Hemisphere GPS Vector VR1000 Quick Reference Manual

Introduction

Created by Hemisphere GNSS, this QRG provides information and
the steps to follow to set up your Vector VR1000 GNSS Receiver.

VR1000 key

Key features of the VR1000 include:

Heading accuracy up to .01°

Mounting

When considering where to mount the VR1000, consider the

Figure 1: VR1000 GNSS Receiver

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG)

features

• High-precision positioning in Athena RTK, Atlas L-band, and SBAS

• Athena technology for improved RTK performance, especially

with GLONASS, Galileo, and BeiDou

• Atlas* L-band technology providing highly accurate corrections

over the air (*Requires the purchase of a subscription)

• Heave of 30 cm RMS (DGNSS), 10 cm (RTK)

• Pitch and roll < 1° RMS

•

following satellite reception recommendations:

• Ensure cable length is adequate to route into the machine to

reach a breakout box or terminal strip.

• Do not mount the receiver where environmental conditions

exceed those specified in the VR1000 Technical Specifications of
this document.

• Route cables away from any potential source of mechanical

damage.

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Continued on next page

Environmental

Hemisphere Vector GNSS Receivers are designed to withstand

Humidity: IEC 16750-4:2010 Section 5.6 Humid heat, cyclic test

Mounting

The VR1000 outputs heading, pitch, and roll readings regardless of

heading, pitch, and roll values.

Parallel

Install the GNSS antennas parallel to, and along the centerline of the

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

Perpendicular

Install the GNSS antennas perpendicular to the centerline of the

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

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

considerations

orientation

orientation

harsh environmental conditions; however, adhere to the following
limits when storing and using the VR1000:

• Operating temperature: -40°C to +70°C (-40°F to +158°F)

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

•

the orientation of the VR1000. The relation of the antennas to the
machine’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

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

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

antennas, you can enter a heading bias in the VR1000 to calibrate
the physical heading to the true heading of the machine.

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

orientation

machine’s axis. In this orientation:

• Enter a heading bias of +90° if the secondary antenna is installed

on the right side of the machine, and -90° if the secondary
antenna is installed on the left side of the machine.

• Configure the receiver to specify the GNSS receiver is measuring

the roll axis using the VR1000 WebUI.

• 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

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Mounting

Figure 2: 0-degree heading bias example

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

orientation

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Mounting

Figure 3: 90-degree heading bias example

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

orientation
example

Continued on next page

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Mounting

Figure 4: Negative 90-degree heading bias example

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

orientation
example,
continued

Continued on next page

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Mounting

Figure 5: 180-degree heading bias example

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

orientation
example,
continued

Continued on next page

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Mounting
options

The VR1000 allows for two different mounting options: mount with
bolts, or mount with magnets.

Serial port

You may configure Port A or Port B of the GNSS receiver to output

devices to which they are connected. Flow control is not supported.

Baud Rates &

When selecting your baud rate and message types, use the

GNSS Technical Reference Manual.

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

configuration

Message Types

any combination of data.

Port A can have a different configuration from Port B in data
message output, data rates, and the baud rate of the port, and
configure the ports independently based upon your needs.

Note: For successful communications, use the 8-N-1 protocol and
set the baud rate of the VR1000’s serial ports to match that of the

following 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

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VR1000

Table 1 lists the communication items and technical specifications

Item

Specification

I/O ports

2x CAN, 1x Ethernet, 2x Serial (Port A
RS232, Port B RS232/RS422)

Baud rates

4800 - 115200

Correction I/O

Atlas, Hemisphere GNSS proprietary,

binary

Timing output

1PPS, CMOS, active high, rising edge sync,
10 kΩ, 10 pF load

Event marker input

CMOS, active low, falling edge sync, 10
kΩ, 10 pF load

Radio Interfaces

Bluetooth 2.0 (Class 2), Wi-Fi 2.4 GHz, UHF
(400 MHz)

Power/data

For VR1000 pin-out information, refer to Table 2: VR1000 Pin-Out

4. GNSS ANT (N-Type x 2)

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

communication
specifications

of the VR1000 GNSS receiver.

Table 1: VR1000 Communication Specifications

protocol

RTCM v2.3 (DGPS), RTCM v3 (RTK), CMR,
CMR+ 1 NMEA 0183, Hemisphere GNSS

cable pin-out
assignments,

continued

assignments and Figure 7: VR1000 Back Panel and Pin-Out.

