A.1 item 4.41 Transmitting heading device THD (GNSS method. Based on the Directive 2009/26/EC.

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Vector V103 / V113 User Guide 45 PN 875-0287-000 Rev A1

Appendix B: Technical Specifications

Table B-3: Communication specifications

Item Specification

Serial ports 1 RS-232 (full-duplex)

2 RS-422 (1 full duplex, 1 half duplex)

Baud rates 4800, 9600, 19200, 38400

Correction I/O protocol

RTCM SC-104, L-Dif™

Data I/O protocol

NMEA 0183, NMEA 2000, Crescent binary5, L-Dif

Table B-4: Power specifications

Item Specification

Input voltage 6 to 36 VDC

Power consumption V103

~ 3 W nominal

V113

~ 3.3 W nominal

Current consumption V103

~ 320mA @ 9VDC ~ 240 mA @ 12 VDC ~ 180 mA @ 16 VDC

V113

~ 350 mA @ 9 VDC ~ 265 mA @ 12 VDC ~ 200 mA @ 16 VDC

Power isolation Isolated to enclosure

Reverse polarity protection Yes

Table B-5: Mechanical specifications

Item Specification

Enclosure UV resistant, white plastic, AES HW 600G,

non-corrosive, self extinguishing

Dimensions 66.3 L x 20.9 W x 14.6 H (cm)

26.1 L x 8.3 W x 5.8 H (in)

Weight V103

2.1 kg (4.6 lb)

V113

2.4 kg (5.4 lb)

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

Vibration IEC 60945

EMC CE (IEC 60945 Emissions and Immunity), FCC Part 15,

Subpart B, CISPR22

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Vector V103 / V113 User Guide 5 PN 875-0287-000 Rev A1

Chapter 2: Installation

Mounting Location

Mounting Orientation

Mounting Options

Ports

Powering the V103/113

Connecting the V103/113 to External Devices

Default Parameters

Vector V103 / V113 User Guide 44 PN 875-0287-000 Rev A1

Appendix B: Technical Specifications

Table B-1 through Table B-6 provide the V103/113’s technical specifications and Table B-7 provides the V103/113’s certification information.

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)

GPS sensitivity -142 dBm

SBAS tracking 2-channel, parallel tracking

Update rate 20 Hz (position and heading)

Horizontal accuracy

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

Heading accuracy < 0.30° rms

Normal operation: GPS Coasting (no GPS): Gyro

Heave accuracy

< 30 cm rms

Normal operation: GPS Coasting (no GPS): None

Pitch accuracy < 1° rms

Normal operation: GPS Coasting (no GPS): Inertial sensor

Roll accuracy < 1° rms using accelerometer

Normal operation: Inertial sensor Coasting (no GPS): Inertial sensor

Timing (1 PPS) accuracy 50 ns

Rate of turn

°/s maximum

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)

Compass safe distance

75 cm (29.5 in)

Maximum speed 1,850 kph (999 kts)

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

Table B-2: Beacon sensor specifications (V113 only)

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

Page 12

Vector V103 / V113 User Guide 43 PN 875-0287-000 Rev A1

Appendix B: Technical Specifications

Vector V103 / V113 User Guide 6 PN 875-0287-000 Rev A1

Chapter 2: Installation

Mounting Location

This section provides information on determining the best location for the V103/113.

GPS Reception

When considering where to mount the V103/113, consider the following GPS reception recommendations:

• Consider GPS (and hence SBAS) reception, ensuring there is a clear view of the sky available to the V103/113 so the GPS and SBAS satellites are not masked by obstructions that may reduce system performance

• Since the V103/113 computes a position based on the internal primary GPS antenna element, mount the V103/113 where 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)

• Locate any transmitting antennas away from the V103/113 by at least a few meters to ensure tracking performance is not compromised, giving you the best performance possible

• Make sure there is enough cable length to route into the vessel 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 V113’s internal beacon receiver as the correction source, consider the possible mounting locations from the perspective of ambient noise within the beacon band.

Keep the following in mind when 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.

Recessed arrow

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Vector V103 / V113 User Guide 7 PN 875-0287-000 Rev A1

Chapter 2: Installation

• If you are installing the antenna on a vessel, mount the V113 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 V113’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).

