Hemisphere GPS Vector V200s User Manual

875

User Guide
Rev
June

-0395-10 V200s Vector™

GNSS Compass

ision: A2

24, 2019

875-0395-10 V200s User Guide Rev A2 Page 2 of 68

Table of Contents

Device Compliance, License and Patents ............................................................................ 4

Terms and Definitions ......................................................................................................... 6

Chapter 1: Introduction .............................................................................................................. 7

Overview ............................................................................................................................. 7

Product Overview ............................................................................................................... 8

Key Features ...................................................................................................................... 11

What’s Included in Your Kit............................................................................................... 12

Using PocketMax to Communicate with the V200s ......................................................... 13

Firmware Upgrades ........................................................................................................... 16

Chapter 2: Mounting the V200s ............................................................................................... 21

Overview ........................................................................................................................... 21

Mounting the V200s ......................................................................................................... 22

Surface-mounting the V200s ............................................................................................ 31

Pole-mounting the V200s ................................................................................................. 35

Chapter 3: Connecting the V200s ............................................................................................. 37

Ports .................................................................................................................................. 37

Selecting Baud Rates and Message Types ........................................................................ 38

Connecting the V200s to External Devices ....................................................................... 39

Chapter 4: Understanding the V200s ....................................................................................... 41

Overview ........................................................................................................................... 41

GNSS Overview ................................................................................................................. 42

Differential Operation ....................................................................................................... 43

SBAS Tracking .................................................................................................................... 43

Atlas L-band ...................................................................................................................... 43

Supplemental Sensors....................................................................................................... 44

Time Constants ................................................................................................................. 46

Chapter 5: Operating the V200s ............................................................................................... 48

Overview ........................................................................................................................... 48

Powering the V200s .......................................................................................................... 49

875-0395-10 V200s User Guide Rev A2 Page 3 of 68

Appendix A: Troubleshooting ................................................................................................... 50

Overview ........................................................................................................................... 50

Troubleshooting ................................................................................................................ 51

Appendix B: Technical Specifications ........................................................................................ 54

Technical Specifications .................................................................................................... 54

V200s Technical Specifications ......................................................................................... 54

Appendix C: Commands and Messages .................................................................................... 59

Overview ........................................................................................................................... 59

Serial Commands .............................................................................................................. 60

NMEA 0183 Messages ...................................................................................................... 63

Binary Messages ............................................................................................................... 67

Index .................................................................................................................................. 69

End User License Agreement ............................................................................................ 70

Warranty Notice ................................................................................................................ 74

875-0395-10 V200s User Guide Rev A2 Page 4 of 68

Device Compliance, License and Patents

Device Compliance

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

declaration of conformity may be consulted at HTTPS://HEMISPHEREGNSS.COM/ABOUT-US/QUALITY-COMMITMENT.

Copyright Notice

Copyright Hemisphere GNSS, Inc. (2019). All rights reserved.

chemical, manual or otherwise, without the prior written permission of Hemisphere GNSS.

Trademarks

Hemisphere GNSS®, the Hemisphere GNSS logo, TRACERTM, Crescent®, EclipseTM, e-Dif®, L-DifTM, PocketMax4TM,

trademarks are the properties of their respective owners.

Patents

Hemisphere GNSS products may be covered by one or more of the following patents:

6111549

6876920

7400956

8000381

6397147

7142956

7429952

8018376

6469663

7162348

7437230

8085196

6501346

7277792

7460942

8102325

6539303

7292185

7689354

8138970

6549091

7292186

7808428

8140223

6711501

7373231

7835832

8174437

6744404

7388539

7885745

8184050

6865465

7400294

7948769

8190337

8214111

8217833

8265826

8271194

8307535

8311696

8334804

RE41358

Australia Patents

2002244539

2002325645

2004320401

1. This device may not cause harmful interference, and

2. this device must accept any interference received, including interference that may cause undesired

operation.

This product complies with the essential requirements and other relevant provisions of Directive 2014/53/EU. The

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,

S320TM, SBX-4TM, VectorTM, XF1TM, and XF2

TM

are proprietary trademarks of Hemisphere GNSS, Inc. Other

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 5 of 68

Device Compliance, License and Patents, Continued

Notice to Customers

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

WWW.HGNSS.COM

Technical Support

If you need to contact Hemisphere GNSS Technical Support:

SUPPORT.HGNSS.COM

Documentation

Hemisphere GNSS is committed to the quality and continuous improvement of our products and services. We

following website: HGNSS.COM

Hemisphere GNSS, Inc
8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: [phone]
Fax: [phone]

[e-mail]

Hemisphere GNSS, Inc.
8515 East Anderson Drive
Scottsdale, AZ 85255 USA
Phone: [phone]
Fax: [phone]

Feedback

urge you to provide Hemisphere GNSS with any feedback regarding this guide, by opening a support case at the

875-0395-10 V200s User Guide Rev A2 Page 6 of 68

Terms and Definitions

Introduction

The following table lists the terms and definitions used in this document.

V200s terms &

Term

Definition

Activation

Activation refers to a feature added through a one­time purchase.

Atlas

Atlas is a subscription-based service provided by

meter accuracy without a base station or datalink.

BeiDou

BeiDou is a Chinese satellite-based navigation system.

DGPS/DGNSS

Differential GPS/GNSS refers to a receiver using
Differential Corrections.

Differential

A method of improving precision of a GNSS rover.

point.

Firmware

Firmware is the software loaded into the receiver that

GNSS engine.

GALILEO

Galileo is a global navigation satellite system

Space Agency.

GLONASS

Global Orbiting Navigation Satellite System

deployed and maintained by Russia.

Heading

The vector created from the primary to secondary

facing

Vector Receiver

A Hemisphere GNSS receiver capable of providing
heading

definitions

Hemisphere that enables the V200s to achieve sub-

Corrections

Two GNSS receivers placed in a nearby area will have
similar error. A base station is placed over a known

controls the functionality of the receiver and runs the

implemented by the European Union and European

(GLONASS) is a Global Navigation Satellite System

antenna. It points to the direction that the receiver is

875-0395-10 V200s User Guide Rev A2 Page 7 of 68

Overview

Introduction

This User Guide provides information to help you quickly set up your V200s.

WWW.HGNSS.COM.

Contents

Topic

See Page

Product Overview

8

Key Features

11

What’s Included in Your Kit

12

Using PocketMax to Communicate with the V200s

13

Firmware Upgrades

16

Chapter 1: Introduction

You can download this manual from the Hemisphere GNSS website at

875-0395-10 V200s User Guide Rev A2 Page 8 of 68

Product Overview

Product

The V200s Vector™ GNSS Compass supports GPS, GLONASS, Galileo,

to within 1º per minute for up to three minutes.

overview

BeiDou, and QZSS satellites using Hemisphere GNSS’ Crescent Vector
H220™ GNSS module. This User Guide is available for download from

www.HGNSS.com.

Note: When referring to both the V200s Vector™ GNSS Compass, this
manual uses the term V200s.

The multi-GNSS V200s supports GPS, GLONASS, Galileo, BeiDou, and QZSS
and offers an amazing world-wide 30 cm (RMS) accuracy via Hemisphere’s
Atlas GNSS global correction service.