VR1000 Back Panel Connector Definition:

1. PWR/Comm (23PIN x 1)

2. RADIO (TNC x 1)

3. BT/Wi-Fi (TNC x 1)

Continued on next page

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Power/data

Table 2 lists the VR1000 connector pin-out. Refer to Appendix B,

Pin

Description

1

CAN2 Low

2

CAN1 High

3

Ethernet RX-

4

Ethernet TX-

5

RS232 Port A Rx

6

1PPS OUT

7

Port B RS422
TX+/SPEED OUT

8/15

Power Ground

9

CAN2 High

10

CAN1 Low

11

Ethernet RX+

12

Ethernet TX+

13

RS232 Port A Tx

14

Port B RS422 RX­/EVENT MARK

16

CAN2 Shield

17

CAN1 Shield

18/19

Signal Ground

20

Port B RS232
TX/RS422 TX-

21

Port B RS232
RX/RS422 RX+

22/23

Power Positive

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

cable pin-out
assignments,

continued

Figure B-1: Cable drawing for more detailed information.

Table 2: VR1000 Connector Pin-out

Continued on next page

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Power/data

Figure 6 shows the VR1000 back panel and pin-out.

BT/Wi-Fi RF

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

cable pin-out
assignments,
continued

Figure 6: VR1000 back panel and pin-out

1. Primary antenna

GNSS Primary RF +5V to power antenna

2. Secondary antenna

GNSS Secondary RF +5V to power antenna

3. Radio antenna

Radio RF

4. BT/Wi-Fi antenna

Continued on next page

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LED Indicators

The VR1000 has twelve LED lights located on the front panel of the

Indicator

Description/Function

Power

Solid GREEN indicates receiver is powered on

Primary GNSS

Solid GREEN indicates tracking 4+ satellites
Solid RED indicates No Satellites

Secondary GNSS

Solid GREEN indicates tracking 4+ satellites
Solid RED indicates No Satellites

Heading

Solid GREEN indicates 2D GNSS heading
Solid AMBER indicates 2D sensor heading

Quality

Solid GREEN indicates RTK fixed

Solid RED indicates No Satellites

Atlas

Flashes GREEN each time an Atlas message is

locked

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

unit. Table 3 below describes each LED indicator.

Figure 7: VR1000 LED

Table 3: LED indicators

Flashing GREEN (1/sec) indicates DGPS / Float
Solid AMBER indicates Autonomous
Flashing AMBER indicates No Position

received
Solid GREEN indicates Atlas locked
Solid AMBER indicates Atlas activated but not

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LED Indicators,

Indicator

Description/Function

Bluetooth

Solid BLUE indicates Bluetooth is turned on

connected

Wi-Fi

Solid GREEN indicates Wi-Fi is operational

connected

CAN1

Solid GREEN indicates CAN operational
Flashing GREEN (1/sec) indicates CAN in use

CAN2

Solid GREEN indicates CAN operational
Flashing GREEN (1/sec) indicates CAN in use

Ethernet

Solid GREEN indicates Ethernet operational

use

Radio

Flashes GREEN each time radio message is

data

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

continued

Table 3: LED indicators (continued)

Flashing BLUE (1/sec) indicates Bluetooth is

Flashing GREEN (1/sec) indicates Wi-Fi is

Flashing GREEN (1/sec) indicates Ethernet in

received/sent
Solid GREEN indicates radio mode but no

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Recommend-

When interfacing to other devices, ensure the transmit data

using the WebUI.

Power/Data

The VR1000 uses a single 3 m cable for power and data input/

directly to the battery.

Vector VR1000 GNSS Receiver Quick Reference Guide (QRG),

Continued

ations for
connecting to
other devices

output and the signal grounds from the VR1000 are connected to
the data input, and signal grounds of the other device.

The RS-422 is a balanced signal with positive and negative signals
referenced to ground; ensure you maintain the correct polarity.

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 VR1000 is then
connected to the receive data negative input of the other device.

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

Hemisphere GNSS Technical Reference Manual. To configure the

unit through the WebUI, please refer to Configuring the VR1000

cable
considerations

output.

The receiver end of the cable is terminated with an
environmentally-sealed 23-Pin connection while the opposite end
is terminated with multiple connectors. Ensure that the PWR-/B­wire is connected to a clean chassis ground. DO NOT ground

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Overview

The VR1000 is equipped with an onboard WebUI.