Environmental Considerations

The V103/113 is designed to withstand harsh environmental conditions; however, adhere to the following limits when storing and using the V103/113:

• 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

VHF Interference

VHF interference from such devices as cellular phones and radio transmitters may interfere with GPS operation. For example, if installing the V103/113 near marine radios consider the following:

• VHF marine radio working frequencies (Channels 1 to 28 and 84 to 88) range from 156.05 to 157.40 MHz. The L1 GPS working center frequency is 1575.42 MHz. The bandwidth is +/- 2MHz to +/- 10 MHz, which is dependent on the GPS antenna and receiver design.

• VHF marine radios emit strong harmonics. The 10th harmonic of VHF radio, in some channels, falls into the GPS working frequency band, which may cause the SNR of GPS to degrade significantly.

• The radiated harmonic signal strength of different brands/models varies.

• Follow VHF radio manufacturers’ recommendations on how to mount their radios and what devices to keep a safe distance away.

• Handheld 5W VHF radios may not provide suitable filtering and may interfere with the V103/113’s operation if too close.

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Vector V103 / V113 User Guide 41 PN 875-0287-000 Rev A1

Appendix A: Troubleshooting

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

• Heading is from primary GPS antenna to secondary GPS antenna, so the arrow on the underside of the V103/113 should be directed to the bow side

• $JATT,SEARCH command forces the V103/113 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 V103/113 could be higher than the current baud rate supports (try using 1920 0 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

Table A-1: Troubleshooting (continued)

Symptom Possible Solution

Vector V103 / V113 User Guide 8 PN 875-0287-000 Rev A1

Chapter 2: Installation

Before installing the V103/113 use the following diagram to ensure there are no nearby devices that may cause VHF interference.

Figure 2-1: V103/113 distance from nearby VHF radios

VHF gain pattern

VHF antenna

GPS antenna

GPS gain pattern

Horizontal spacing more than 2 m

Vertical spacing of greater than 1 m

GPS cable should be 30 cm away from VHF

cable for first 5 m of VHF cable

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Vector V103 / V113 User Guide 9 PN 875-0287-000 Rev A1

Chapter 2: Installation

Mounting Orientation

The V103/113 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 V103/113 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 V103/113 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 V103/113 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.

Vector V103 / V113 User Guide 40 PN 875-0287-000 Rev A1

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 (6 to 36 VDC)

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

No data from V103/113 • 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 command in any terminal program)

• Ensure the baud rate of the V103/113 matches that of the receiving device

• Check integrity and connectivity of power and data cable connections

Random data from V103/113

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

• Ensure the baud rate of the V103/113 matches that of the remote device

No GPS lock • Verify the V103/113 has a clear view of the sky

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

No SBAS lock • Verify the V103/113 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.

Page 16

Vector V103 / V113 User Guide 39 PN 875-0287-000 Rev A1

Appendix A: Troubleshooting

Vector V103 / V113 User Guide 10 PN 875-0287-000 Rev A1

Chapter 2: Installation

Figure 2-2 and Figure 2-3 provide mounting orientation examples.

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

Figure 2-3: Alternate orientation and resulting signs of HPR values

Forward motion

Recessed arrow located on bottom of enclosure

Forward motion

Recessed arrow located on bottom of enclosure

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Vector V103 / V113 User Guide 11 PN 875-0287-000 Rev A1

Chapter 2: Installation

V103/113 Alignment

The top of the V103/113 enclosure incorporates sight design features to help you align the enclosure with respect to an important feature on your vessel.

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 Figure 2-4 and Figure 2-5. Alignment accuracy when looking through the long site (Figure 2-4) is approximately +/- 1°, while alignment through the short site (Figure 2-5) is approximately +/- 2.5°.

Figure 2-4: Long site alignment

Figure 2-5: Short sight alignment

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 V103/113 alignment within the V103/113 software configuration. Alternatively, you can physically adjust the heading of the V103/113 so that it render s the correct heading measurement; however, adding a software offset is an easier process.