The V200s offers an incredible combination of simple installation, small
form factor, and amazing performance. The compass - measuring only 35
cm in length - mounts easily to a flat surface or pole. The stability and
maintenance-free design of the V200s provides simple integration into
autopilots, chart plotters, and AIS systems.

There are no mechanical parts such as gimbals or a rotating motor, so the
V200s Compass is free from routine maintenance. Heading is determined
from GNSS, and there is no need to wait for settling time, gyrocompass
calibration and speed corrections. Vector performance is not affected by
geomagnetism, making it the perfect solution for any marine application.

The V200s is an integrated system that houses the following:

• Crescent Vector H220 module

• Dual mGNSS, multipath-resistant antennas

• Power supply

• Six-axis sensor

The sensor is present to improve system performance and to provide
backup heading information in the event a GNSS heading is not available
due to signal blockage. The sensor provides a substitute heading, accurate

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 9 of 68

Product Overview, Continued

Product

The V200s’s GPS antennas are separated by 20 cm between phase centers,

Figure 1-1: V200s

overview,

continued

resulting in a heading performance of better than 0.75° RMS (with High
Accuracy Heading activated). The V200s can provide heading and
positioning updates of up to 50 Hz and delivers positioning accuracy of 0.6
m 95% of the time when using differential GPS corrections from Satellite
Based Augmentation Systems (SBAS) or Atlas.

The V200s also features Hemisphere GNSS’ exclusive Tracer™ technology,
which provides consistent performance with correction data. The V200s is
less likely to be affected by differential signal outages due to signal
blockages, weak signals, or interference when using Tracer.

If you are new to GNSS and SBAS, refer to the Hemisphere GNSS Technical

Reference Manual (for further information on these services and

technologies before proceeding.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 10 of 68

Product Overview, Continued

Atlas L-band

Atlas L-band is Hemisphere's industry leading correction service, which can

technology

For more

For more information about Athena RTK, see:

be added to the V200s as a subscription. Atlas L-band has the following
benefits:

• Positioning accuracy - Competitive positioning accuracies down to 30 cm

RMS in certain applications

• Positioning sustainability - Cutting edge position quality maintenance in

the absence of correction signals, using Hemisphere’s patented

information

https://www.hemispheregnss.com/technology/#athena

For more information about Atlas L-band, see:

https://www.hemispheregnss.com/technology/#atlas

875-0395-10 V200s User Guide Rev A2 Page 11 of 68

Key Features

V200s key

Key features of the V200s include:

Provides heading, positioning, heave, pitch, and roll

features

• L1 GPS, GLONASS, Galileo, BeiDou, QZSS

• 30 cm RMS world-wide positioning accuracy with Atlas corrections

• Standard 1.5° and optional 0.75°

factor

• Excellent in-band and out-of-band interference rejection

• Integrated gyro and tilt sensors help deliver fast start-up times and

provide heading updates during temporary loss of satellites

•

heading accuracy in small form

875-0395-10 V200s User Guide Rev A2 Page 12 of 68

What’s Included in Your Kit

V200s kit

Table 1-1 lists the parts included with your V200s. The V200s GNSS

weather.”

V200s Parts list

The following table lists the part numbers and description for the V200s.

Part No.

Description

804-0162-20

Vector V200s GNSS Compass

940-3141-10

Vector V200s GNSS Compass kit

Part No.

Description

051-0404-10

15 m power/data cable, RA (unterminated)

051-0405-10

15 m power/data cable (unterminated)

710-0162-10

V200 Surface Mounting Kit

710-0166-10

V200 Pole Mounting Kit

710-0167-10

V200 Complete Mounting Kit

Compass and the power/data cable (accessory item) are the only two
required components.

Note: The V200s’s parts comply with IEC 60945 Section 4.4: “Exposed to the

Table 1-1: V200s Parts list

All the following are accessory items available for purchase separately from
your V200s GNSS Compass.

Table 1-2: V200s Accessory list

875-0395-10 V200s User Guide Rev A2 Page 13 of 68

Using PocketMax to Communicate with the V200s

Using

Use the following steps to set up the V200s communication with

Step

Action

1

Power on and connect the receiver to your computer’s com

the COM port and baud rate of the receiver.

2

Choose from the following communications settings options:

PocketMax to
communicate
with the V200s

PocketMax.

Table 1-3: PocketMax Communication

port. A configuration screen appears prompting you to choose

• Select COM Port.

• If you do not know the baud rate, select the Auto-Baud

feature to cycle through all possible baud rates, and
click Connect.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 14 of 68

Using PocketMax to Communicate with the V200s, Continued

Using

Table 1-3: PocketMax Communication (continued)

Step

Action

3

You can monitor your connection status through the message

PocketMax to
communicate
with the V200s,

continued

displayed at the bottom of the screen.

If you receive a message “Receiver not found…” check your
connections, your com port, and your baud rate and try to re­send.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 15 of 68

Using PocketMax to Communicate with the V200s, Continued

Using

Table 1-3: PocketMax Communication (continued)

Step

Action

4

The Quick Configuration screen allows you to use “PortA”,

PocketMax to
communicate
with the V200s,

continued

“PortB”, and “PortC” tabs to configure the output messages
and baud rates of these two ports.

The Port displaying “[THIS]” is the port currently connected.
“[OTHER]” is the other port. Enable all desired messages for
PortA and PortC.

Use RxConfig to make basic receiver configurations. To exit the
software, click Save Settings and Disconnect. For all other
PocketMax questions, please reference the PocketMax User
Guide on the HGNSS website.

875-0395-10 V200s User Guide Rev A2 Page 16 of 68

Firmware Upgrades

Overview

Periodically, Hemisphere GNSS releases firmware upgrades to improve

://

.

RightArm

Use the following steps to upgrade the RightArm firmware on your V200s:

Step

Action

1

Connect the V200s to a computer over serial. Firmware can be

performance, fix bugs, or add new features to a product. To update the
firmware on the V200s:

1. Download the latest version of Hemisphere GNSS RightArm from the

following link:

HTTPS

HGNSS.COM/RESOURCES-SUPPORT/SOFTWARE

upgrade

Table 1-4: RightArm Upgrade

loaded over either serial port. Set the baud rate of the serial
port you are using to 19200.

Launch RightArm.

Click the Connect button or navigate to Receiver -> Connect.

Continued on next page

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Firmware Upgrades, Continued

RightArm

Table 1-4: RightArm Upgrade (continued)

Step

Action

2

Choose the COM port connected to the V200s and click OK.

5

Click the Programming button.

upgrade,
continued

Note: The baud rate of the serial port should be set to 19200
bps. Select “Allow Auto Baud” to change the baud rate during
the firmware upgrade for a faster update.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 18 of 68

Firmware Upgrades, Continued

RightArm

Table 1-4: RightArm Upgrade (continued)

Step

Action

6

Select a Program Type.

7

Choose the Application, and press Select File to select the

upgrade,
continued

The V200s has two firmware applications, allowing two
different versions of GNSS firmware. Hemisphere GNSS
suggests loading the new firmware onto both applications.

After the firmware update is completed, check the current
GNSS firmware.