192.168.100.1

Status

The VR1000 Status tab displays. You can view RX Info, Position,

Field

Description

Time

UTC time obtained from satellites, Local time
configured in Settings; Miscellaneous tab

Position

Latitude, Longitude, Altitude

Heading

Heading, COG, ROT, YAW, pitch, roll, heave, speed,
and the difference between heading and COG

Precision

Satellites used in solution, 3D Accuracy, 2D
Accuracy, horizontal dilution of precision

Solution
Status

Solution type, correction source, correction signal
latency

L-band
/SBAS

Atlas Frequency, Source, Bit Error Rate, Carrier
Lock, DSP Lock, Frame Sync, Frame Sync 2*

A, Terms and Definitions.

Configuring the VR1000 Using the WebUI

Note: The VR1000 WebUI supports Chrome and Firefox web

browsers.

First, connect the Bluetooth/WiFi antenna to the connector. The
receiver displays as an available Wi-Fi device in your available
networks. Connect your device to the VR1000’s Wi-Fi. The
password is hgnss1234.

Open a web browser window and type the following IP address:

Heading, L-band and SBAS.

Table 4: Status fields

*Note: For a definition of the L-band/SBAS fields refer to Appendix

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Continued on next page

Tracking

On the Tracking tab, the Sky Plot shows the azimuth, elevation,

Configuring the VR1000 Using the WebUI, Continued

and SNR values of all tracked satellites.

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Information tab

On the Information tab, the Serial Number, Board Type, Board

Configuring the VR1000 Using the WebUI, Continued

Firmware, Subscriptions, Devices, RX info, and Port information is
displayed.

Activated items are in green.

Important: If you have purchased an activation or subscription,
use the field on the System screen to enter the Subscription Code,
and click the ‘arrows’ button.

Continued on next page

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Files tab

Use the file tab to upload files and download log files from the

System

The System tab can be used to upgrade both GNSS firmware or

Bluetooth is enabled, an option will be given to disable Bluetooth.

Configuring the VR1000 Using the WebUI, Continued

receiver.

carrier board firmware. You can add subscription codes on this
screen.

Use the buttons at the bottom of the screen:

• Format Disk-format the internal storage

• Self Test- run a receiver self-test

• Factory Restore- restore the unit to factory settings

• Reboot-reboot the unit

Note: The filesystem cannot be used when Bluetooth is enabled. If

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System,

After Bluetooth is disabled, the filesystem displays. Any log files

board firmware, and press “Upload.”

Settings

A pop-up dialog box displays prompting for username and password.

Configuring the VR1000 Using the WebUI, Continued

continued

stored on the receiver will be available for download.

To upgrade firmware, click Choose File, select the GNSS or carrier

Type the UserName: admin and the password: Hemi3384.

You can configure the following using the VR1000 WebUI:

• Heading

• CAN

• Serial

• Radio

• Ethernet

• Logging

• Ntrip

• Atlas

• Miscellaneous

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Heading menu

The Heading menu displays the following data.

Configuring the VR1000 Using the WebUI, Continued

Various heading settings can also be configured.

Click the box of the desired setting and type the configuration
setting values.

Continued on next page

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Heading menu,

Table 5 lists the heading configurations.

Heading
Configuration

Description

Heading Bias

Add a bias to the heading value the receiver

Range: -180 – +180

Pitch Bias

Add a bias to the pitch value the receiver

Range: -15 – +15

Gyro Aiding

Gyro aiding enables the use of the internal gyro

obstruction in GNSS signal.

Negative Tilt

Change the sign of the pitch/roll measurement.

Tilt Aiding

Turn OFF or ON tilt aiding. When on, the

reacquisition times.

Flip Board

N/A

Level

If the Vector will be operated within +/- 10

acquisition times of the heading solution.

Configuring the VR1000 Using the WebUI, Continued

continued

Table 5: Heading Configurations

outputs.

Heading is defined as the direction of the
vector created from the primary to secondary
antenna. Heading is measured using true
north.

outputs.

If the receiver is in “roll” mode, this will add a
bias to the roll instead.

Operation

sensor and allows for the continuous output of
heading for up to three minutes during a GNSS
outage. Gyro aiding improves the reacquisition
time when GNSS heading is lost because of an

sensors are used to reduce the RTK search
volume – improving heading startup and

degrees of level, you may use this mode of
operation for increased robustness and faster

Continued on next page

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Heading menu,

Table 5: Heading Configurations (continued)

Heading

Configuration

Description

Pitch/Roll Mode

If the antennas are mounted such that they

PITCH.