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Vector V103 / V113 User Guide 37 PN 875-0287-000 Rev A1

Chapter 3: Operation

95 Satellite ephemeris data

96 Code and carrier phase

97 Processor statistics

98 Satellites and almanac

99 GPS diagnostics

Table 3-5: Parameters specific to $JATT command

Parameter Description Query S pecify

COGTAU Set/query COG time constant (0.0 to 3600.0 sec) X X

CSEP Query antenna separation X

EXACT Enable/disable internal filter reliance on the entered

antenna separation

FLIPBRD Turn the flip feature on/off X X

GYROAID Enable/disable gyro X X

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

HELP Show the available commands for GPS head ing

operation and status

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

GPS environments

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

HTAU Set/query heading time constant (0.0 to 3600.0 sec) X X

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

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 sec) 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 sec) X X

SUMMARY Display a summary of the current Crescent Vector

settings

TILTAID Enable/disable accelerometer, pre-calibrated X X

TILTCAL Calibrate accelerometers X

Table 3-4: Binary messages (continued)

$JBIN Message Description

Vector V103 / V113 User Guide 12 PN 875-0287-000 Rev A1

Chapter 2: Installation

Mounting Options

The V103/113 allows for two different mounting options: flush mount and pole mount.

• Flush mount - The bottom of the V103/113 contains eight M8-1.25 holes for flush mounting the unit to a flat surface (see Figure 2-6). The eight holes comprise two sets of four holes. The inner four holes are in the same location as the V102, allowing you to use the V103/113 as a drop-in replacement. The outer four holes provide a wider mounting option.

• Pole mount - The bottom of the V103/113 contains a mounting hole (1" thread, 0.9" depth) for easy pole mounting. Hand tighten until snug (do not overtighten). The set screws on the long sides of the base (see middle drawing in Figure 2-6) allow you to secure the V103/113 in place (3/16" Allen wrench not included).

• Bracket mount - You can purchase on optional mounting bracket. See Table 1-1 on page 3 for bracket part information.

V103/113 Dimensions

Figure 2-6 illustrates the physical dimensions of the V103/113.

Figure 2-6: V103/113 dimensions

145.94 mm (5.745 in)

662.29 mm (26.074 in)

Set screw, 3/8-16 UNC thread size 2 places

208.38 mm (8.203 in)

46.99 mm (1.850 in)

93.98 mm (3.70 in)

76.20 mm (3.000 in)

152.40 mm (6.000 in)

M8 x 1.25 thread size 8 places

1-14 UNS thread size

101.60 mm (4.000 in)

31.75 mm (1.250 in)

63.50 mm (2.500 in)

50.80 mm (2.000 in)

Note: This drawing shows the Serialto-NMEA 2000 adapter attached

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Vector V103 / V113 User Guide 13 PN 875-0287-000 Rev A1

Chapter 2: Installation

Power/Data Cable Considerations

Before mounting the V103/113 consider the following regarding power/data cable routing:

• Cable must reach an appropriate power source

• Cable may connect to a data storage device, computer, or other device that accepts GPS data

• Avoid running the cable in areas of excessive heat

• Keep cable away from corrosive chemicals

• Do not run the cable through door or window jams

• Keep cable away from rotating machinery

• Do not crimp or excessively bend the cable

• Avoid placing tension on the cable

• Remove unwanted slack from the cable at the V103/113 end

• Secure along the cable route using plastic wraps

Improperly installed cable near machinery can be dangerous.

Vector V103 / V113 User Guide 36 PN 875-0287-000 Rev A1

Chapter 3: Operation

$GPRMC P 20 Hz Recommended minimum specific GNSS

data

Yes

*$GPROT H 20 Hz GPS-derived rate of turn (ROT)

*see last bullet in Note at end of this table

Yes

$GPRRE S 1 Hz Range residual and estimated position error Yes

$GPVTG V 20 Hz COG and ground speed Yes

$GPZDA V 20 Hz Time and date Yes

$PASHR H 20 Hz Time, heading, roll, and pitch data in one

message

$PSAT,GBS S 1 Hz Satellite fault detection (RAIM) Yes

$PSAT,HPR H 20 Hz Proprietary NMEA message that provides

heading, pitch, roll, and time in single message

$PSAT,INTLT H 1 Hz Proprietary NMEA message that provides

the pitch and roll measurements from the internal inclinometers (in degrees)

Yes

$RD1 S 1 Hz SBAS diagnostic information Yes

$TSS1 H 20 Hz Heading, pitch, roll, and heave message in

the commonly used TSS1 message format

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.

– To preface these messages with GP, issue the following command:

$JATT,NMEAHE,0<CR><LF>

– To preface these messages with HE, issue the following command:

$JATT,NMEAHE,1<CR><LF>

For more information on the $JATT,NMEAHE command refer to the Hemisphere GPS Technical Reference.