If the current firmware is not the same as the newly loaded
firmware, the V200s could be using the other application. You
can switch applications by sending the following command:

$JAPP,OTHER.

firmware file.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 19 of 68

Firmware Upgrades, Continued

RightArm

Table 1-4: RightArm Upgrade (continued)

Step

Action

8

Choose the firmware, and click Erase and Program.

upgrade,
continued

The Activate Loader checkbox in the Programming View
window is selected. After pressing the Erase and Program
button, this checkbox will de-select, and the Status field
indicates the receiver is in loader mode (ready to receive the
new firmware file).

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 20 of 68

Firmware Upgrades, Continued

RightArm

Table 1-4: RightArm Upgrade (continued)

Step

Action

9

Note: If the Activate Loader check box remains selected, power

10

After completing the firmware update, Hemisphere GNSS
suggests repeating this process for the other application.

upgrade,
continued

the receiver off and on. When the receiver powers back on, the
Activate Loader box should be de-selected.

Do not to interrupt the power supply to the receiver, and do
not interrupt the communication link between the PC and the
receiver until programming is complete. Failure to do so may
cause the receiver to become inoperable and will require
factory repair.

875-0395-10 V200s User Guide Rev A2 Page 21 of 68

Chapter 2: Mounting the V200s

Introduction

This chapter provides instructions on how to mount your V200s receiver.

Contents

Topic

See Page

Mounting the V200s

22

Surface-mounting the V200s

31

Pole-mounting the V200s

35

Overview

875-0395-10 V200s User Guide Rev A2 Page 22 of 68

Mounting the V200s

Introduction

This section provides information on mounting the V200s in the optimal

other mounting options.

GNSS satellite

When deciding where to mount the V200s, consider the following satellite

Figure 2-1: V200n Underside with recessed arrow

location, orientation considerations, environmental considerations, and

reception

reception recommendations:

• Ensure there is a clear view of the sky available to the V200s so the GNSS

and L-band satellites are not masked by obstructions that may reduce
system performance.

• Position is based off the primary GNSS antenna located on located on the

end opposite the recessed arrow on the underside of the enclosure.

• Locate any transmitting antennas away from the V200s by at least a few

meters to ensure tracking performance is not compromised.

• Ensure cable length is adequate to route into the vessel to reach a

breakout box or terminal strip.

• Do not locate the antenna where environmental conditions exceed those

specified in Appendix B, Technical Specifications of this document.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 23 of 68

Mounting the V200s, Continued

VHF

VHF interference from such devices as cellular phones and radio

Figure 2-2: V200s distance from nearby VHF radios

interference

transmitters may interfere with GPS operation, however the Vector
compass can still track other constellations, maintaining heading and
position.

For example, if installing the V200s 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 GNSS antenna and receiver design.

• VHF marine radios emit strong harmonics. The 10th harmonic of VHF

radio, in some channels, falls into the GPS working frequency band, which
may cause the SNR of GNSS to degrade significantly.

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

• Follow VHF radio manufacturers’ recommendations on how to mount

their radios and what devices to keep a safe distance away.

• Handheld 5W VHF radios may not provide suitable filtering and may

interfere with the V200s’s operation if too close.

Before installing the Vector Compass, use the following diagram to ensure
there are no nearby devices that may cause VHF interference.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 24 of 68

Mounting the V200s, Continued

Environmental

Hemisphere Vector Smart Antennas are designed to withstand harsh

Humidity: 95% non-condensing

Mounting

The V200s outputs heading, pitch, and roll readings regardless of the

refer to the Hemisphere GNSS Technical Reference Manual.

considerations

environmental conditions; however, adhere to the following limits when
storing and using the V200s:

• Operating temperature: -30°C to +70°C (-22°F to +158°F)

• Storage temperature: -40°C to +85°C (-40°F to +185°F)

•

orientation

orientation of the antennas. The relation of the antennas to the vessel’s
axis determines if you need to enter a heading, pitch, or roll bias. The
primary antenna is used for positioning and the primary and secondary
antennas, working in conjunction, output heading, pitch, and roll values.

The top of the V200s enclosure incorporates a sight design feature to help
you align the enclosure on your vessel. Alignment accuracy is
approximately +/- 2°.

Figure 2-3: Short er desi gn ele ment

Note: Regardless of which mounting orientation you use, the V200s
provides the ability to output the heave of the vessel. This output is
available via the $GPHEV message. For more information on this message

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 25 of 68

Mounting the V200s, Continued

Parallel

Parallel installation orients the V200s parallel to, and along the centerline

measurement if the Vector is not installed in a horizontal plane.

Perpendicular

You can also install the antennas, so they are oriented perpendicular to the

measurement if the Vector is not installed in a horizontal plane.

orientation

orientation

of, the axis of the vessel. This provides a true heading. In this orientation:

• If you use a gyrocompass and there is a need to align the Vector smart

antenna, you can enter a heading bias in the V200s to calibrate the
physical heading to the true heading of the vessel.

• You may need to adjust the pitch/roll output to calibrate the

centerline of the vessel’s axis. In this orientation:

• Enter a heading bias of +90° if the primary antenna is on the starboard

side of the vessel and -90° if the primary antenna is on the port side of the
vessel.

• Configure the receiver to specify the GNSS smart antenna is measuring

the roll axis using $JATT,ROLL,YES.

• Enter a roll bias to properly output the pitch and roll values.

• You may need to adjust the pitch/roll output to calibrate the

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 26 of 68

Mounting the V200s, Continued

Mounting

Figure 2-4: Recommended orientation and resulting signs of HPR values

orientation
example

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 27 of 68

Mounting the V200s, Continued

Mounting

Figure 2-5: Alternate orientation and resulting signs of HPR values

orientation
example,
continued

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 28 of 68

Mounting the V200s, Continued

V200s

Figure 2-6 illustrates the physical dimensions of the V200s GNSS Compass.

Figure 2-6: V200s dimensions

dimensions

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 29 of 68

Mounting the V200s, Continued

Mounting

If you have another accurate source of heading data on your vessel, such as

renders the correct heading measurement or add a software offset.

Power/data

Before mounting the V200s, consider the following regarding power/data

Do

Do not

Ensure cable reaches appropriate
power source

Run cables in areas of excessive
heat

Keep cable away from corrosive
chemicals

Run cables through a door or
window jams

Connect to a data storage device,

accepts GNSS data

Crimp or excessively bend the cable
Keep cable away from rotating
machinery

Place tension on the cable

Remove unwanted slack from the
cable at the V200s end

Secure along the cable route using
plastic wrapping

alignment,
continued

cable
considerations

a gyrocompass, you may use its data to correct for a bias in V200s
alignment within the V200s software configuration.

Alternatively, you can physically adjust the heading of the V200s so that it

cable routing:

computer, or other device that

Improperly installed cable near machinery can be dangerous.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 30 of 68

Mounting the V200s, Continued

Power/data

The following table lists the steps to connect the power/data cable to your

Step

Action

1

Align the cable connector key-way with the V200s 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.

Mounting

The V200s offers four different mounting options:

Pole Mounting

cable
considerations,
continued

options

V200s.