Heading TAU

Adjust the responsiveness to true heading.

turn (°/s) with gyro OFF

Heading Rate TAU

Adjust the responsiveness to the rate of

of turn (°/s2)

Configuring the VR1000 Using the WebUI, Continued

continued

model pitch, set to PITCH.

If the antennas are mounted such that they
model roll, set to ROLL.

Note: If your HBIAS is -90 or +90, set this to
ROLL. If your HBIAS is 0 or 180, set this to

If the machine is large and unable to turn
quickly, increase this value.

For longer baselines (10 m) HTAU should be
between 0.1 and 0.5, since the gyro
introduces noise.

Default value: 0.1 s with gyro enabled
Range: 0.0 to 60 s
Formula: htau (s) = 40 / max rate of turn

(°/s) with gyro ON htau (s) = 10 / max rate of

heading change.

If the machine is large and unable to turn
quickly, increase this value.

Default value: 2.0 s with gyro enabled
Range: 0.0 to 60 s
Formula: hrtau (s) = 10 / max rate of the rate

Continued on next page

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Heading menu,

Table 5: Heading Configurations (continued)

Heading

Configuration

Description

COG TAU

The direction the machine is moving.

of course (°/sec)

Speed TAU

Speed of machine in km/h.

(m/s2)

MSEP

The measured distance between the primary

within 2 cm.

Configuring the VR1000 Using the WebUI, Continued

continued

Adjust the responsiveness to the course over
ground measurement.

If the machine is small and dynamic, leave
this value at 0.0 s to be conservative.

If the machine is large and resistant to
motion, increase this value.

Default value: 0.0 s .
Range: 0.0 to 60 s
Formula: cogtau (s) = 10 / max rate of change

Adjust the responsiveness to speed.

If the machine is small and dynamic, leave
this value at 0.0 s to be conservative.

If the machine is large and resistant to
motion, increase this value.

Default value: 0.0 s
Range: 0.0 to 60 s
Formula: spdtau (s) = 10 / max acceleration

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and secondary antenna. Must be accurate to

Continued on next page

Heading menu,

Table 5: Heading Configurations (continued)

Heading

Configuration

Description

CSEP

This is the antenna separation calculated by

you will not receive a valid heading.

CAN

On the CAN configuration menu, turn ON/OFF CAN and select the

Configuring the VR1000 Using the WebUI, Continued

continued

the receiver. Ensure the CSEP value is within

0.02 of the MSEP value.

Note: If CSEP value is “0” the receiver is
unable to calculate the separation between
the primary and secondary antennas, and

Note: Default settings can be changed to set the time constants to
smooth heading, Course-over-Ground (COG), and speed
measurements.

Configuration

baud rate (250 kbps, 500 kbps, or 1000 kbps).

Continued on next page

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Serial

Use Serial to configure the baud rate of each serial port (PortA and

Configuring the VR1000 Using the WebUI, Continued

PortB and turn off/on specific NMEA 0183 messages and
proprietary Hemisphere BIN messages.

You can also change Port B from RS232 to RS422 and RS422 to
RS232 reciprocally.

Configure the Serial Port and click Output.

Continued on next page

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Radio Basic

Use Radio Basic to configure the internal UHF radio (protocol,

Configuring the VR1000 Using the WebUI, Continued

frequency, etc.).

The Radio Configuration defaults to a no-frequency setting.

Use the drop-down arrows to select pre-configured channels. Each
channel has an associated frequency, and bandwidth.

Select a protocol (see Table 6: Radio mode). The list of available
protocols is dependent upon the bandwidth of your channel. For
example, if the bandwidth of the channel you are using is 12.5KHz,
Trimtalk 2 will not display.

To add new channels, obtain and load a .ucf file from your dealer
using the Upload Config File button. Choose a channel and select
the protocol. For Satel protocol, you may turn FEC OFF/ON.

Continued on next page

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Radio Basic,

Use the following table to configure Radio settings. You may

Radio Advanced

Use the Radio Advanced Configuration screen to manually enter

Configuring the VR1000 Using the WebUI, Continued

continued

configure any settings in the blue boxes.

Table 6: Radio mode

Radio frequencies or upload a Configuration file of frequencies.
Contact HGNSS Technical Support for Configuration files.

Continued on next page

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Ethernet

Use the VR1000 WebUI to configure the Ethernet connection.