Table 3-4: Binary messages

$JBIN Message Description

1 GPS position

2 GPS DOPs

80 SBAS

93 SBAS ephemeris data

94 Ionosphere and UTC conversion parameters

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

Message

Info Typ e

Max Output Rate

Description

IEC Approved Message

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Vector V103 / V113 User Guide 35 PN 875-0287-000 Rev A1

Chapter 3: Operation

In Table 3-3 the Info Type value is one of the following:

•P = Position

• V = Velocity, Time

• H = Heading, Attitude

• S = Sats, Stats, Quality

$JRESET Reset unit’s configuration to firmware defaults

Note: $JRESET clears all parameters. For the V103/113 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.

You can also issue the $JRESET command with an optional field as follows:

• $JRESET,ALL does everything $JRESET does, plus it clears almanacs

• $JRESET,BOOT does everything $JRESET,ALL does, plus clears use of the real-time clock at startup, clears use of backed-up ephemeris and almanacs, and reboots the recei ver when done

$JSAVE Save session’s configuration changes

Table 3-3: NMEA 0183 and other messages

Message

Info Typ e

Max Output Rate

Description

IEC Approved Message

$GPDTM P 1 Hz Datum reference Yes

$GPGGA P 20 Hz GPS position and fix data Yes

$GPGLL P 20 Hz Geographic position - lat/long Yes

$GPGNS P 20 Hz GNSS position and fix data Yes

$GPGRS S 1 Hz GNSS range residual (RAIM) Yes

$GPGSA S 1 Hz GNSS DOP and active satellites Yes

$GPGST S 1 Hz GNSS pseudo range error statistics and

position accuracy

Yes

$GPGSV S 1 Hz GNSS satellites in view Yes

*$GPHDG H 20 Hz Provides magnetic deviation and variation

for calculating magnetic or true heading

*see last bullet in Note at end of this table

Yes

*$GPHDM H 20 Hz Magnetic heading (based on GPS-derived

heading and magnetic declination)

*see last bullet in Note at end of this table

*$GPHDT H 20 Hz GPS-derived true heading

*see last bullet in Note at end of this table

Yes

$GPHEV H 20 Hz Heave value (in meters) Yes

Table 3-2: Commands (continued)

Command Description

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Mounting the V103/113

This section describes how to flush mount or pole mount the V103/113.

Keep the following in mind when planning your installation:

• Hemisphere GPS does not supply mounting surface hardware or a mounting pole. You must supply the appropriate hardware or mounting pole required to complete V103/113 installation.

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

Flush Mounting the V103/113

The bottom of the V103/113 contains eight holes (two sets of four holes) for flush mounting the unit to a flat surface (Figure 2-7). The flat surface may be something you fabricate per your installation, an off-the-shelf item (such as a radar mounting plate), or an existing surface on your vessel.

Figure 2-7: Flush mounting holes on bottom of V103/113

Complete the following steps to flush mount the V103/113:

1. Determine the desired location and proper orientation for the V103/113. See “Mounting Orientation” on page 9 for information on determining the desired orientation.

2. Use the supplied template or photocopy the section of the V103/113 that contains the eight mounting holes (see Figure 2-7) for use as a template to plan the mounting hole locations. Use the inner four holes or the outer four holes per your installation.

If using a photocopy make sure it is scaled one-to-one with the mounting holes on the bottom of the V103/113.

3. Mark the mounting hole centers on the mounting surface.

4. Place the V103/113 over the marks to ensure the planned hole centers align with the true hole centers (adjusting as necessary).

5. Use a center punch to mark the hole centers.

6. Drill the mounting holes with a 9 mm bit appropriate for the surface.

7. Place the V103/113 over the mounting holes and insert the mounting screws through the bottom of the mounting surface into the V103/113.

When installing the V103/113, hand tighten only. Damage

resulting from overtightening is not covered by the warranty.

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Pole Mounting the V103/113

If you need the GPS-assisted roll measurement, install the V103/113 perpendicular to the vessel’s axis. If you do not need this measurement, install the V103/113 parallel with the vessel’s axis. For more information refer to Figure 2-2 and Figure 2-3 on page 10.

Complete the following steps to pole mount the V103/113:

1. Determine the desired location and proper orientation for the V103/113. See “Mounting Orientation” on page 9 for information on determining the desired orientation.