Table 2-1: Connect Power/Data Cable

• Bottom-up Surface Mounting for straight cable

• Top-down Surface Mounting for straight cable

• Top-down Surface Mounting for right-angle cable

•

Note: Hemisphere GNSS does not supply mounting surface hardware or a
mounting pole. You must supply the appropriate mounting hardware
required to complete V200s installation.

875-0395-10 V200s User Guide Rev A2 Page 31 of 68

Surface-mounting the V200s

Surface-

Be mindful of the following when planning your installation:

vessel.

Surface-

Complete the following steps to Surface-mount the V200s from the bottom

Step

Action

1

Determine the desired location and proper orientation for the

determining the desired orientation.

2

Navigate to the HGNSS website Home / Products / Smart

Documentation / Drawings & Schematics

3

Use the supplied V200 Mounting Template drawing or

one with the mounting holes on the bottom of the V200s.

4

If required, use a center punch to mark the hole centers on the

(.35 in) bit appropriate for the surface.

mounting the
V200s

mounting the
V200s from the
bottom up for
straight cable

• If you need the GNSS-assisted roll measurement, install the V200s

perpendicular to the vessel’s axis. If you do not need this measurement,
install the V200s parallel with the vessel’s axis.

• Hemisphere GNSS does not supply mounting surface hardware or a

mounting pole. You must supply the appropriate hardware or mounting
pole required to complete V200s installation.

• You can enter a software offset to accommodate for a heading

measurement bias due to installation.

• The flat surface may be fabricated per your installation, an off-the-shelf

item (such as a radar mounting plate), or an existing surface on your

up.

Table 2-2: Bottom-up, Surface-mounting the V200s

V200s. See “Mounting Orientation” for information on

Antennas / Vector V200 GNSS Smart Antenna or to HGNSS

website Home / Resources & Support / Technical

photocopy the bottom of the V200s to plan the mounting hole
locations. If using a photocopy, make sure it is scaled one-to-

mounting surface, then drill the mounting holes with a 9mm

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 32 of 68

Surface-mounting the V200s, Continued

Surface-

Table 2-2: Bottom-up, Surface-mounting the V200s (continued)

Step

Action

5

Place the V200s over the mounting holes and insert the

into the V200s.

6

Tighten to a torque of 8 - 10 lbs-ft. The maximum thread depth

Damage resulting from over-tightening is
not covered by the warranty.

Surface-

Complete the following steps to surface-mount the V200s from the top

Step

Action

1

Secure the Surface Mount Adapter (676-0043-10) to the V200s

Figure 2-8: Surface Mount Adapter secured to V200s

2

Determine the desired location and proper orientation for the

determining the desired orientation.

mounting the
V200s,

continued

mounting screws through the bottom of the mounting surface

engagement must be no more than 0.50 in!

mounting the
V200s from the

down.

Table 2-3: Top down, Surface-mounting the V200s

top down for
straight cable
and for right­angle cable

using the supplied mounting hardware. Tighten to a torque of
8 - 10 lbs-ft. The maximum thread depth engagement must be
no more than 0.50 in!

Figure 2-7: Surface Mount Adapter

(676-0043-10)

V200s. See “Mounting Orientation” for information on

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 33 of 68

Surface-mounting the V200s, Continued

Surface-

Table 2-3: Top down, Surface-mounting the V200s (continued)

Step

Action

3

Select the applicable surface mount:

Select this surface mount if

Select this surface mount if

Figure 2-9: V200 Low-Profile

(676-0041-10)

Figure 2-10: V200 Right-

(676-0042-10)

4

Place the surface mount in the desired location on the
installation surface.

5

If required, use a center punch to mark the hole centers, then

Note: The diameter of the

is 6.4 mm (.25 in)

Note: The diameter of the

is 9 mm (.35 in)

Figure 2-11: 676-0041-10

Mounting Holes

Figure 2-12: 676-0042-10

Mounting Holes

6

Secure the mount to the installation surface. Tighten to a
maximum torque of 10 lbs-ft.

mounting the
V200s from the
top down for
straight cable
and for right­angle cable,

continued

you will thread the cable
straight down.

you will thread the cable
towards the back of the unit.

Surface Mount

drill the mounting holes with bit appropriate for the surface.

676-0041-10 mounting holes

Angle Surface Mount

676-0042-10 mounting holes

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 34 of 68

Surface-mounting the V200s, Continued

Surface-

Table 2-3: Top down, Surface-mounting the V200s (continued)

Step

Action

7

Thread the cable into through the surface mount, then connect
the cable to the unit.

8

Carefully secure the mount to the V200s by placing it into the

Straight

Right-Angle

Figure 2-13: Adapters with both sides secured

Note: To remove the V200s, simply reverse the process by

easily be removed.

mounting the
V200s from the
top down for
straight cable
and for right­angle cable,

continued

surface mount until the four latches snap into place, first on
one side, and then the other.

pushing in the clips on one side, at which point the V200s can

875-0395-10 V200s User Guide Rev A2 Page 35 of 68

Pole-mounting the V200s

Pole-mounting

Complete the following steps to pole-mount the V200s:

Step

Action

1

Determine the desired location and proper orientation for the

determining the desired orientation.

2

Thread the jam nut onto the 1-inch pole, then thread the pole

Do not tighten the pole mount to more
than 4 lbs-ft.

3

Thread the cable either through the hollow pole or through the
opening in the pole mount.

4

Connect the cable to the V200s, then secure the pole mount to

Figure 2-15: Pole mount secured to V200s

the V200s

Table 2-4: Pole-mounting the V200s

V200s. See “Mounting Orientation” for information on

mount.

Figure 2-14: Pole mount with jam nut loosely threaded

the V200s using the supplied mounting hardware. Tighten to a
torque of 8 - 10 lbs-ft. The maximum thread depth engagement
must be no more than 0.50 in!

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 36 of 68

Pole-mounting the V200s, Continued

Pole-mounting

Table 2-4: Pole-mounting the V200s (continued)

Step

Action

5

Verify the orientation of the unit, then tighten the jam nut to

secure V200s orientation

the V200s,

continued

the bottom of the pole mount to a torque of 8 – 10 lbs-ft.

Figure 2-16: Pole mount with jam nut tightly threaded to

875-0395-10 V200s User Guide Rev A2 Page 37 of 68

Introduction

This chapter provides instructions on how to connect your V200s receiver.

Contents

Topic

See Page

Ports

37

Selecting Baud Rates and Message Types

38

Connecting the V200s to External Devices

39

Ports

Overview

The V200s offers RS-232 and RS-422 communication.

Serial ports

The V200s supports:

Note: The V200s has maximum baud rate of 115200.

Serial port

You may configure the GNSS receiver to output any combination of data.

they are connected. Flow control is not supported.

Chapter 3: Connecting the V200s

configuration

• two independent full-duplex RS-232 (Ports A and B) and one RS-422 Tx

(Port C); or

• one full-duplex RS-422 (Port A) and one RS-422 Tx (Port C)

The V200s automatically detects and switches to the appropriate serial
protocol on Ports A and B.

Note: For successful communications, use the 8-N-1 protocol and set the
baud rate of the V200s’s serial ports to match that of the devices to which

875-0395-10 V200s User Guide Rev A2 Page 38 of 68

Selecting Baud Rates and Message Types

Baud rates &

When selecting your baud rate and message types, use the following

Technical Reference Manual.