Logging

Log data to the internal memory of the VR1000 or download a

Configuring the VR1000 Using the WebUI, Continued

Wi-Fi Bluetooth configuration-configure the WiFi access name,

encryption mode, and encryption key of the VR1000 in the
WiFi/Bluetooth configuration settings. Click to enable Bluetooth
options and type the PIN of the VR1000.

Note: Files cannot be downloaded from the VR1000 filesystem
when Bluetooth is enabled.

previously saved log.

Continued on next page

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Logging,

Table 7: Logging configuration

Field

Description

GPGGA

Turn on GGA message logging at 0.2Hz, 1Hz,

or 20Hz included).

Position/Velocity

Log the position and velocity of the receiver

or 20Hz included).

Observations*

Log raw GNSS observations at 0.2Hz, 1Hz,

Heading

Heading logs the following messages:

• BIN3

Configuring the VR1000 Using the WebUI, Continued

continued

*This feature is only
available if you have a
“Raw” activation on the
receiver.

10Hz, or 20HZ.

Note: 10Hz and 20Hz are only available with
activations (some kits may come with 10Hz

at 0.2Hz, 1Hz, 10Hz, or 20HZ.

Note: 10Hz and 20Hz are only available with
activations (some kits may come with 10Hz

10Hz, or 20HZ.

Note: 10Hz and 20Hz are only available with
activations (some kits may come with 10Hz
or 20Hz included).

• GPHDT

• GPHDM

• GPHDG

• HPR

Continued on next page

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Logging,

Table 7: Logging configuration (continued)

Field

Description

Ephemeris*

receiver.

Log raw GNSS ephemeris messages at 0.2Hz,

Corrections

Log the correction messages coming into
the receiver.

High Speed

High Speed logs diagnostic data.

Duration

Set the period for which you wish to record
data.

File Splitting

Automatically closes a file and restarts a

of all data.

Filename

Choose a filename.

appended date and timestamp.

log, the log file will become corrupted.

Configuring the VR1000 Using the WebUI, Continued

continued

*This feature is only
available if you have a
“Raw” activation on the

1Hz, 10Hz, or 20HZ.

Note: 10Hz and 20Hz are only available with
activations (some kits may come with 10Hz
or 20Hz included).

Note: Selecting that dropdown option
forces the GGA, “corrections” and
“ephemeris” options on.

new file after a period of time.

Use file splitting to decrease file sizes or to
prevent the loss of a file resulting in the loss

All filenames automatically have an

To stop logging, de-select the Enabled button and press Save
Settings.

If you power off the receiver without properly closing a

Continued on next page

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Ntrip

Use the Ntrip Configuration screen to enable the receiver to use

Atlas tab

You can manually configure the frequency and bandwidth of the L-

Configuring the VR1000 Using the WebUI, Continued

Configuration

corrections from an Ntrip Caster.

band satellite you wish to track, or simply click the Auto button and
let the receiver track automatically.

Continued on next page

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Atlas Datum

If using Atlas (not RTK), datum defaults to ITRF08.

Configuring the VR1000 Using the WebUI, Continued

You can change Datum Type to GDA94 or enter custom reference
frame offsets.

Continued on next page

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Miscellaneous

Time Zone- In the example below, the Time Zone is set to UTC-10,

Configuring the VR1000 Using the WebUI, Continued

Honolulu - USA time.

To change the Time Zone, click the down arrow, and select the
desired time zone. Please note this does not affect UTC time in
NMEA output.

Orientation-selects the position in which the receiver is installed.

Device Name-the name of device that displays at the top of the

screen.

TCP Server-use to change the listening port.

Continued on next page

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Terms and

Refer to Table A-1 for a listing of the terms and definitions contained

Term

Definition

Atlas Frequency

The Atlas™ satellite transmit frequency

MHz.

Bit Error Rate

The average number of symbol errors per
message frame.

Carrier Lock

Indicates the receiver is tracking the
satellite frequency.

Frame Sync

Indicates the receiver is properly decoding
the Atlas™ data message.

Appendix A

definitions

in this document.

Table A-1: Terms and Definitions

which ranges from 1525 MHz to 1560

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Figure B-1 Cable Drawing

Appendix B

Figure B-1 shows the VR1000 Cable Pin-out assignments.

Note: This cable is not available for purchase.

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Continued on next page

Appendix B, Continued

Figure B-2 shows the pin assignments for the J1 – J6 connectors.

Continued on next page

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Appendix B, Continued

Figure B2: J1 – J6 Connectors

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