2. Hand tighten the V103/113 on the pole until snug (unit is stable on pole) while ensuring correct orientation.

Hand tighten only. Damage resulting from overtightening is

not covered by the warranty.

3. Use the set screws on the long sides of the base (see Figure 2-6 on page 12) to secure the V103/113 in place (3/16" Allen wrench not included).

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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.

The V103/113 has maximum baud rate of 3840 0.

Message output rate * Message length (bytes) * bits in byte = Bits/second (1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for overhead)

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

Table 3-2 below through Table 3-5 on page 37 provide brief descriptions of common commands and messages for the V103/113. Refer to the Hemisphere GPS Technical Reference for more detailed information.

Example:

Message Rate Bytes Bits in byte Bits/sec GPHDT 10 20 10 20 00 GPROT 5 18 10 900 GPHDG 1 33 10 330 GPGGA 1 83 10 830 GPZDA 1 38 10 380

Total 4440

Table 3-2: Commands

Command Description

$GPMSK Tune beacon to specific frequency

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

$JAPP Query or specify receiver application firmware

$JASC Specify ASCII messages to ou tput to specific ports (see ASCII

messages in Table 3-3)

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

$JBIN Specify binary messages to output to specific ports (see Table 3-4)

$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 dat messages

$JQUERY,GUIDE Query accuracy suitability for navigation

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(noise is proportional to 1/speed). This value is invalid when the vessel is stationary, as tiny movements due to calculation inaccuracies are not representative of a vessel’s movement.

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 constant is 0.0 seconds of smoothing. Increasing the time constant increases the level of speed measurement smoothing.

Alarm Functionality

Note: Alarm functionality is only valid for serial communication.

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 output, the relay contacts remain closed, completing the circuit as an indication that the V103/113 is operational.

Note: Alarm pins must be connected to an IMO-approved device.

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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Connecting the Serial Cable or Serial-to-NMEA 2000 Adapter to the V103/113

After you mount the V103/113 connect either the serial power/data cable or the serial-to-NMEA 2000 adapter to the V103/113.

Connecting the Serial Power/Data Cable

1. Align the cable connector keyway with the V103/113 connector key.

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

3. Attach the power/data cable to the cable clamp.

4. Fasten the clamp to the bottom of the V103/113 using the screw and washer.

5. Attach the cable cover.

Cable connector V103/113

Connect cable here

keyway connector key

Cable ring

Steps 1&2: Attach cable to unit

Steps 3&4: Attach clamp and cable to unit

Step 5: Attach cable cover

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Connecting the Serial-to-NMEA 2000 Adapter

For more information on the serial-to-NMEA 2000 adapter see “NMEA 2000 Port” on page 19.

1. Align the adapter connector keyway with the V103/113 connector key.

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

3. Fasten the adapter to the body of the V103/113 using the provided screws and the two slots in the adapter.

4. Attach the cable cover.

Cable connector V103/113

Connect

keyway connector key

Cable ring

Steps 1&2: Attach adapter to unit

adapter here

Step 3: Fasten

Step 4: Attach cable cover

adapter to unit

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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 V103/113 on a high speed, maneuverable craft, it is recommended that when gyro aiding in the V103/113 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 V103/113 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.

Note: For heading and rate of turn there is no lag once the gyro is calibrated and enabled.

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 10.0 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 only if the gyro is disabled.

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. 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

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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 instances of incorrect headings as well as startup and reacquisition times (see Figure 3-2).

Figure 3-2: V103/113’s tilt aiding

Gyro Aiding

The V103/113’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: V103/113’s gyro aiding

The gyro aiding accurately smoothes the heading output and the rate of turn. It provides a substitute heading for a short period, 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 V103/113 begins outputting null fields in the heading output messages. There is no user control over the timeout period of the gyro.

Calibration, which is set at the factory, is required for the gyro to remove latency from the heading solution as well as provide backup heading when GPS is blocked. The receiver will calibrate itself after running for a while but it may be important to follow the manual calibration instructions if you want to guarantee performance quickly after powering up the receiver.

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

Tilt angle

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Ports

The V103/113 offers either serial port or NMEA 2000 port functionality.