Message types

formula to calculate the bits/sec for each message and sum the results to
determine the baud rate for your required data throughput.

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

For information on message output rates refer to the Hemisphere GNSS

875-0395-10 V200s User Guide Rev A2 Page 39 of 68

Connecting the V200s to External Devices

Recommend-

When interfacing with other serial devices, ensure the transmit data output

GNSS Technical Reference Manual.

Power/data

considerations

The V200s automatically detects and switches to the correct serial protocol

ations for
connecting to
other devices

cable

and the signal grounds from the V200s are connected to the data input of
the other device. The signal grounds must also be connected.

For a list of Hemisphere GNSS commands, please refer to the Hemisphere

on Ports A and B.

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 40 of 68

Connecting the V200s to External Devices, Continued

Power/data

The V200s uses a 12-pin connector and supports RS-232 and RS-422. The

Pin

Signal

1

RS232 Tx B/RS422 Tx A+

2

RS232 Rx B/RS422 Rx A-

3

1PPS

4

Alarm

5

Power In

6

RS422 TX C+

7

Digital Ground

8

RS232 Rx A /RS422 Rx A+

9

RS232 Tx A / RS422 Tx A-

10

Power Ground

11

Drain

12

RS422 Tx C-

cable pin-out
specifications

V200s can auto-detect and auto-switch between RS-232 and RS-422.

Figure 3-1: V200s pin-out assignments

Table 3-1 shows the cable pin-out specifications.

Table 3-1: V200s Pin-outs (Device Out)

875-0395-10 V200s User Guide Rev A2 Page 41 of 68

Overview

Introduction

The GNSS receiver begins tracking satellites when it powers up and is

Contents

Topic

See Page

GNSS Overview

42

Differential Operation

43

SBAS Tracking

43

Atlas L-band

43

Supplemental Sensors

44

Chapter 4: Understanding the V200s

placed outside in an open area. Position and heading accuracy vary
depending upon location and environment. Position performance can be
improved with RTK or DGNSS.

The following sections provide the steps to configure your V200s to use
Atlas, SBAS, or RTK.

Note: Differential source and RTK status impact only positioning and heave.
There is no impact to heading, pitch, or roll.

875-0395-10 V200s User Guide Rev A2 Page 42 of 68

GNSS Overview

GNSS operation

The GNSS receiver is always operating, regardless of the DGNSS mode of

arrow.

operation. The following sections describe the general operation of the
V200s’s internal GNSS receiver.

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

The V200s provides accurate and reliable heading and position information
at high update rates. To accomplish this task, the V200s uses a high
performance GNSS receiver and two antennas for GNSS signal processing.

One antenna is designated as the primary GNSS antenna and the other is
the secondary GNSS antenna. Positions computed by the V200s are
referenced to the phase center of the primary GNSS antenna. Heading data
references the Vector formed from the primary GNSS antenna phase center
to the secondary GNSS antenna phase center.

The heading arrow located on the bottom of the V200s 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

875-0395-10 V200s User Guide Rev A2 Page 43 of 68

Differential Operation

Differential

The V200s delivers positioning accuracies of 2.5 m 95% and provides

received through the internal SBAS demodulator or through Atlas L-band.

SBAS tracking

The V200s features two-channel tracking that provides an enhanced ability

of an SBAS signal in areas where signal blockage of a satellite is possible.

Atlas L-band

Atlas L-band corrections are available worldwide. With Atlas, the

purchased.

(DGNSS)
operation

SBAS Tracking

Atlas L-band

positioning quality to better than 0.6 m 95% using differential corrections

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

positioning accuracy does not degrade as a function of distance to a base
station, as the data content is not composed of a single base station’s
information, but an entire network’s information.

The V200s can calculate a position with 30 cm RMS (horizontal) accuracy.

To configure the receiver to use Atlas L-band, a subscription must be

875-0395-10 V200s User Guide Rev A2 Page 44 of 68

Supplemental Sensors

Overview

The V200s has a supplemental sensor integrated into the H220 GNSS board

sensor status.

Tilt aiding

The V200s’ s internal sensor is factory calibrated and enabled by default

Figure 4-1: V200s tilt aiding

that is enabled by default. You can enable/disable the sensor.

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

The Hemisphere GNSS Technical Reference Manual describes the
commands and methodology required to recalibrate, query, or change the

and constrains the RTK heading solution beyond the volume associated
with a fixed antenna separation.

The V200s knows the approximate inclination of the secondary antenna
with respect to the primary antenna. The search space defined by the
sensor is reduced to a horizontal ring on the sphere’s surface by reducing
the search volume and decreases startup and reacquisition times (see
Figure 4-1).

Tilt angle

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 45 of 68

Supplemental Sensors, Continued

Gyro aiding

The V200s’s internal sensor reduces reacquisition times when a GNSS

setting an appropriate HTAU value for the application.

heading is lost due to blocked satellite signals.

The sensor provides a relative change in angle since the last computed
heading and defines the search space as a wedge-shaped location (see
Figure 4-2).

Figure 4-2: V200s gyro aiding

The gyro aiding accurately smooths the heading output and the ROT. The
sensor also provides an alternate source of heading, accurate to within 1º
per minute for up to three minutes in times of GNSS loss for either antenna.
If the outage lasts longer than three minutes, the sensor will have drifted
too far and the V200s begins outputting null fields in the heading output
messages. There is no user control over the timeout period of the sensor.

The sensor initializes itself at power up and during initialization, or you can
calibrate it as outlined in the Hemisphere GNSS Technical Reference

Manual.

For optimal performance, when the sensor is first initializing, the dynamics
the sensor experiences during this warm-up period are similar to the
regular operating dynamics.

Gyro-aiding updates the post HTAU-smoothed heading. As a result, if the
HTAU value is increased while gyro aiding is enabled, there will be little to
no lag in heading output due to vessel maneuvers.

The Hemisphere GNSS Technical Reference Manual includes information on

875-0395-10 V200s User Guide Rev A2 Page 46 of 68

Time Constants

Overview

The V200s incorporates user-configurable time constants that can provide a

set this value, it is best to be conservative and leave the default setting.

Heading

Use the $JATT,HTAU command to adjust the level of responsiveness of the

smoothing and increases lag (with gyro-aid disabled).

degree of smoothing to the heading, pitch, Rate-of-Turn (ROT), Course­over-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.

If the vessel is quick and nimble, increasing this value can create a lag in
measurements.

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 sensor is
calibrated and enabled.

Formulas for determining the level of smoothing are located in the

Hemisphere GNSS Technical Reference Manual. If you are unsure how to

true heading measurement provided in the $GPHDT message. The default
value of this constant is 0.2 seconds of smoothing when gyro-aid is enabled.

By disabling gyro-aid, the equivalent default value of the heading time
constant should be 0.5 seconds of smoothing. This is not automatic, and
therefore it must be manually entered.

Note: Increasing the time constant increases the level of heading

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 47 of 68

Time Constants, Continued

Pitch

Use the $JATT,PTAU command to adjust the level of responsiveness of the

and increases lag.

Rate-of-Turn

Use the $JATT,HRTAU command to adjust the level of responsiveness of the

Note: Increasing the time constant increases the level of ROT smoothing.