Serial Ports

The V103/113 has three ports (Port A, Port B, and Port C), where:

• Port A can be both full-duplex RS-232 and half-duplex RS-422 (transmit only)

• Port B is full-duplex RS-422

• Port C is for NMEA 2000 and only available via serial-to-NMEA 200 0 adapter

You can receive external differential corrections via either Port A (full-duplex RS-232) or Port B (full-duplex RS-422). You can connect up to three devices at one time using two ports. One device can receive data via Port A (RS-422 transmit only) while two devices can transmit and receive data via Ports A and B (one connected to Port A RS232 and one connected to Port B).

Note: Port A (RS-422) or Port B is required for communicating to an IMO-approved device.

You can update firmware via Port A (RS-232) or Port B.

Note: The V103/113 has maximum baud rate of 38400.

Serial Port Configuration

You may configure Port A or Port B of the GPS receiver to output any combination of data. 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 the ports as follows:

• Port A to have GPGGA, GPVTG, GPGSV, GPZDA, and GPHDT all output at 1 Hz over a 9600 baud rate.

• 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.

Note: For successful communications use the 8-N-1 protocol and set the baud rate of the V103/113’s serial ports to match that of the devices to which they are connected. Flow control is not supported.

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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).

Recommendations for Connecting to Other Devices

When interfacing to other devices, ensure the transmit data output from the V103/113 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 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 V103/113 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 V103/113 to another device unless it is able to send configuration commands to the V103/113. Since the V103/113 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.

NMEA 2000 Port

To use V103/113 for NMEA 2000 you have to connect the included serial-to-NMEA 2000 adapter (P/N 710-0113-000#, see Figure 2-8) to the unit. Insert the 18-pin connector of the adapter into the male end of the 18-pin connector on the V103/ 113 by aligning the keys. You can then attach the adapter to the unit using the supplied screws (machine, 8-32, ½”, PPHC, SS) and washer (flat, #8, SS). The 5-pin male Micro-C connector connects to your NMEA 200 0 drop cable.

Figure 2-8: Serial-to-NMEA 2000 adapter

Note: The serial-to-NMEA 2000 adapter is not an IMO requirement and may not be

used in such an application.

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Figure 3-1: Secondary antenna’s search volume

Note: The V103/113 moving base station algorithm only uses GPS to calculate

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

Supplemental Sensors

The V103/113 has three supplemental sensors (gyro and two tilt sensors) that are integrated into the unit’s carrier board. The supplemental sensors are enabled by default. You can enable/disable the gyro and both tilt sensors (you cannot enable/ disable each tilt sensor separately).

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. Table 3-1 provides a sensor operation summary.

Refer to the Hemisphere GPS Technical Reference (go to www.hemispheregps.com/

support and click the GPS Reference icon) for the commands and methodology

required to recalibrate, query, or change a sensor’s status.

Tilt Aiding

The V103/113’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 V103/113 knows the approximate inclination of the secondary antenna with respect to the primary

Table 3-1: Sensor operation summary

Feature Normal Operation Coasting (no GPS)

Heading GPS Gyro

Heave GPS None

Pitch GPS Inertial sensor

Roll Inertial sensor Inertial sensor

50 cm

Primary antenna

baseline

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Automatic SBAS Tracking

The V103/113 automatically scans and tracks SBAS signals without the need to tune the receiver. The V103/113 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 V113 can operate in manual or automatic tuning mode, or, using database mode, will select the closest station in compliance with IEC 61108-4 standards.

V103/113 Overview

The V103/113 provides accurate and reliable heading and position information at high update rates. To accomplish this task, the V103/113 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 V103/113 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 V103/113 enclosure defines system orientation. The arrow points in the direction 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 V103/113’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 V103/113 restricts the RTK solution. It does this knowing that the secondary GPS antenna is 50 cm 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 50 cm centered on the location of the primary antenna (see Figure 3-1).

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Table 2-1 shows the requested PGNs with the V103/113 in NMEA 20 00 mode.

Table 2-1: Received messages based on a request

PG No. (PGN)

Description Level

Default Update Rate (msec)

Freq (Hz)

059392 ISO Acknowledgement

Used to acknowledge the status of certain requests addressed to a specific ECU.

BOn

Request

On Request

059904 ISO Request

Request the transmission of a specific PGN, addressed or broadcast.

BOn

Request

On Request

060928 ISO Address Claim

Used to identify to other ECUs the address claimed by an ECU.

BOn

Request

On Request

126996 Product Information

NMEA 2000 database version supported, manufacturer’s product code, NMEA 2000 certification level, Load Equivalency number, and other productspecific information.

BOn

Request

On Request

126464 Receive/Transmit PGNs group function

The Transmit / Receive PGN List Group type of function is defined by first field. The message will be a Transmit or Receive PGN List group function.

BOn

Request

On Request

129538 GNSS Control Status

GNSS common satellite receiver parameter status.

BOn

Request

On Request

129545 GNSS RAIM Output

Used to provide the output from a GNSS receiver's Receiver Autonomous Integrity Monitoring (RAIM) process. The Integrity field value is based on the parameters set in PGN 129546 GNSS RAIM Settings.

BOn

Request

On Request

129546 GNSS RAIM Settings

Used to report the control parameters for a GNSS Receiver Autonomous Integrity Monitoring (RAIM) process.

BOn

Request

On Request

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Table 2-2 shows the transmitted PGNs with their default update rate with the V103/113 in NMEA 2000 mode.

Table 2-2: Transmitted messages

PG No. (PGN)

Description Level

Default Update Rate (msec)

Freq (Hz)

126992 System Time

The purpose of this PGN is twofold: To provide a regular transmission of UTC time and date. To provide synchronism for measurement data.

100 0 1

127250 Vessel Heading

Heading sensor value with a flag for True or Magnetic. If the sensor value is Magnetic, the deviation field can be used to produce a Magnetic heading, and the variation field can be used to correct the Magnetic heading to produce a True heading.

B100 10

127251 Rate of Turn

Rate of change of the Heading.

B100 10

127257 Attitude

Provides a single transmission that describes the position of a vessel relative to both horizontal and vertical planes. This would typically be used for vessel stabilization, vessel control and onboard platform stabilization.

B10001

127258 Magnetic Variation

Message for transmitting variation. The message contains a sequence number to allow synchronization of other messages such as Heading or Course over Ground. The quality of service and age of service are provided to enable recipients to determine an appropriate level of service if multiple transmissions exist.

100 0 1

129025 Position, Rapid Update

Provides latitude and longitude referenced to WGS84. Being defined as single frame message, as opposed to other PGNs that include latitude and longitude and are defined as fast or multipacket, this PGN lends itself to being transmitted more frequently without using up excessive bandwidth on the bus for the benefit of receiving equipment that may require rapid position updates.

B100 10

129026 COG & SOG, Rapid Update

Single frame PGN that provides Course Over Ground (COG) and Speed Over Ground (SOG).

B 250 4

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GPS Overview

For your convenience, both the GPS and SBAS operation of the V103/113 features automatic operational algorithms. When powered for the first time, the V103/113 performs a ‘cold start’ that 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 V103/113’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 V103/113’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 V103/113 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 V103/113 also tracks a differential correction. The V103/113 uses these corrections to improve its position accuracy to better than 0.6 m.

The two main aspects of GPS receiver performance are 1) satellite acquisition, and

2) positioning and heading calculation.

When the V103/113 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 V103/113 will result in positioning accuracies of 2.5 m 95% of the time. In order to improve positioning quality to better than 0.6 m 95%, the V103/113 is able to use differential corrections received through the internal SBAS demodulator or beacon receiver, or through externally-supplied RTCM corrections.

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GPS Overview

V103/113 Overview

Common Commands and Messages

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129027 Position Delta, High Precision Rapid Update

The ‘Position Delta, High Precision Rapid Update’ Parameter Group is intended for applications where very high precision and very fast update rates are needed for position data. This PGN can provide delta position changes down to 1 mm with a delta time period accurate to 5 msec.

B100 10

129028 Altitude Delta, High Precision Rapid Update

The ‘Altitude Delta, High Precision Rapid Update’ Parameter Group is intended for applications where very high precision and very fast update rates are needed for altitude and course over ground data. This PG can provide delta altitude changes down to 1 millimeter, a change in direction as small as 0.0057°, and with a delta time period accurate to 5 msec.

B100 10

129029 GNSS Position Data

Conveys a comprehensive set of Global Navigation Satellite System (GNSS) parameters, including position information.

B10001

129033 Time & Date

Single transmission that provides UTC time, UTC Date, and Local Offset.