Course-Over-

Use the $JATT,COGTAU command to adjust the level of responsiveness of

calculation inaccuracies are not representative of a vessel’s movement.

Speed

Use the $JATT,SPDTAU command to adjust the level of responsiveness of

measurement smoothing.

pitch measurement provided in the $PSAT,HPR message. The default value
of this constant is 0.5 seconds of smoothing.

Note: Increasing the time constant increases the level of pitch smoothing

(ROT)

Ground (COG)

ROT measurement provided in the $GPROT message. The default value of
this constant is 2.0 seconds of smoothing.

the COG measurement provided in the $GPVTG message. The default value
of this constant is 0.0 seconds of smoothing.

Note: Increasing the time constant increases the level of COG smoothing.

COG is computed using only the primary GNSS antenna and its accuracy
depends upon the speed of the vessel (noise is proportional to 1/speed).

This value is invalid when the vessel is stationary, as tiny movements due to

the speed measurement provided in the $GPVTG message. The default
value of this parameter is 0.0 seconds of smoothing.

Note: Increasing the time constant increases the level of speed

875-0395-10 V200s User Guide Rev A2 Page 48 of 68

Chapter 5: Operating the V200s

Introduction

This chapter provides information on how to power and operate your
V200s receiver.

Contents

Topic

See Page

Powering the V200s

49

Overview

875-0395-10 V200s User Guide Rev A2 Page 49 of 68

Powering the V200s

Power

For best performance, use a clean and continuous power supply.

the extension cable.

Electrical

The V200s’s power supply is isolated from the communication lines and the

vessel (addressing the issue of vessel hull electrolysis).

connections

isolation

See Table B-3 for complete power specifications.

If using an unterminated cable, before powering up the V200s, 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. Refer to Figure 2-9 and Table 2-4
for pinout specifications.

Do not apply a voltage higher than 36 VDC. This will damage the receiver
and void the warranty.

The V200s starts when sufficient voltage is applied to the power leads of

PC-ABS plastic enclosure isolates the electronics mechanically from the

875-0395-10 V200s User Guide Rev A2 Page 50 of 68

Appendix A: Troubleshooting

Introduction

Appendix A provides troubleshooting for common problems.

Contents

Topic

See Page

Troubleshooting

51

Overview

875-0395-10 V200s User Guide Rev A2 Page 51 of 68

Troubleshooting

Appendix A

Symptom

Possible Solution

Receiver fails to

• Verify polarity of power leads

source (minimum available should be > 1.0 A)

No data from V200s

• Check receiver power status to ensure the

data cable connections

Random data from

• Verify the RTCM or binary messages are not

rate supports.

No GNSS lock

• Verify the V200s has a clear view of the sky

are in view and the SNR values

troubleshooting

power

V200s

• Check integrity of power cable connectors

• Check power input voltage (9 to 36 VDC)

• Check the voltage coming out of the connector

at the end of the cable

• Check current restrictions imposed by power

receiver is powered

• Verify desired messages are activated (using

PocketMax or $JSHOW command in any
terminal program)

• Ensure the baud rate of the V200s matches that

of the receiving device

• Check integrity and connectivity of power and

output accidentally (send a $JSHOW command)

• Ensure the baud rate of the V200s matches that

of the remote device

• The volume of data requested for output by the

V200s could be higher than the current baud

• Use PocketMax to check how many satellites

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 52 of 68

Troubleshooting, Continued

Appendix A

Symptom

Possible Solution

No SBAS lock

• Verify the V200s has a clear view of the sky

hemisphere.

No Atlas

• First, check to see for an Atlas Basic

by sending $JFREQ,AUTO

troubleshooting
, continued

• 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

subscription by sending $JK,SHOW to see
which commands are listed. Or, connect to
PocketMax, go to the About tab, and check
the listed activations

• Ensure you are tracking the correct Atlas

satellite, or set the receiver to ‘Auto-Tune’

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 53 of 68

Troubleshooting, Continued

Appendix A

Symptom

Possible Solution

No heading or incorrect

• Check CSEP value is constant without

baud rate supports.

No DGPS position in

• Verify the baud rate of the RTCM input port

input port and grounds must be connected)

troubleshooting

, continued

heading value

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 GNSS antenna to

secondary GNSS antenna, so the arrow on
the underside of the V200s is directed to
the bow side

• $JATT,SEARCH command forces the V200s

to acquire a new heading solution (unless
gyro is enabled)

• Enable GYROAID to provide heading for up

to three minutes during GNSS signal loss

• Enable TILTAID to reduce heading search

times

• Monitor the number of satellites and SNR

values for both antennas within
PocketMax—at least four satellites should
have strong SNR values

• The volume of data requested for output by

the V200s could be higher than the current

external RTCM mode

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

875-0395-10 V200s User Guide Rev A2 Page 54 of 68

Appendix B: Technical Specifications

Introduction

Appendix B provides the V200s technical specifications, and the V200s
certification information.

Contents

Topic

See Page

V200s Technical Specifications

55

V200s technical

Table B-1: V200s sensor and positioning accuracy

Item

Specification

Receiver type

Vector sFreq GNSS Compass

Signals Received

GPS, GLONASS, BeiDou, Galileo,
QZSS1, and Atlas

Channels

422

GPS sensitivity

-142 dBm

SBAS tracking

2-channel, parallel tracking

Update rate (position and heading)

10 Hz standard, 20 Hz optional

Positioning accuracy (Standard)

2.0 m RMS (Autonomous, no SA)

0.50 m RMS (SBAS)

Positioning accuracy (Optional)

1.2 m RMS (Autonomous, no SA) 1

0.30 m RMS (Atlas) optional 3

Heading accuracy (GNSS)

1.5◦ RMS

1

0.75◦ RMS optional 1

Heave accuracy (GNSS)

30 cm

4

Pitch/Roll accuracy

1.5◦ RMS

Rate of turn

90°/s maximum

Cold start

60 s typical (no almanac or RTC)

Warm start

20 s typical (almanac and RTC)

Technical Specifications

V200s Technical Specifications

specifications

0.30 m RMS (SBAS) 2

875-0395-10 V200s User Guide Rev A2 Page 55 of 68

Hot start

1 s typical (almanac, RTC, and
position)

Heading fix

10 s typical (valid position)

Maximum speed

1,850 kph (999 kts)

Maximum altitude

18,288m (60,000 ft)

Compass safe distance

50 cm 5

Differential options

Atlas, SBAS

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 56 of 68

V200s Technical Specifications, Continued

V200s technical

Table B-2: Communication

Item

Specification

Connector ports

12-pin

Ports

RS-232 or RS-422

Baud Rates

4800-115200

Correction I/O
Protocol

RTCM SC-104
Data I/O Protocol

NMEA 0183, Hemisphere proprietary

Item

Specification

Input voltage

6 to 36 VDC

Power
consumption

TBD

Current
consumption

TBD
Power isolation

Isolated to enclosure

Reverse polarity
protection

Yes

specifications,
continued

Table B-3: Power

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 57 of 68

V200s Technical Specifications, Continued

V200s technical

Table B-4: Mechanical

Item

Specification

Dimensions

Weight (no mount)

0.75 kg

Power/data connector

12-pin

Aiding Devices

reacquisition of heading solution

Item

Specification

Operating temperature

-40°C to + 70°C (-22°F to + 158°F)

Storage temperature

-40°C to + 85°C (-40°F to + 185°F)

Humidity

95% non-condensing

Enclosure

ISO 60529:2013 for IPx6/IPx7/IPx9

Vibration

IEC 60945:2002 Section 8.7
Vibration

EMC

IEC60945:2002

EN 303 413 V1.1.1

specifications,
continued

No Mount:
Pole Mount:

Gyro:

Tilt Sensor:

Table B-5: Environmental

34.8 L x 15.8 W x 6.5 H (cm)

34.8 L x 15.8 W x 14.3 H (cm)

Provides smooth heading, fast
heading reacquisition and reliable
1˚ per minute heading for periods
up to 3 minutes when loss of GPS
has occurred

2

Provides pitch and roll data and
assist in fast start-up and

EN 301 489-1 V2.1.1
EN 301 489-5 V2.1.1
EN 301 489-19 V2.1.0

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 58 of 68

V200s Technical Specifications, Continued

V200s technical

Table B-6: Certifications

Certification

RCM (Australia)

specifications,
continued

1 Depends on multipath environment, number of satellites in view, satellite geometry, no SA, and ionospheric

activity
2 Depends on multipath environment, number of satellites in view, SBAS coverage and satellite geometry
3 Depends on multipath environment, number of satellites in view, and satellite geometry
4 Based on a 40 second time constant
5 This is the minimum safe distance measured when the product is placed in the vicinity of the steering

magnetic compass. The ISO 694 defines “vicinity” relative to the compass as within 5 m (16.4 ft) separation

875-0395-10 V200s User Guide Rev A2 Page 59 of 68

Overview

Introduction

Appendix C contains the common commands and messages used by the

Example
message

Rate

Bytes

Bits in

byte

Bits/sec

GPHDT

10

20

10

2000

GPROT

5

18

10

900

GPHDG

1

33

10

330

GPGGA

1

83

10

830

GPZDA

1

38

10

380

Total

4440

Contents

Topic

See Page

Serial Commands

60

NMEA 0183 Messages

63

Binary Messages

67

Appendix C: Commands and Messages

V200s. Reference the following tables for sending and receiving commands
and messages.

For information on message output rates refer to the Hemisphere GNSS

Technical Reference Manual.

875-0395-10 V200s User Guide Rev A2 Page 60 of 68

Serial Commands

Serial

The V200s has a maximum baud rate of 115200.

Command

Description

$JAGE

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

$JAPP

Query or specify receiver application firmware

$JASC

Specify ASCII messages to output to specific
ports

$JATT, COGTAU

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

$JATT, CSEP

Query antenna separation

$JATT, EXACT

Enable/disable internal filter reliance on the
entered antenna separation

$JATT, GYROAID

Enable/disable gyro

$JATT, HBIAS

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

$JATT, HELP

Show the available commands for GNSS
heading operation and status

$JATT, HIGHMP

Set/query the high multipath setting for use in
poor GNSS environments

$JATT, HRTAU

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

$JATT, HTAU

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

$JATT, LEVEL

Enable/disable level operation

$JATT, NMEAHE

Change the HDG, HDM, HDT, and ROT message
headers between GP and HE

$JATT, PBIAS

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

commands

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

formula and example to calculate the bits/sec for each message and then
sum the results to determine the baud rate for your required data
throughput.
Message length (bytes) * bits in byte = Bits/second
(1 character = 1 byte, 8 bits = 1 byte, use 10 bits/byte to account for
overhead)

Table C-1: Serial commands

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 61 of 68

Serial Commands, Continued

Serial

Table C-1: Serial commands (continued)

Command

Description

$JATT, PTAU

Set/query pitch time constant (0.0 to 3600.0
sec)

$JATT, ROLL

Configure for roll or pitch GNSS orientation

$JATT, SEARCH

Force a new GNSS heading search

$JATT, SPDTAU

Set/query speed time constant (0.0 to 3600.0
sec)

$JATT, SUMMARY

Display a summary of the current Crescent
Vector settings

$JATT, TILTAID

Enable/disable accelerometer, pre-calibrated

$JATT, TILTCAL

Calibrate accelerometers

$JBAUD

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

$JBIN

Specify binary messages to output to specific
ports

$JDIFF

Query or specify differential correction mode

$JGEO

Query or specify SBAS for current location and
SBAS satellites

$JI

Query unit’s serial number and firmware
versions

$JOFF

Turn off all data messages

$JQUERY,GUIDE

Query accuracy suitability for navigation

$JMODE,GPSONLY,YES

GPS only mode

commands,
continued

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 62 of 68

Serial Commands, Continued

Serial

Table C-1: Serial commands (continued)

Command

Description

$JMODE,GPSONLY,NO

Multi-GNSS mode

$JRESET

Reset unit’s configuration to firmware defaults

done

$JSAVE

Save session’s configuration changes

commands,
continued

Note: $JRESET clears all parameters. For the
V200s 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 receiver when

875-0395-10 V200s User Guide Rev A2 Page 63 of 68

NMEA 0183 Messages

V200s

Table C-2: NMEA 0183 and other messages

Message

Info

Max Output

Description

IEC Approved Message

$GPDTM

P

1 Hz

Datum reference

Yes

$GPGGA

P

50 Hz

GPS position and fix
data

Yes

$GPGLL

P

50 Hz

Geographic position ­lit/long

Yes

$GPGNS

P

50 Hz

GNSS position and fix
data

Yes

$GPGRS

S

1 Hz

GNSS range residual
(RAIM)

Yes

$GPGSA

S

1 Hz

GNSS DOP and active
satellites

Yes

$GPGST

S

1 Hz

GNSS pseudo range

position accuracy

Yes

$GPGSV

S

1 Hz

GNSS satellites in view

Yes

*$GPHDG

H

50 Hz

Provides magnetic

or true heading

Yes

NMEA 0183 and
other messages

In Table C-2 the Info Type value is one of the following:

• P = Position

• V = Velocity, Time

• H = Heading, Attitude S = Sets, Stats, Quality

Type

Rate

error statistics and

deviation and
variation for
calculating magnetic

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 64 of 68

NMEA 0183 Messages, Continued

V200s

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

Message

Info
Type

Max Output
Rate

Description

IEC Approved Message

*$GPHDM

H

50 Hz

Magnetic heading

magnetic declination)

No

*$GPHDT

H

50 Hz

GNSS-derived true
heading

Yes

$GPHEV

H

50 Hz

Heave value (in
meters)

Yes

$GPRMC

P

50 Hz

Recommended

GNSS data

Yes
*$GPROT

H

50 Hz

GNSS-derived rate of
turn (ROT)