B10001

129539 GNSS DOPs

Provides a single transmission containing GNSS status and dilution of precision components (DOP) that indicate the contribution of satellite geometry to the overall positioning error. There are three DOP parameters reported: horizontal (HDOP), Vertical (VDOP), and time (TDOP).

B10001

129540 GNSS Sats in View

GNSS information on current satellites in view tagged by sequence ID. Information includes PRN, elevation, azimuth, SNR, defines the number of satellites; defines the satellite number and the information.

B10001

Table 2-2: Transmitted messages (continued)

PG No. (PGN)

Description Level

Default Update Rate (msec)

Freq (Hz)

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Powering the V103/113

Power Considerations

For best performance use a clean and continuous power supply. The V103/113 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

Note: This section refers to powering the unit via serial connection. To power the unit

via NMEA 2000 connection, follow the standard procedure for powering up via NMEA 2000.

Before you power up the V103/113 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 V103/113 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 V103/113 will start when an acceptable voltage is applied to the power leads of the extension cable.

Electrical Isolation

The V103/113’s power supply is isolated from the communication lines and the PC-ABS plastic enclosure isolates the electronics mechanically from the vessel (addressing the issue of vessel hull electrolysis).

Vector V103 / V113 User Guide 26 PN 875-0287-000 Rev A1

Chapter 2: Installation

Default Parameters

Table 2-4 and Table 2-5 provide details on the default port settings, available baud rates, differential age, elevation mask, and default differential mode.

Note: Use the $JSAVE command to save changes you make to the V103/113’s configuration for the changes to be present in subsequent power cycles.

Table 2-4: Default port settings

Port Baud Rate NMEA Messages Update Rate

Port A (RS-232)

19200 GPGGA, GPVTG, GPGSV, GPZDA,

GPHDT, GPROT

1 Hz

Port C (RS-232)

19200 GPGGA, GPVTG, GPGSV, GPZDA,

GPHDT, GPROT

1 Hz

Power

RED (+) BLK (-)

6 - 36 VDC

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: Default parameters

Unit Parameter Specification

V103 and V113 Max DGPS age (correction age) 2700 seconds

Elevation mask 5°

Differential mode V103: SBAS

V113: Beacon

V113 (internal beacon parameters)

Frequency selection Automatic

MSK rate selection Automatic

Page 30

Vector V103 / V113 User Guide 25 PN 875-0287-000 Rev A1

Chapter 2: Installation

Power/Data Cable Pinout Specifications

Figure 2-10 shows the power/data cable pinout, while Table 2-3 shows the cable’s pinout specifications.

Figure 2-10: Power/data cable pin assignment

Table 2-3: Power/data cable pinout

Pin Function Wire Color

1 Power (+) Red

2 Power (-) Black

3 Port A Tx RS-232 Blue

4 Port A Rx RS-232 Black/blue stripe

5 Reserved

6 Port A Tx RS-422(+) Green

7 Port B Rx RS-422(+) Brown

8 Port B Rx RS-422(-) Black/brown stripe

9 Reserved

10 Drain Bare wire

11 Port A Tx RS-422(-) Green/black stripe

12 Signal ground Grey

13 Alarm White

14 Alarm White/red stripe

15 1 PPS(+) Orange

16 Port B Tx RS-422(+) Yellow

17 Port B Tx RS-422(-) Yellow/black stripe

18 1 PPS(-) Orange/black stripe

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Chapter 2: Installation

Connecting the V103/113 to External Devices

Note: This section refers to a serial connection. For connecting external NMEA 200 0

devices, plug the serial-to-NMEA 2000 adapter into the V103/113 and then attach a standard NMEA 2000 dropline cable to the adapter.

Power/Data Cable Considerations

The V103/113 uses a single 15 m (49 ft) or 30 m (98 ft) cable for power and data input/ output.

Figure 2-9: Power/data cable, 15 m or 30 m

The receiver end of the cable is terminated with an environmentally sealed 18-pin connection while 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 30 m, you can bring the cable into a break-out box that incorporates terminal strips, within the vessel.

When lengthening the cable keep the following in mind:

• To lengthen the serial lines inside the vessel, use 20-gauge twisted pairs and minimize the additional wire length.

• When lengthening the power input leads to the V103/113, 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 also be used.

• Minimize RS-232 cable length to ensure reliable communication

25 mm

50 mm

100 mm

15 m / 30 m

25 mm

Cover drain wire with black shrink tube

Shrink tubes