Yes

$GPRRE

S

1 Hz

Range residual and

error

Yes
$GPVTG

V

50 Hz

COG and ground
speed

Yes
$GPZDA

V

50 Hz

Time and date

Yes

$HEACK

S

1 Hz

Acknowledge alarm

Yes

$HEACN

S

1 Hz

Alert command

Yes

$HEALF

S

1 Hz

Alert sentence

Yes

$HEALC

S

1 Hz

Cyclic alert list

Yes

$HEALR

S

1 Hz

Set alarm state

Yes

$HEHBT

S

1 Hz

Heartbeat supervision
sentence

Yes

NMEA 0183 and
other
messages,

continued

(based on GNSS­derived heading and

minimum specific

estimated position

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 65 of 68

NMEA 0183 Messages, Continued

V200s

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

Message

Info
Type

Max Output
Rate

Description

IEC Approved Message

$HETHS

H

50 Hz

True heading and
status

Yes

$PASHR

H

50 Hz

Time, heading, roll,

message

No
$PSAT,GBS

S

1 Hz

Satellite fault
detection (RAIM)

Yes

$PSAT,HPR

H

50 Hz

Proprietary NMEA

message

No

$PSAT,INTLT

H

1 Hz

Proprietary NMEA

degrees)

Yes

$RD1

S

1 Hz

SBAS diagnostic
information

Yes

$TSS1

H

50 Hz

Heading, pitch, roll,

TSS1 message format

No

NMEA 0183 and
other
messages,

continued

and pitch data in one

message that provides
heading, pitch, roll,
and time in single

message that provides
the pitch and roll
measurements from
the internal
inclinometers (in

and heave message in
the commonly used

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 66 of 68

Notes:

Technical Reference Manual.

NMEA 0183 Messages, Continued

• The GP of the message is the talker ID

• You can change the message header for the HDG, HDM, HDT, and ROT messages to

either GP or HE uses 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>

• GPGRS, GPGSA, GPGST, and GPGSV support external integrity checking; synchronize

with corresponding fix data (GPGGA or GPGNS)

• For information on outputting roll, pitch, and heave data in one message refer to the

Hemisphere GNSS Technical Reference Manual

• HBT is sent every 30 seconds

• After 60 seconds, a heading loss warning is escalated to an alarm

• Silence timeout is 30 seconds

• THS message definition (from IEC61162-1 ed5): THS – True heading and status

• $HETHS,x.x,a*hh<CR><LF>

• x.x Heading, degrees true

• a Mode indicator (This field should not be null): A = Autonomous, E = Estimated (dead

reckoning), V = Data not valid (including standby)

• 50Hz output requires 50Hz-capable firmware plus 50Hz activation

For more information on the $JATT,NMEAHE command refer to the Hemisphere GNSS

875-0395-10 V200s User Guide Rev A2 Page 67 of 68

Binary Messages

Binary

Table C-3 lists the Binary messages used by the V200s. To log raw binary

$JBIN

Message

Description

1

GNSS position

2

GPS DOPs

80

SBAS

93

SBAS ephemeris data

94

Ionosphere and UTC conversion parameters

95

Satellite ephemeris data

96

Code and carrier phase (not needed if using Bin 16, Bin 16
includes information for all constellations)

97

Processor statistics

98

Satellites and almanac

99

GPS diagnostics

16

All constellation code and phase observation data. Use

observation. Galileo does not have a separate message

34

BeiDou time conversion

35

BeiDou ephemeris information

messages

data to convert to Rinex, turn on Bin 76 (GPS), Bin 66 (GLONASS), Bin 36
(BeiDou), or turn on Bin 16 (all constellations; required for Galileo).

Additionally, enable ephemeris messages: Bin 95 (GPS), Bin 65 (GLONASS),
Bin 35 (BeiDou), and Bin 45 (Galileo).

Enable the time conversion messages: Bin 94 (GPS), Bin 34 (BeiDou), and
Bin 44 (Galileo).

Table C-3: Binary messages

Bin16 if you need Galileo code and carrier phase

Continued on next page

875-0395-10 V200s User Guide Rev A2 Page 68 of 68

Binary Messages, Continued

Binary

Table C-3: Binary messages (continued)

$JBIN

Message

Description

36

BeiDou code and carrier phase information (not needed if

constellations)

44

Galileo time conversion

45

Galileo ephemeris

65

GLONASS ephemeris information

66

GLONASS code and carrier phase information (not needed

constellations)

messages,
continued

using Bin 16, Bin 16 includes information for all

if using Bin 16, Bin 16 includes information for all

Index

Activate Loader ........................................ 19

Activation .................................................... 6

Atlas .......................................... 6, 10, 41, 43

beacon ....................................................... 43

BeiDou ......................................................... 6

cable length ............................................... 22

COAST .................................................... 9, 60

course-over-ground .................................. 46

Course-Over-Ground (COG) ...................... 47

Crescent Vector ..................................... 8, 61

CSEP value ................................................. 53

DGPS/DGNSS ............................................... 6

Differential Corrections .............................. 6

Elevation Mask ............................................ 6

environmental ..................................... 22, 24

firmware ............................ 16, 17, 18, 19, 20

Firmware ................................................... 16

GPS .............................................................. 6

gyro ......................................... 45, 46, 53, 60

HPR values ................................................ 26

Pitch .................................................... 47, 55

Positioning accuracy ................................. 10

Positioning sustainability ......................... 10

Program Type ........................................... 18

radar mounting plate ................................ 31

Rate-of-Turn .............................................. 46

Rate-of-Turn (ROT) .............................. 46, 47

RightArm ................................................... 16

RTCM ................................................... 51, 53

RTK .................................... 10, 41, 44, 45, 55

SBAS ................... 9, 41, 43, 52, 55, 61, 65, 67

Speed ........................................................ 47

Tilt aiding ................................................... 44

tilt sensors ............................................. 8, 44

TILTAID ................................................ 53, 61

VHF interference ....................................... 23

VHF marine radio ...................................... 23

WebUI ....................................................... 16

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Continued on next page

End User license

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performance and functionality of the Product,

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agreement,

continued

13.

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End User

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Warranty notice

COVERED PRODUCTS: This warranty covers all products manufactured by Hemisphere GNSS and purchased by

DEATH.

Warranty Notice

the end purchaser (the "Products"), unless otherwise specifically and expressly agreed in writing by Hemisphere
GNSS.
LIMITED WARRANTY: Hemisphere GNSS warrants solely to the end purchaser of the Products, subject to the
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EXCLUSION OF ALL OTHER WARRANTIES. The LIMITED WARRANTY shall apply only if the Product is properly and
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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 GNSS; (3) the operation of the
Product under any specification other than, or in addition to, the specifications set forth in Hemisphere GNSS'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

Continued on next page

Warranty

The purchaser is solely responsible for his/her safety and for the safety of others. The purchaser is solely

Warranty Notice, Continued

notice,

continued

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 GNSS's RELEVANT
USER’S MANUAL AND SPECIFICATIONS. Hemisphere GNSS 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 GNSS 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 GNSS 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 GNSS approved service center along with the end purchaser's proof of purchase. Hemisphere
GNSS 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 GNSS approved service
center, contact Hemisphere GNSS at the following address:

Hemisphere GNSS

8515 E. Anderson Drive Scottsdale, AZ 85255, USA
Phone: [phone]
Fax: [phone]

[e-mail]

WWW.HGNSS.COM

Hemisphere GNSS Inc.

8515 East Anderson Drive, Suite A

Scottsdale, Arizona, US 85255

Phone: [phone]

Fax: [phone]

[e-mail]

WWW.HGNSS.COM